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diff --git a/open_microwave/demo_clean/instructions/episode0.json b/open_microwave/demo_clean/instructions/episode0.json
new file mode 100644
index 0000000000000000000000000000000000000000..94e16185c7ebdac7a4f3e526b1a807a314861919
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode0.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to engage the microwave with knobs's opening mechanism.",
+    "Grab the handle and open the countertop microwave.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Use the left arm to grab and open the countertop microwave.",
+    "Access the inside by opening the gray microwave.",
+    "Open the microwave with knobs by pulling on its handle.",
+    "Get the microwave open.",
+    "Use the left arm to pull open the door of the gray and yellow microwave with rounded edges.",
+    "Grasp the yellow-panel microwave with smooth sides's handle and pull to open.",
+    "Use the handle to open the medium microwave.",
+    "Pull the microwave with patterned top and knobs's handle to open it.",
+    "Handle the gray microwave and open it with the left arm.",
+    "Grab the handle and open the microwave with textured top panel with the left arm.",
+    "Open the microwave with knobs using the left arm.",
+    "Engage the yellow-panel microwave with smooth sides using the left arm to open.",
+    "Open the microwave with textured top panel by grasping its handle.",
+    "Grip the microwave with textured top panel's handle and pull it open.",
+    "Pull the door to open the microwave with patterned top and knobs.",
+    "Engage the gray microwave's handle and open it.",
+    "Use the left arm to grab and pull the yellow-sided microwave.",
+    "Pull the handle of the yellow-sided microwave to open it.",
+    "Open the yellow-panel microwave with smooth sides by pulling its door with the left arm.",
+    "Use the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Grab and pull the rectangular microwave using the left arm.",
+    "Pull open the door of the microwave using the left arm.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Engage the left arm to open the yellow-panel microwave with smooth sides.",
+    "Open the medium microwave by pulling its handle.",
+    "Pull the handle of the microwave with the left arm.",
+    "Pull the door of the yellow-panel microwave with smooth sides to open it.",
+    "Activate the door to open the gray microwave with two control knobs.",
+    "Pull the handle to open the gray microwave.",
+    "Open the medium microwave by pulling its handle.",
+    "Pull the the microwave with textured top panel's handle using the left arm.",
+    "Pull and open the microwave.",
+    "Use the left arm to open the microwave with patterned top and knobs by pulling.",
+    "Pull to open the medium microwave.",
+    "Utilize the left arm to pull the medium microwave open.",
+    "Open the gray and yellow microwave with rounded edges by pulling with the left arm.",
+    "Use the left arm to engage the yellow-panel microwave with smooth sides's opening mechanism.",
+    "Grab the handle and open the medium microwave.",
+    "Pull the handle to open the rectangular microwave.",
+    "Use the left arm to grab and open the rectangular microwave.",
+    "Access the inside by opening the microwave with textured top panel.",
+    "Open the gray microwave by pulling on its handle.",
+    "Get the microwave with textured top panel open.",
+    "Use the left arm to pull open the door of the microwave with knobs.",
+    "Grasp the microwave with textured top panel's handle and pull to open.",
+    "Use the handle to open the gray and yellow microwave with rounded edges.",
+    "Pull the countertop microwave's handle to open it.",
+    "Handle the gray and yellow microwave with rounded edges and open it with the left arm.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges with the left arm.",
+    "Open the yellow-panel microwave with smooth sides using the left arm.",
+    "Engage the yellow-panel microwave with smooth sides using the left arm to open.",
+    "Open the gray microwave with two control knobs by grasping its handle.",
+    "Grip the microwave with textured top panel's handle and pull it open.",
+    "Pull the door to open the medium microwave.",
+    "Engage the microwave with patterned top and knobs's handle and open it.",
+    "Use the left arm to grab and pull the gray and yellow microwave with rounded edges.",
+    "Pull the handle of the gray microwave to open it.",
+    "Open the gray and yellow microwave with rounded edges by pulling its door with the left arm.",
+    "Use the left arm to pull the microwave with knobs open.",
+    "Grab and pull the microwave with textured top panel using the left arm.",
+    "Pull open the door of the gray microwave using the left arm.",
+    "Pull the handle to open the microwave.",
+    "Engage the left arm to open the yellow-sided microwave.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Pull the handle of the microwave with the left arm.",
+    "Pull the door of the gray and yellow microwave with rounded edges to open it.",
+    "Activate the door to open the gray and yellow microwave with rounded edges.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Pull the the countertop microwave's handle using the left arm.",
+    "Pull and open the yellow-panel microwave with smooth sides.",
+    "Use the left arm to open the microwave with knobs by pulling.",
+    "Pull to open the microwave with textured top panel.",
+    "Utilize the left arm to pull the yellow-sided microwave open.",
+    "Open the microwave with textured top panel by pulling with the left arm.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Grab the handle and open the microwave with knobs.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Use the left arm to grab and open the microwave with knobs.",
+    "Access the inside by opening the gray and yellow microwave with rounded edges.",
+    "Open the medium microwave by pulling on its handle.",
+    "Get the microwave with textured top panel open.",
+    "Use the left arm to pull open the door of the gray microwave with two control knobs.",
+    "Grasp the gray microwave's handle and pull to open.",
+    "Use the handle to open the microwave with patterned top and knobs.",
+    "Pull the gray microwave with two control knobs's handle to open it.",
+    "Handle the gray and yellow microwave with rounded edges and open it with the left arm.",
+    "Grab the handle and open the microwave with patterned top and knobs with the left arm.",
+    "Open the yellow-sided microwave using the left arm.",
+    "Engage the microwave with textured top panel using the left arm to open.",
+    "Open the microwave by grasping its handle.",
+    "Grip the rectangular microwave's handle and pull it open.",
+    "Pull the door to open the microwave.",
+    "Engage the microwave with textured top panel's handle and open it.",
+    "Use the left arm to grab and pull the gray microwave.",
+    "Pull the handle of the medium microwave to open it.",
+    "Open the rectangular microwave by pulling its door with the left arm."
+  ],
+  "unseen": [
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode1.json b/open_microwave/demo_clean/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..f943e3a04e84a1d9c12b3526409faae55881de54
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode1.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Pull open the door of the yellow-panel microwave with smooth sides using the left arm.",
+    "Open the gray microwave by grasping its handle.",
+    "Use the left arm to open the microwave with textured top panel by pulling.",
+    "Open the microwave by pulling on its handle.",
+    "Use the left arm to grab and pull the gray and yellow microwave with rounded edges.",
+    "Use the handle to open the microwave.",
+    "Utilize the left arm to pull the gray microwave open.",
+    "Pull the the rectangular microwave's handle using the left arm.",
+    "Grab the handle and open the microwave.",
+    "Use the left arm to engage the medium microwave's opening mechanism.",
+    "Open the gray and yellow microwave with rounded edges using the left arm.",
+    "Pull the handle of the gray microwave with the left arm.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Use the left arm to pull open the door of the rectangular microwave.",
+    "Pull and open the microwave with textured top panel.",
+    "Get the gray and yellow microwave with rounded edges open.",
+    "Grab and pull the microwave using the left arm.",
+    "Pull the handle to open the medium microwave.",
+    "Open the yellow-panel microwave with smooth sides by pulling its door with the left arm.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Open the gray microwave with two control knobs by pulling with the left arm.",
+    "Pull the door of the yellow-panel microwave with smooth sides to open it.",
+    "Pull the microwave with knobs's handle to open it.",
+    "Access the inside by opening the medium microwave.",
+    "Grasp the gray and yellow microwave with rounded edges's handle and pull to open.",
+    "Pull the handle to open the medium microwave.",
+    "Activate the door to open the rectangular microwave.",
+    "Engage the microwave with textured top panel using the left arm to open.",
+    "Engage the medium microwave's handle and open it.",
+    "Grip the microwave with textured top panel's handle and pull it open.",
+    "Engage the left arm to open the microwave with textured top panel.",
+    "Handle the gray microwave and open it with the left arm.",
+    "Pull to open the microwave with knobs.",
+    "Use the left arm to grab and open the gray microwave.",
+    "Pull the door to open the microwave with knobs.",
+    "Use the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Pull the handle of the microwave to open it.",
+    "Grab the handle and open the microwave with textured top panel with the left arm.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Pull open the door of the gray microwave using the left arm.",
+    "Open the rectangular microwave by grasping its handle.",
+    "Use the left arm to open the microwave with knobs by pulling.",
+    "Open the microwave by pulling on its handle.",
+    "Use the left arm to grab and pull the countertop microwave.",
+    "Use the handle to open the yellow-sided microwave.",
+    "Utilize the left arm to pull the countertop microwave open.",
+    "Pull the the yellow-panel microwave with smooth sides's handle using the left arm.",
+    "Grab the handle and open the gray microwave.",
+    "Use the left arm to engage the rectangular microwave's opening mechanism.",
+    "Open the medium microwave using the left arm.",
+    "Pull the handle of the medium microwave with the left arm.",
+    "Pull the handle to open the microwave.",
+    "Use the left arm to pull open the door of the microwave.",
+    "Pull and open the gray microwave.",
+    "Get the gray and yellow microwave with rounded edges open.",
+    "Grab and pull the microwave with textured top panel using the left arm.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Open the yellow-sided microwave by pulling its door with the left arm.",
+    "Open the countertop microwave by pulling its handle.",
+    "Open the microwave with patterned top and knobs by pulling with the left arm.",
+    "Pull the door of the microwave with knobs to open it.",
+    "Pull the microwave's handle to open it.",
+    "Access the inside by opening the microwave with patterned top and knobs.",
+    "Grasp the microwave with textured top panel's handle and pull to open.",
+    "Pull the handle to open the gray microwave.",
+    "Activate the door to open the gray and yellow microwave with rounded edges.",
+    "Engage the gray microwave using the left arm to open.",
+    "Engage the gray microwave's handle and open it.",
+    "Grip the yellow-sided microwave's handle and pull it open.",
+    "Engage the left arm to open the microwave with patterned top and knobs.",
+    "Handle the yellow-sided microwave and open it with the left arm.",
+    "Pull to open the microwave.",
+    "Use the left arm to grab and open the gray microwave with two control knobs.",
+    "Pull the door to open the rectangular microwave.",
+    "Use the left arm to pull the microwave open.",
+    "Pull the handle of the gray microwave to open it.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides with the left arm.",
+    "Open the microwave by pulling its handle.",
+    "Pull open the door of the yellow-panel microwave with smooth sides using the left arm.",
+    "Open the yellow-sided microwave by grasping its handle.",
+    "Use the left arm to open the gray microwave by pulling.",
+    "Open the yellow-sided microwave by pulling on its handle.",
+    "Use the left arm to grab and pull the gray microwave.",
+    "Use the handle to open the microwave with textured top panel.",
+    "Utilize the left arm to pull the gray microwave with two control knobs open.",
+    "Pull the the microwave with patterned top and knobs's handle using the left arm.",
+    "Grab the handle and open the microwave with knobs.",
+    "Use the left arm to engage the gray and yellow microwave with rounded edges's opening mechanism.",
+    "Open the microwave using the left arm.",
+    "Pull the handle of the yellow-panel microwave with smooth sides with the left arm.",
+    "Pull the handle to open the countertop microwave.",
+    "Use the left arm to pull open the door of the microwave.",
+    "Pull and open the rectangular microwave.",
+    "Get the countertop microwave open.",
+    "Grab and pull the microwave with patterned top and knobs using the left arm.",
+    "Pull the handle to open the countertop microwave.",
+    "Open the microwave with textured top panel by pulling its door with the left arm.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Open the medium microwave by pulling with the left arm."
+  ],
+  "unseen": [
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode10.json b/open_microwave/demo_clean/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae2684b4895fcff8d90fa5561ad30ff6f142ecc2
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode10.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Use the left arm to open the medium microwave by pulling.",
+    "Pull open the door of the yellow-sided microwave using the left arm.",
+    "Use the left arm to engage the microwave with textured top panel's opening mechanism.",
+    "Pull the door of the rectangular microwave to open it.",
+    "Pull the the gray microwave with two control knobs's handle using the left arm.",
+    "Pull and open the yellow-sided microwave.",
+    "Open the medium microwave by pulling its door with the left arm.",
+    "Engage the left arm to open the microwave with textured top panel.",
+    "Pull the handle of the gray and yellow microwave with rounded edges with the left arm.",
+    "Grab the handle and open the microwave with patterned top and knobs.",
+    "Use the left arm to grab and open the gray microwave with two control knobs.",
+    "Use the left arm to grab and pull the gray microwave with two control knobs.",
+    "Pull the door to open the gray microwave.",
+    "Grab the handle and open the medium microwave with the left arm.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Activate the door to open the gray and yellow microwave with rounded edges.",
+    "Handle the countertop microwave and open it with the left arm.",
+    "Use the left arm to pull open the door of the gray microwave with two control knobs.",
+    "Grasp the microwave's handle and pull to open.",
+    "Open the rectangular microwave using the left arm.",
+    "Open the microwave by pulling with the left arm.",
+    "Pull the microwave's handle to open it.",
+    "Pull to open the medium microwave.",
+    "Grip the medium microwave's handle and pull it open.",
+    "Engage the microwave's handle and open it.",
+    "Get the gray microwave with two control knobs open.",
+    "Grab and pull the yellow-sided microwave using the left arm.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Access the inside by opening the medium microwave.",
+    "Engage the microwave with textured top panel using the left arm to open.",
+    "Use the left arm to pull the microwave with textured top panel open.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Pull the handle of the microwave with textured top panel to open it.",
+    "Use the handle to open the yellow-panel microwave with smooth sides.",
+    "Open the microwave with knobs by pulling on its handle.",
+    "Open the microwave with textured top panel by grasping its handle.",
+    "Utilize the left arm to pull the yellow-sided microwave open.",
+    "Pull the handle to open the rectangular microwave.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Use the left arm to open the medium microwave by pulling.",
+    "Pull open the door of the microwave with patterned top and knobs using the left arm.",
+    "Use the left arm to engage the rectangular microwave's opening mechanism.",
+    "Pull the door of the microwave with patterned top and knobs to open it.",
+    "Pull the the yellow-sided microwave's handle using the left arm.",
+    "Pull and open the microwave.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Engage the left arm to open the gray microwave with two control knobs.",
+    "Pull the handle of the microwave with knobs with the left arm.",
+    "Grab the handle and open the medium microwave.",
+    "Use the left arm to grab and open the microwave with knobs.",
+    "Use the left arm to grab and pull the medium microwave.",
+    "Pull the door to open the yellow-sided microwave.",
+    "Grab the handle and open the gray microwave with two control knobs with the left arm.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Activate the door to open the microwave.",
+    "Handle the gray microwave with two control knobs and open it with the left arm.",
+    "Use the left arm to pull open the door of the medium microwave.",
+    "Grasp the microwave with textured top panel's handle and pull to open.",
+    "Open the microwave with textured top panel using the left arm.",
+    "Open the countertop microwave by pulling with the left arm.",
+    "Pull the microwave's handle to open it.",
+    "Pull to open the microwave with patterned top and knobs.",
+    "Grip the microwave with patterned top and knobs's handle and pull it open.",
+    "Engage the gray microwave with two control knobs's handle and open it.",
+    "Get the yellow-panel microwave with smooth sides open.",
+    "Grab and pull the microwave with knobs using the left arm.",
+    "Open the microwave by pulling its handle.",
+    "Access the inside by opening the gray and yellow microwave with rounded edges.",
+    "Engage the yellow-panel microwave with smooth sides using the left arm to open.",
+    "Use the left arm to pull the microwave with knobs open.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Pull the handle of the rectangular microwave to open it.",
+    "Use the handle to open the microwave.",
+    "Open the yellow-sided microwave by pulling on its handle.",
+    "Open the yellow-sided microwave by grasping its handle.",
+    "Utilize the left arm to pull the microwave open.",
+    "Pull the handle to open the rectangular microwave.",
+    "Pull the handle to open the gray microwave.",
+    "Use the left arm to open the rectangular microwave by pulling.",
+    "Pull open the door of the yellow-sided microwave using the left arm.",
+    "Use the left arm to engage the medium microwave's opening mechanism.",
+    "Pull the door of the gray and yellow microwave with rounded edges to open it.",
+    "Pull the the medium microwave's handle using the left arm.",
+    "Pull and open the yellow-panel microwave with smooth sides.",
+    "Open the medium microwave by pulling its door with the left arm.",
+    "Engage the left arm to open the yellow-panel microwave with smooth sides.",
+    "Pull the handle of the medium microwave with the left arm.",
+    "Grab the handle and open the yellow-sided microwave.",
+    "Use the left arm to grab and open the rectangular microwave.",
+    "Use the left arm to grab and pull the yellow-sided microwave.",
+    "Pull the door to open the yellow-sided microwave.",
+    "Grab the handle and open the gray microwave with the left arm.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Activate the door to open the microwave with knobs.",
+    "Handle the gray microwave with two control knobs and open it with the left arm.",
+    "Use the left arm to pull open the door of the yellow-sided microwave.",
+    "Grasp the gray microwave's handle and pull to open.",
+    "Open the countertop microwave using the left arm."
+  ],
+  "unseen": [
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode11.json b/open_microwave/demo_clean/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6c6d7b767d6468c28d6af14718fd7025f528731
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode11.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides.",
+    "Engage the medium microwave's handle and open it.",
+    "Open the rectangular microwave by pulling with the left arm.",
+    "Open the microwave by grasping its handle.",
+    "Pull the handle of the microwave with textured top panel with the left arm.",
+    "Engage the microwave with patterned top and knobs using the left arm to open.",
+    "Utilize the left arm to pull the microwave with knobs open.",
+    "Open the microwave by pulling its handle.",
+    "Pull open the door of the medium microwave using the left arm.",
+    "Use the left arm to open the gray microwave by pulling.",
+    "Get the countertop microwave open.",
+    "Pull the door to open the gray microwave with two control knobs.",
+    "Pull the handle of the microwave with textured top panel to open it.",
+    "Use the handle to open the microwave with patterned top and knobs.",
+    "Grasp the yellow-sided microwave's handle and pull to open.",
+    "Use the left arm to pull the microwave with knobs open.",
+    "Grip the microwave's handle and pull it open.",
+    "Grab and pull the gray microwave using the left arm.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Use the left arm to pull open the door of the microwave with patterned top and knobs.",
+    "Pull the yellow-sided microwave's handle to open it.",
+    "Activate the door to open the gray microwave with two control knobs.",
+    "Pull the the gray and yellow microwave with rounded edges's handle using the left arm.",
+    "Open the countertop microwave by pulling on its handle.",
+    "Handle the microwave with patterned top and knobs and open it with the left arm.",
+    "Use the left arm to grab and pull the gray microwave with two control knobs.",
+    "Pull the handle to open the microwave.",
+    "Use the left arm to grab and open the microwave with patterned top and knobs.",
+    "Grab the handle and open the countertop microwave with the left arm.",
+    "Pull to open the yellow-sided microwave.",
+    "Pull the door of the microwave with textured top panel to open it.",
+    "Use the left arm to engage the rectangular microwave's opening mechanism.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Pull and open the yellow-panel microwave with smooth sides.",
+    "Access the inside by opening the microwave with knobs.",
+    "Open the yellow-panel microwave with smooth sides by pulling its door with the left arm.",
+    "Open the yellow-panel microwave with smooth sides using the left arm.",
+    "Engage the left arm to open the gray microwave.",
+    "Pull the handle to open the gray microwave.",
+    "Grab the handle and open the medium microwave.",
+    "Engage the gray microwave with two control knobs's handle and open it.",
+    "Open the yellow-sided microwave by pulling with the left arm.",
+    "Open the medium microwave by grasping its handle.",
+    "Pull the handle of the microwave with patterned top and knobs with the left arm.",
+    "Engage the microwave using the left arm to open.",
+    "Utilize the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Open the countertop microwave by pulling its handle.",
+    "Pull open the door of the rectangular microwave using the left arm.",
+    "Use the left arm to open the gray microwave with two control knobs by pulling.",
+    "Get the microwave with patterned top and knobs open.",
+    "Pull the door to open the gray microwave.",
+    "Pull the handle of the medium microwave to open it.",
+    "Use the handle to open the microwave with patterned top and knobs.",
+    "Grasp the rectangular microwave's handle and pull to open.",
+    "Use the left arm to pull the microwave with textured top panel open.",
+    "Grip the yellow-sided microwave's handle and pull it open.",
+    "Grab and pull the microwave with knobs using the left arm.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Use the left arm to pull open the door of the gray microwave with two control knobs.",
+    "Pull the medium microwave's handle to open it.",
+    "Activate the door to open the microwave with knobs.",
+    "Pull the the microwave with patterned top and knobs's handle using the left arm.",
+    "Open the yellow-panel microwave with smooth sides by pulling on its handle.",
+    "Handle the medium microwave and open it with the left arm.",
+    "Use the left arm to grab and pull the gray and yellow microwave with rounded edges.",
+    "Pull the handle to open the countertop microwave.",
+    "Use the left arm to grab and open the yellow-sided microwave.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides with the left arm.",
+    "Pull to open the microwave with textured top panel.",
+    "Pull the door of the yellow-sided microwave to open it.",
+    "Use the left arm to engage the medium microwave's opening mechanism.",
+    "Pull the handle to open the gray microwave.",
+    "Pull and open the rectangular microwave.",
+    "Access the inside by opening the rectangular microwave.",
+    "Open the microwave with knobs by pulling its door with the left arm.",
+    "Open the yellow-sided microwave using the left arm.",
+    "Engage the left arm to open the microwave with knobs.",
+    "Pull the handle to open the countertop microwave.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides.",
+    "Engage the countertop microwave's handle and open it.",
+    "Open the gray microwave with two control knobs by pulling with the left arm.",
+    "Open the microwave with knobs by grasping its handle.",
+    "Pull the handle of the gray microwave with the left arm.",
+    "Engage the microwave with textured top panel using the left arm to open.",
+    "Utilize the left arm to pull the rectangular microwave open.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Pull open the door of the microwave with textured top panel using the left arm.",
+    "Use the left arm to open the gray microwave with two control knobs by pulling.",
+    "Get the yellow-sided microwave open.",
+    "Pull the door to open the rectangular microwave.",
+    "Pull the handle of the rectangular microwave to open it.",
+    "Use the handle to open the yellow-sided microwave.",
+    "Grasp the gray microwave's handle and pull to open.",
+    "Use the left arm to pull the microwave with patterned top and knobs open.",
+    "Grip the microwave with knobs's handle and pull it open.",
+    "Grab and pull the gray microwave with two control knobs using the left arm.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Use the left arm to pull open the door of the gray and yellow microwave with rounded edges.",
+    "Pull the medium microwave's handle to open it."
+  ],
+  "unseen": [
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode12.json b/open_microwave/demo_clean/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e8a79a9aa26ee5130d66619d6c3c1fc8bd820fb
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode12.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the handle to open the microwave with patterned top and knobs.",
+    "Pull the gray microwave's handle to open it.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges.",
+    "Engage the left arm to open the medium microwave.",
+    "Engage the medium microwave using the left arm to open.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Pull the the microwave with patterned top and knobs's handle using the left arm.",
+    "Grab and pull the countertop microwave using the left arm.",
+    "Pull the handle of the yellow-sided microwave with the left arm.",
+    "Use the left arm to grab and open the gray microwave with two control knobs.",
+    "Use the left arm to pull the microwave open.",
+    "Grab the handle and open the gray microwave with the left arm.",
+    "Engage the microwave with knobs's handle and open it.",
+    "Open the microwave with textured top panel by pulling with the left arm.",
+    "Handle the microwave and open it with the left arm.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Pull open the door of the rectangular microwave using the left arm.",
+    "Open the gray and yellow microwave with rounded edges by pulling its door with the left arm.",
+    "Pull the handle of the gray microwave to open it.",
+    "Use the left arm to grab and pull the microwave with textured top panel.",
+    "Open the countertop microwave by grasping its handle.",
+    "Open the gray and yellow microwave with rounded edges using the left arm.",
+    "Use the left arm to pull open the door of the countertop microwave.",
+    "Use the left arm to open the microwave with patterned top and knobs by pulling.",
+    "Open the rectangular microwave by pulling on its handle.",
+    "Pull and open the medium microwave.",
+    "Open the countertop microwave by pulling its handle.",
+    "Pull to open the microwave with knobs.",
+    "Use the left arm to engage the gray microwave with two control knobs's opening mechanism.",
+    "Utilize the left arm to pull the rectangular microwave open.",
+    "Pull the door of the gray and yellow microwave with rounded edges to open it.",
+    "Access the inside by opening the gray microwave.",
+    "Activate the door to open the gray microwave.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Get the microwave with knobs open.",
+    "Grip the medium microwave's handle and pull it open.",
+    "Grasp the yellow-sided microwave's handle and pull to open.",
+    "Pull the door to open the yellow-sided microwave.",
+    "Use the handle to open the yellow-sided microwave.",
+    "Pull the medium microwave's handle to open it.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Grab the handle and open the medium microwave.",
+    "Engage the left arm to open the countertop microwave.",
+    "Engage the yellow-sided microwave using the left arm to open.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Pull the the countertop microwave's handle using the left arm.",
+    "Grab and pull the rectangular microwave using the left arm.",
+    "Pull the handle of the gray microwave with two control knobs with the left arm.",
+    "Use the left arm to grab and open the microwave with textured top panel.",
+    "Use the left arm to pull the microwave with knobs open.",
+    "Grab the handle and open the microwave with patterned top and knobs with the left arm.",
+    "Engage the gray and yellow microwave with rounded edges's handle and open it.",
+    "Open the yellow-panel microwave with smooth sides by pulling with the left arm.",
+    "Handle the microwave with knobs and open it with the left arm.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Pull open the door of the microwave with textured top panel using the left arm.",
+    "Open the gray microwave by pulling its door with the left arm.",
+    "Pull the handle of the microwave to open it.",
+    "Use the left arm to grab and pull the microwave.",
+    "Open the microwave by grasping its handle.",
+    "Open the countertop microwave using the left arm.",
+    "Use the left arm to pull open the door of the medium microwave.",
+    "Use the left arm to open the yellow-panel microwave with smooth sides by pulling.",
+    "Open the gray microwave with two control knobs by pulling on its handle.",
+    "Pull and open the yellow-panel microwave with smooth sides.",
+    "Open the microwave by pulling its handle.",
+    "Pull to open the rectangular microwave.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Utilize the left arm to pull the microwave open.",
+    "Pull the door of the rectangular microwave to open it.",
+    "Access the inside by opening the medium microwave.",
+    "Activate the door to open the rectangular microwave.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Get the microwave with patterned top and knobs open.",
+    "Grip the countertop microwave's handle and pull it open.",
+    "Grasp the microwave with textured top panel's handle and pull to open.",
+    "Pull the door to open the rectangular microwave.",
+    "Use the handle to open the yellow-panel microwave with smooth sides.",
+    "Pull the gray microwave with two control knobs's handle to open it.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Grab the handle and open the rectangular microwave.",
+    "Engage the left arm to open the gray and yellow microwave with rounded edges.",
+    "Engage the rectangular microwave using the left arm to open.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Pull the the gray microwave's handle using the left arm.",
+    "Grab and pull the rectangular microwave using the left arm.",
+    "Pull the handle of the yellow-panel microwave with smooth sides with the left arm.",
+    "Use the left arm to grab and open the microwave with knobs.",
+    "Use the left arm to pull the gray microwave with two control knobs open.",
+    "Grab the handle and open the gray microwave with the left arm.",
+    "Engage the microwave's handle and open it.",
+    "Open the microwave with textured top panel by pulling with the left arm.",
+    "Handle the countertop microwave and open it with the left arm.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Pull open the door of the gray microwave using the left arm.",
+    "Open the gray microwave by pulling its door with the left arm.",
+    "Pull the handle of the countertop microwave to open it.",
+    "Use the left arm to grab and pull the rectangular microwave.",
+    "Open the gray and yellow microwave with rounded edges by grasping its handle."
+  ],
+  "unseen": [
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode13.json b/open_microwave/demo_clean/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fb1b8bfa1bc3545787ff936b0f5f2b83e22351b
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode13.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Pull the handle of the microwave with smooth surface with the left arm.",
+    "Utilize the left arm to pull the dark gray slanted microwave box open.",
+    "Activate the door to open the dark gray slanted microwave box.",
+    "Grab and pull the microwave with smooth surface using the left arm.",
+    "Get the rectangular gray microwave open.",
+    "Use the left arm to engage the dark gray kitchen microwave's opening mechanism.",
+    "Use the left arm to grab and pull the dark gray slanted microwave box.",
+    "Pull the door of the gray appliance with transparent glass top to open it.",
+    "Engage the gray and glass microwave for cooking using the left arm to open.",
+    "Grab the handle and open the dark gray kitchen microwave with the left arm.",
+    "Pull the handle of the rectangular gray microwave to open it.",
+    "Use the left arm to open the microwave for heating food by pulling.",
+    "Pull the the rectangular gray microwave's handle using the left arm.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Open the gray and glass microwave for cooking by pulling on its handle.",
+    "Pull and open the microwave.",
+    "Access the inside by opening the microwave with glossy dark gray finish.",
+    "Use the left arm to grab and open the rectangular gray microwave.",
+    "Open the gray and glass microwave for cooking using the left arm.",
+    "Pull the microwave with glossy dark gray finish's handle to open it.",
+    "Open the gray appliance with transparent glass top by grasping its handle.",
+    "Pull open the door of the microwave with smooth surface using the left arm.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Engage the microwave with smooth surface's handle and open it.",
+    "Engage the left arm to open the dark gray kitchen microwave.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Grasp the microwave with smooth surface's handle and pull to open.",
+    "Pull the door to open the dark gray slanted microwave box.",
+    "Grab the handle and open the rectangular gray microwave.",
+    "Use the handle to open the rectangular microwave with clear glass panel.",
+    "Handle the gray and glass microwave for cooking and open it with the left arm.",
+    "Open the medium microwave with slanted sides by pulling its door with the left arm.",
+    "Grip the gray and glass microwave for cooking's handle and pull it open.",
+    "Open the rectangular gray microwave by pulling its handle.",
+    "Pull to open the medium microwave with slanted sides.",
+    "Use the left arm to pull the microwave open.",
+    "Use the left arm to pull open the door of the gray appliance with transparent glass top.",
+    "Open the microwave for heating food by pulling with the left arm.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Pull the handle of the gray and glass microwave for cooking with the left arm.",
+    "Utilize the left arm to pull the microwave with glass top open.",
+    "Activate the door to open the gray appliance with transparent glass top.",
+    "Grab and pull the microwave using the left arm.",
+    "Get the dark gray kitchen microwave open.",
+    "Use the left arm to engage the dark gray kitchen microwave's opening mechanism.",
+    "Use the left arm to grab and pull the microwave with glossy dark gray finish.",
+    "Pull the door of the gray appliance with transparent glass top to open it.",
+    "Engage the gray appliance with transparent glass top using the left arm to open.",
+    "Grab the handle and open the gray and glass microwave for cooking with the left arm.",
+    "Pull the handle of the medium microwave with slanted sides to open it.",
+    "Use the left arm to open the microwave with glossy dark gray finish by pulling.",
+    "Pull the the medium microwave with slanted sides's handle using the left arm.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Open the gray and glass microwave for cooking by pulling on its handle.",
+    "Pull and open the rectangular gray microwave.",
+    "Access the inside by opening the dark gray kitchen microwave.",
+    "Use the left arm to grab and open the medium microwave with slanted sides.",
+    "Open the dark gray kitchen microwave using the left arm.",
+    "Pull the gray and glass microwave for cooking's handle to open it.",
+    "Open the microwave for heating food by grasping its handle.",
+    "Pull open the door of the rectangular microwave with clear glass panel using the left arm.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Engage the dark gray slanted microwave box's handle and open it.",
+    "Engage the left arm to open the microwave with glass top.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Grasp the microwave's handle and pull to open.",
+    "Pull the door to open the dark gray kitchen microwave.",
+    "Grab the handle and open the gray and glass microwave for cooking.",
+    "Use the handle to open the medium microwave with slanted sides.",
+    "Handle the gray appliance with transparent glass top and open it with the left arm.",
+    "Open the gray appliance with transparent glass top by pulling its door with the left arm.",
+    "Grip the medium microwave with slanted sides's handle and pull it open.",
+    "Open the rectangular microwave with clear glass panel by pulling its handle.",
+    "Pull to open the rectangular microwave with clear glass panel.",
+    "Use the left arm to pull the medium microwave with slanted sides open.",
+    "Use the left arm to pull open the door of the microwave with glossy dark gray finish.",
+    "Open the gray and glass microwave for cooking by pulling with the left arm.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Pull the handle of the dark gray kitchen microwave with the left arm.",
+    "Utilize the left arm to pull the gray appliance with transparent glass top open.",
+    "Activate the door to open the rectangular microwave with clear glass panel.",
+    "Grab and pull the microwave with glass top using the left arm.",
+    "Get the microwave for heating food open.",
+    "Use the left arm to engage the medium microwave with slanted sides's opening mechanism.",
+    "Use the left arm to grab and pull the microwave with glass top.",
+    "Pull the door of the medium microwave with slanted sides to open it.",
+    "Engage the microwave using the left arm to open.",
+    "Grab the handle and open the medium microwave with slanted sides with the left arm.",
+    "Pull the handle of the rectangular gray microwave to open it.",
+    "Use the left arm to open the rectangular microwave with clear glass panel by pulling.",
+    "Pull the the rectangular gray microwave's handle using the left arm.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Open the dark gray slanted microwave box by pulling on its handle.",
+    "Pull and open the rectangular gray microwave.",
+    "Access the inside by opening the gray and glass microwave for cooking.",
+    "Use the left arm to grab and open the microwave for heating food.",
+    "Open the microwave with glossy dark gray finish using the left arm.",
+    "Pull the gray appliance with transparent glass top's handle to open it.",
+    "Open the microwave for heating food by grasping its handle."
+  ],
+  "unseen": [
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode14.json b/open_microwave/demo_clean/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..71df35eedd69057873b06d7cabe9dd474319164c
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode14.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull open the door of the microwave using the left arm.",
+    "Open the microwave with patterned top and knobs by pulling with the left arm.",
+    "Open the rectangular microwave by pulling its door with the left arm.",
+    "Utilize the left arm to pull the medium microwave open.",
+    "Open the microwave with knobs by grasping its handle.",
+    "Engage the left arm to open the countertop microwave.",
+    "Pull the the microwave with knobs's handle using the left arm.",
+    "Grab the handle and open the microwave with knobs.",
+    "Pull the door of the gray and yellow microwave with rounded edges to open it.",
+    "Engage the gray microwave with two control knobs using the left arm to open.",
+    "Open the microwave by pulling its handle.",
+    "Grasp the microwave with knobs's handle and pull to open.",
+    "Pull the door to open the gray and yellow microwave with rounded edges.",
+    "Grab the handle and open the microwave with patterned top and knobs with the left arm.",
+    "Open the gray microwave with two control knobs by pulling on its handle.",
+    "Handle the countertop microwave and open it with the left arm.",
+    "Access the inside by opening the microwave with knobs.",
+    "Grip the countertop microwave's handle and pull it open.",
+    "Use the left arm to pull the yellow-sided microwave open.",
+    "Use the left arm to grab and pull the gray and yellow microwave with rounded edges.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Use the left arm to pull open the door of the microwave with textured top panel.",
+    "Activate the door to open the microwave with knobs.",
+    "Pull to open the gray microwave with two control knobs.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Pull the yellow-panel microwave with smooth sides's handle to open it.",
+    "Use the left arm to grab and open the countertop microwave.",
+    "Use the handle to open the gray microwave with two control knobs.",
+    "Pull and open the microwave.",
+    "Pull the handle of the yellow-panel microwave with smooth sides with the left arm.",
+    "Pull the handle of the medium microwave to open it.",
+    "Pull the handle to open the microwave with knobs.",
+    "Open the yellow-panel microwave with smooth sides using the left arm.",
+    "Use the left arm to open the microwave with textured top panel by pulling.",
+    "Use the left arm to engage the microwave with textured top panel's opening mechanism.",
+    "Engage the microwave with knobs's handle and open it.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Grab and pull the microwave using the left arm.",
+    "Get the microwave open.",
+    "Pull open the door of the yellow-panel microwave with smooth sides using the left arm.",
+    "Open the rectangular microwave by pulling with the left arm.",
+    "Open the gray and yellow microwave with rounded edges by pulling its door with the left arm.",
+    "Utilize the left arm to pull the gray microwave with two control knobs open.",
+    "Open the microwave by grasping its handle.",
+    "Engage the left arm to open the gray and yellow microwave with rounded edges.",
+    "Pull the the rectangular microwave's handle using the left arm.",
+    "Grab the handle and open the microwave with textured top panel.",
+    "Pull the door of the medium microwave to open it.",
+    "Engage the microwave with patterned top and knobs using the left arm to open.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Grasp the microwave with textured top panel's handle and pull to open.",
+    "Pull the door to open the yellow-sided microwave.",
+    "Grab the handle and open the countertop microwave with the left arm.",
+    "Open the microwave with knobs by pulling on its handle.",
+    "Handle the gray microwave and open it with the left arm.",
+    "Access the inside by opening the microwave.",
+    "Grip the microwave with knobs's handle and pull it open.",
+    "Use the left arm to pull the countertop microwave open.",
+    "Use the left arm to grab and pull the gray microwave.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Use the left arm to pull open the door of the yellow-sided microwave.",
+    "Activate the door to open the gray microwave.",
+    "Pull to open the gray microwave.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Pull the yellow-sided microwave's handle to open it.",
+    "Use the left arm to grab and open the microwave with patterned top and knobs.",
+    "Use the handle to open the microwave with knobs.",
+    "Pull and open the gray and yellow microwave with rounded edges.",
+    "Pull the handle of the countertop microwave with the left arm.",
+    "Pull the handle of the microwave with textured top panel to open it.",
+    "Pull the handle to open the countertop microwave.",
+    "Open the gray and yellow microwave with rounded edges using the left arm.",
+    "Use the left arm to open the rectangular microwave by pulling.",
+    "Use the left arm to engage the gray microwave's opening mechanism.",
+    "Engage the microwave with textured top panel's handle and open it.",
+    "Pull the handle to open the countertop microwave.",
+    "Grab and pull the microwave with patterned top and knobs using the left arm.",
+    "Get the microwave with textured top panel open.",
+    "Pull open the door of the gray microwave using the left arm.",
+    "Open the gray microwave by pulling with the left arm.",
+    "Open the yellow-sided microwave by pulling its door with the left arm.",
+    "Utilize the left arm to pull the rectangular microwave open.",
+    "Open the countertop microwave by grasping its handle.",
+    "Engage the left arm to open the microwave with textured top panel.",
+    "Pull the the gray and yellow microwave with rounded edges's handle using the left arm.",
+    "Grab the handle and open the gray microwave with two control knobs.",
+    "Pull the door of the gray microwave to open it.",
+    "Engage the microwave with textured top panel using the left arm to open.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Grasp the yellow-panel microwave with smooth sides's handle and pull to open.",
+    "Pull the door to open the microwave with patterned top and knobs.",
+    "Grab the handle and open the microwave with the left arm.",
+    "Open the yellow-sided microwave by pulling on its handle.",
+    "Handle the gray and yellow microwave with rounded edges and open it with the left arm.",
+    "Access the inside by opening the yellow-panel microwave with smooth sides.",
+    "Grip the yellow-sided microwave's handle and pull it open.",
+    "Use the left arm to pull the microwave with knobs open.",
+    "Use the left arm to grab and pull the microwave with patterned top and knobs.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Use the left arm to pull open the door of the microwave."
+  ],
+  "unseen": [
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode15.json b/open_microwave/demo_clean/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd75bdcd1bb3f9949fdcf6020fe4bfb5a9ca90fd
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode15.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grip the rectangular gray microwave's handle and pull it open.",
+    "Activate the door to open the microwave with glossy dark gray finish.",
+    "Use the left arm to grab and pull the medium microwave with slanted sides.",
+    "Pull the the gray and glass microwave for cooking's handle using the left arm.",
+    "Grab the handle and open the rectangular gray microwave.",
+    "Get the gray appliance with transparent glass top open.",
+    "Use the left arm to pull the microwave open.",
+    "Pull the handle of the gray appliance with transparent glass top with the left arm.",
+    "Pull the door to open the gray and glass microwave for cooking.",
+    "Use the left arm to pull open the door of the microwave.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Pull to open the microwave for heating food.",
+    "Engage the dark gray kitchen microwave using the left arm to open.",
+    "Open the microwave with glass top by pulling on its handle.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Open the microwave with glossy dark gray finish by pulling with the left arm.",
+    "Handle the microwave with glossy dark gray finish and open it with the left arm.",
+    "Engage the left arm to open the microwave with smooth surface.",
+    "Pull the door of the gray and glass microwave for cooking to open it.",
+    "Open the medium microwave with slanted sides by pulling its handle.",
+    "Grab and pull the medium microwave with slanted sides using the left arm.",
+    "Grab the handle and open the microwave for heating food with the left arm.",
+    "Use the handle to open the microwave for heating food.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Open the microwave for heating food by pulling its handle.",
+    "Open the gray appliance with transparent glass top using the left arm.",
+    "Access the inside by opening the microwave with smooth surface.",
+    "Pull the microwave with glass top's handle to open it.",
+    "Pull open the door of the microwave with glossy dark gray finish using the left arm.",
+    "Open the microwave for heating food by grasping its handle.",
+    "Use the left arm to open the gray and glass microwave for cooking by pulling.",
+    "Utilize the left arm to pull the dark gray kitchen microwave open.",
+    "Engage the gray appliance with transparent glass top's handle and open it.",
+    "Use the left arm to grab and open the dark gray kitchen microwave.",
+    "Pull the handle of the microwave with smooth surface to open it.",
+    "Grasp the medium microwave with slanted sides's handle and pull to open.",
+    "Use the left arm to engage the dark gray kitchen microwave's opening mechanism.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Pull and open the microwave for heating food.",
+    "Grip the dark gray slanted microwave box's handle and pull it open.",
+    "Activate the door to open the microwave with smooth surface.",
+    "Use the left arm to grab and pull the microwave with glass top.",
+    "Pull the the medium microwave with slanted sides's handle using the left arm.",
+    "Grab the handle and open the microwave with glossy dark gray finish.",
+    "Get the rectangular microwave with clear glass panel open.",
+    "Use the left arm to pull the microwave for heating food open.",
+    "Pull the handle of the dark gray slanted microwave box with the left arm.",
+    "Pull the door to open the rectangular gray microwave.",
+    "Use the left arm to pull open the door of the microwave with glossy dark gray finish.",
+    "Pull the handle to open the microwave.",
+    "Pull to open the rectangular gray microwave.",
+    "Engage the rectangular microwave with clear glass panel using the left arm to open.",
+    "Open the microwave for heating food by pulling on its handle.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Open the gray appliance with transparent glass top by pulling with the left arm.",
+    "Handle the microwave with smooth surface and open it with the left arm.",
+    "Engage the left arm to open the microwave with glass top.",
+    "Pull the door of the microwave for heating food to open it.",
+    "Open the microwave with smooth surface by pulling its handle.",
+    "Grab and pull the microwave using the left arm.",
+    "Grab the handle and open the microwave with smooth surface with the left arm.",
+    "Use the handle to open the microwave with glass top.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Open the microwave with glossy dark gray finish using the left arm.",
+    "Access the inside by opening the microwave with glossy dark gray finish.",
+    "Pull the microwave with glass top's handle to open it.",
+    "Pull open the door of the microwave with smooth surface using the left arm.",
+    "Open the microwave with smooth surface by grasping its handle.",
+    "Use the left arm to open the microwave with glossy dark gray finish by pulling.",
+    "Utilize the left arm to pull the dark gray slanted microwave box open.",
+    "Engage the rectangular gray microwave's handle and open it.",
+    "Use the left arm to grab and open the microwave with glass top.",
+    "Pull the handle of the microwave with glossy dark gray finish to open it.",
+    "Grasp the microwave for heating food's handle and pull to open.",
+    "Use the left arm to engage the gray appliance with transparent glass top's opening mechanism.",
+    "Open the gray appliance with transparent glass top by pulling its door with the left arm.",
+    "Pull and open the gray and glass microwave for cooking.",
+    "Grip the microwave's handle and pull it open.",
+    "Activate the door to open the microwave with glass top.",
+    "Use the left arm to grab and pull the medium microwave with slanted sides.",
+    "Pull the the dark gray slanted microwave box's handle using the left arm.",
+    "Grab the handle and open the microwave.",
+    "Get the rectangular microwave with clear glass panel open.",
+    "Use the left arm to pull the rectangular gray microwave open.",
+    "Pull the handle of the gray and glass microwave for cooking with the left arm.",
+    "Pull the door to open the dark gray slanted microwave box.",
+    "Use the left arm to pull open the door of the microwave with glass top.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Pull to open the gray appliance with transparent glass top.",
+    "Engage the rectangular gray microwave using the left arm to open.",
+    "Open the dark gray slanted microwave box by pulling on its handle.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Open the microwave for heating food by pulling with the left arm.",
+    "Handle the microwave with glossy dark gray finish and open it with the left arm.",
+    "Engage the left arm to open the gray appliance with transparent glass top.",
+    "Pull the door of the dark gray kitchen microwave to open it.",
+    "Open the microwave with smooth surface by pulling its handle.",
+    "Grab and pull the rectangular gray microwave using the left arm.",
+    "Grab the handle and open the rectangular gray microwave with the left arm."
+  ],
+  "unseen": [
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the dark gray microwave using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the dark gray microwave using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the dark gray microwave by pulling its door handle."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode16.json b/open_microwave/demo_clean/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..203f1359b9abb106e6f08aac08e8d2d246782e35
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode16.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the yellow-sided microwave by grasping its handle.",
+    "Open the gray microwave by pulling with the left arm.",
+    "Access the inside by opening the microwave with patterned top and knobs.",
+    "Pull the the countertop microwave's handle using the left arm.",
+    "Engage the microwave with patterned top and knobs's handle and open it.",
+    "Grab the handle and open the rectangular microwave with the left arm.",
+    "Use the handle to open the gray microwave.",
+    "Grip the gray microwave's handle and pull it open.",
+    "Open the yellow-sided microwave using the left arm.",
+    "Pull to open the microwave with patterned top and knobs.",
+    "Pull the handle of the yellow-panel microwave with smooth sides with the left arm.",
+    "Grasp the microwave with knobs's handle and pull to open.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Engage the yellow-panel microwave with smooth sides using the left arm to open.",
+    "Pull and open the countertop microwave.",
+    "Pull the door to open the yellow-sided microwave.",
+    "Use the left arm to engage the yellow-sided microwave's opening mechanism.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Pull the door of the microwave with knobs to open it.",
+    "Use the left arm to pull the rectangular microwave open.",
+    "Open the microwave by pulling on its handle.",
+    "Activate the door to open the yellow-panel microwave with smooth sides.",
+    "Pull the handle to open the microwave with knobs.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Pull the handle of the medium microwave to open it.",
+    "Utilize the left arm to pull the gray microwave with two control knobs open.",
+    "Grab and pull the microwave with patterned top and knobs using the left arm.",
+    "Use the left arm to open the microwave with textured top panel by pulling.",
+    "Engage the left arm to open the microwave.",
+    "Use the left arm to pull open the door of the medium microwave.",
+    "Open the microwave with textured top panel by pulling its door with the left arm.",
+    "Get the medium microwave open.",
+    "Use the left arm to grab and pull the rectangular microwave.",
+    "Pull open the door of the microwave using the left arm.",
+    "Pull the microwave's handle to open it.",
+    "Use the left arm to grab and open the microwave.",
+    "Handle the microwave with knobs and open it with the left arm.",
+    "Grab the handle and open the microwave.",
+    "Open the microwave with textured top panel by grasping its handle.",
+    "Open the microwave with knobs by pulling with the left arm.",
+    "Access the inside by opening the microwave with knobs.",
+    "Pull the the gray microwave with two control knobs's handle using the left arm.",
+    "Engage the medium microwave's handle and open it.",
+    "Grab the handle and open the medium microwave with the left arm.",
+    "Use the handle to open the microwave.",
+    "Grip the yellow-sided microwave's handle and pull it open.",
+    "Open the countertop microwave using the left arm.",
+    "Pull to open the medium microwave.",
+    "Pull the handle of the microwave with knobs with the left arm.",
+    "Grasp the microwave with textured top panel's handle and pull to open.",
+    "Pull the handle to open the microwave with knobs.",
+    "Pull the handle to open the microwave with knobs.",
+    "Engage the yellow-sided microwave using the left arm to open.",
+    "Pull and open the microwave with textured top panel.",
+    "Pull the door to open the countertop microwave.",
+    "Use the left arm to engage the yellow-panel microwave with smooth sides's opening mechanism.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Pull the door of the yellow-sided microwave to open it.",
+    "Use the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Open the gray microwave by pulling on its handle.",
+    "Activate the door to open the medium microwave.",
+    "Pull the handle to open the microwave with knobs.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Pull the handle of the gray and yellow microwave with rounded edges to open it.",
+    "Utilize the left arm to pull the yellow-sided microwave open.",
+    "Grab and pull the microwave with textured top panel using the left arm.",
+    "Use the left arm to open the gray microwave by pulling.",
+    "Engage the left arm to open the yellow-sided microwave.",
+    "Use the left arm to pull open the door of the microwave.",
+    "Open the microwave with patterned top and knobs by pulling its door with the left arm.",
+    "Get the medium microwave open.",
+    "Use the left arm to grab and pull the microwave.",
+    "Pull open the door of the microwave with knobs using the left arm.",
+    "Pull the gray microwave's handle to open it.",
+    "Use the left arm to grab and open the microwave with patterned top and knobs.",
+    "Handle the medium microwave and open it with the left arm.",
+    "Grab the handle and open the microwave.",
+    "Open the gray microwave by grasping its handle.",
+    "Open the yellow-sided microwave by pulling with the left arm.",
+    "Access the inside by opening the yellow-sided microwave.",
+    "Pull the the gray microwave with two control knobs's handle using the left arm.",
+    "Engage the microwave with textured top panel's handle and open it.",
+    "Grab the handle and open the yellow-sided microwave with the left arm.",
+    "Use the handle to open the gray and yellow microwave with rounded edges.",
+    "Grip the microwave's handle and pull it open.",
+    "Open the microwave with textured top panel using the left arm.",
+    "Pull to open the rectangular microwave.",
+    "Pull the handle of the microwave with textured top panel with the left arm.",
+    "Grasp the yellow-panel microwave with smooth sides's handle and pull to open.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Pull the handle to open the microwave with knobs.",
+    "Engage the gray and yellow microwave with rounded edges using the left arm to open.",
+    "Pull and open the microwave with textured top panel.",
+    "Pull the door to open the countertop microwave.",
+    "Use the left arm to engage the yellow-sided microwave's opening mechanism.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Pull the door of the gray and yellow microwave with rounded edges to open it.",
+    "Use the left arm to pull the yellow-sided microwave open.",
+    "Open the gray microwave by pulling on its handle."
+  ],
+  "unseen": [
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode17.json b/open_microwave/demo_clean/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c8bbfb4ab741827f1fc52c9b9a673b8f58b0492
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode17.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the handle of the medium microwave to open it.",
+    "Activate the door to open the rectangular microwave.",
+    "Use the left arm to pull open the door of the medium microwave.",
+    "Pull the door of the yellow-sided microwave to open it.",
+    "Access the inside by opening the rectangular microwave.",
+    "Grasp the microwave with knobs's handle and pull to open.",
+    "Grab the handle and open the microwave with textured top panel.",
+    "Pull the the gray microwave with two control knobs's handle using the left arm.",
+    "Engage the yellow-sided microwave's handle and open it.",
+    "Engage the microwave using the left arm to open.",
+    "Open the yellow-panel microwave with smooth sides by grasping its handle.",
+    "Use the handle to open the gray microwave.",
+    "Grab and pull the countertop microwave using the left arm.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Open the yellow-panel microwave with smooth sides using the left arm.",
+    "Grab the handle and open the medium microwave with the left arm.",
+    "Pull the yellow-panel microwave with smooth sides's handle to open it.",
+    "Use the left arm to grab and pull the yellow-panel microwave with smooth sides.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Grip the countertop microwave's handle and pull it open.",
+    "Utilize the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Open the microwave with knobs by pulling on its handle.",
+    "Handle the gray and yellow microwave with rounded edges and open it with the left arm.",
+    "Pull to open the microwave with patterned top and knobs.",
+    "Get the gray and yellow microwave with rounded edges open.",
+    "Pull and open the medium microwave.",
+    "Use the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Use the left arm to engage the yellow-panel microwave with smooth sides's opening mechanism.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Pull the handle of the gray and yellow microwave with rounded edges with the left arm.",
+    "Use the left arm to grab and open the medium microwave.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Pull the handle to open the gray microwave.",
+    "Open the countertop microwave by pulling with the left arm.",
+    "Pull open the door of the yellow-sided microwave using the left arm.",
+    "Pull the door to open the rectangular microwave.",
+    "Use the left arm to open the gray microwave with two control knobs by pulling.",
+    "Pull the handle to open the microwave.",
+    "Engage the left arm to open the microwave with knobs.",
+    "Pull the handle of the gray microwave to open it.",
+    "Activate the door to open the rectangular microwave.",
+    "Use the left arm to pull open the door of the gray and yellow microwave with rounded edges.",
+    "Pull the door of the gray and yellow microwave with rounded edges to open it.",
+    "Access the inside by opening the countertop microwave.",
+    "Grasp the gray microwave with two control knobs's handle and pull to open.",
+    "Grab the handle and open the microwave with knobs.",
+    "Pull the the microwave's handle using the left arm.",
+    "Engage the gray microwave's handle and open it.",
+    "Engage the rectangular microwave using the left arm to open.",
+    "Open the microwave with textured top panel by grasping its handle.",
+    "Use the handle to open the yellow-sided microwave.",
+    "Grab and pull the yellow-panel microwave with smooth sides using the left arm.",
+    "Open the microwave with textured top panel by pulling its door with the left arm.",
+    "Open the microwave using the left arm.",
+    "Grab the handle and open the gray microwave with two control knobs with the left arm.",
+    "Pull the gray microwave with two control knobs's handle to open it.",
+    "Use the left arm to grab and pull the gray and yellow microwave with rounded edges.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Grip the medium microwave's handle and pull it open.",
+    "Utilize the left arm to pull the microwave with knobs open.",
+    "Open the microwave with textured top panel by pulling on its handle.",
+    "Handle the countertop microwave and open it with the left arm.",
+    "Pull to open the yellow-panel microwave with smooth sides.",
+    "Get the gray microwave with two control knobs open.",
+    "Pull and open the countertop microwave.",
+    "Use the left arm to pull the microwave with textured top panel open.",
+    "Use the left arm to engage the microwave with knobs's opening mechanism.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Pull the handle of the gray and yellow microwave with rounded edges with the left arm.",
+    "Use the left arm to grab and open the gray and yellow microwave with rounded edges.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Open the microwave with textured top panel by pulling with the left arm.",
+    "Pull open the door of the yellow-sided microwave using the left arm.",
+    "Pull the door to open the rectangular microwave.",
+    "Use the left arm to open the yellow-sided microwave by pulling.",
+    "Pull the handle to open the medium microwave.",
+    "Engage the left arm to open the gray microwave.",
+    "Pull the handle of the yellow-panel microwave with smooth sides to open it.",
+    "Activate the door to open the medium microwave.",
+    "Use the left arm to pull open the door of the microwave with textured top panel.",
+    "Pull the door of the medium microwave to open it.",
+    "Access the inside by opening the yellow-panel microwave with smooth sides.",
+    "Grasp the gray microwave's handle and pull to open.",
+    "Grab the handle and open the countertop microwave.",
+    "Pull the the microwave with textured top panel's handle using the left arm.",
+    "Engage the gray microwave with two control knobs's handle and open it.",
+    "Engage the gray microwave with two control knobs using the left arm to open.",
+    "Open the medium microwave by grasping its handle.",
+    "Use the handle to open the rectangular microwave.",
+    "Grab and pull the yellow-sided microwave using the left arm.",
+    "Open the countertop microwave by pulling its door with the left arm.",
+    "Open the gray and yellow microwave with rounded edges using the left arm.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides with the left arm.",
+    "Pull the microwave with patterned top and knobs's handle to open it.",
+    "Use the left arm to grab and pull the microwave with knobs.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Grip the microwave with knobs's handle and pull it open.",
+    "Utilize the left arm to pull the gray microwave with two control knobs open.",
+    "Open the gray and yellow microwave with rounded edges by pulling on its handle."
+  ],
+  "unseen": [
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode18.json b/open_microwave/demo_clean/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba47859b87d47c8d412e64f829a6cb3eb601a812
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode18.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to engage the gray and glass microwave for cooking's opening mechanism.",
+    "Use the left arm to grab and pull the microwave with smooth surface.",
+    "Pull the handle of the microwave with glass top to open it.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Grip the dark gray slanted microwave box's handle and pull it open.",
+    "Engage the left arm to open the gray appliance with transparent glass top.",
+    "Open the microwave with glass top by pulling its door with the left arm.",
+    "Grab and pull the microwave for heating food using the left arm.",
+    "Pull the the rectangular microwave with clear glass panel's handle using the left arm.",
+    "Utilize the left arm to pull the medium microwave with slanted sides open.",
+    "Pull the door to open the microwave with smooth surface.",
+    "Pull the door of the gray and glass microwave for cooking to open it.",
+    "Pull the handle of the gray and glass microwave for cooking with the left arm.",
+    "Use the left arm to pull open the door of the microwave.",
+    "Pull the microwave with smooth surface's handle to open it.",
+    "Open the dark gray kitchen microwave by pulling on its handle.",
+    "Open the medium microwave with slanted sides by pulling its handle.",
+    "Open the dark gray slanted microwave box by pulling with the left arm.",
+    "Open the microwave by grasping its handle.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Grab the handle and open the rectangular gray microwave with the left arm.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Open the dark gray slanted microwave box using the left arm.",
+    "Get the microwave with glossy dark gray finish open.",
+    "Pull the handle to open the microwave.",
+    "Access the inside by opening the dark gray kitchen microwave.",
+    "Grasp the rectangular microwave with clear glass panel's handle and pull to open.",
+    "Use the handle to open the microwave.",
+    "Pull open the door of the rectangular microwave with clear glass panel using the left arm.",
+    "Engage the dark gray slanted microwave box's handle and open it.",
+    "Use the left arm to pull the microwave for heating food open.",
+    "Use the left arm to grab and open the microwave with glossy dark gray finish.",
+    "Activate the door to open the microwave.",
+    "Engage the rectangular gray microwave using the left arm to open.",
+    "Pull and open the microwave.",
+    "Use the left arm to open the gray appliance with transparent glass top by pulling.",
+    "Grab the handle and open the microwave for heating food.",
+    "Pull to open the microwave.",
+    "Handle the rectangular microwave with clear glass panel and open it with the left arm.",
+    "Use the left arm to engage the gray and glass microwave for cooking's opening mechanism.",
+    "Use the left arm to grab and pull the gray and glass microwave for cooking.",
+    "Pull the handle of the microwave for heating food to open it.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Grip the gray and glass microwave for cooking's handle and pull it open.",
+    "Engage the left arm to open the gray and glass microwave for cooking.",
+    "Open the microwave for heating food by pulling its door with the left arm.",
+    "Grab and pull the rectangular microwave with clear glass panel using the left arm.",
+    "Pull the the dark gray slanted microwave box's handle using the left arm.",
+    "Utilize the left arm to pull the dark gray kitchen microwave open.",
+    "Pull the door to open the microwave with smooth surface.",
+    "Pull the door of the microwave with glass top to open it.",
+    "Pull the handle of the dark gray slanted microwave box with the left arm.",
+    "Use the left arm to pull open the door of the microwave.",
+    "Pull the microwave with glossy dark gray finish's handle to open it.",
+    "Open the medium microwave with slanted sides by pulling on its handle.",
+    "Open the microwave with smooth surface by pulling its handle.",
+    "Open the microwave with glass top by pulling with the left arm.",
+    "Open the dark gray kitchen microwave by grasping its handle.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Grab the handle and open the microwave for heating food with the left arm.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Open the microwave with glass top using the left arm.",
+    "Get the gray appliance with transparent glass top open.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Access the inside by opening the microwave for heating food.",
+    "Grasp the microwave with glossy dark gray finish's handle and pull to open.",
+    "Use the handle to open the microwave.",
+    "Pull open the door of the rectangular microwave with clear glass panel using the left arm.",
+    "Engage the dark gray kitchen microwave's handle and open it.",
+    "Use the left arm to pull the rectangular microwave with clear glass panel open.",
+    "Use the left arm to grab and open the microwave.",
+    "Activate the door to open the microwave with glossy dark gray finish.",
+    "Engage the rectangular microwave with clear glass panel using the left arm to open.",
+    "Pull and open the microwave with smooth surface.",
+    "Use the left arm to open the microwave by pulling.",
+    "Grab the handle and open the gray and glass microwave for cooking.",
+    "Pull to open the dark gray kitchen microwave.",
+    "Handle the microwave and open it with the left arm.",
+    "Use the left arm to engage the dark gray kitchen microwave's opening mechanism.",
+    "Use the left arm to grab and pull the dark gray slanted microwave box.",
+    "Pull the handle of the microwave with glass top to open it.",
+    "Open the gray and glass microwave for cooking by pulling its handle.",
+    "Grip the rectangular microwave with clear glass panel's handle and pull it open.",
+    "Engage the left arm to open the microwave.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Grab and pull the rectangular microwave with clear glass panel using the left arm.",
+    "Pull the the microwave with glossy dark gray finish's handle using the left arm.",
+    "Utilize the left arm to pull the dark gray kitchen microwave open.",
+    "Pull the door to open the microwave for heating food.",
+    "Pull the door of the microwave for heating food to open it.",
+    "Pull the handle of the dark gray kitchen microwave with the left arm.",
+    "Use the left arm to pull open the door of the dark gray kitchen microwave.",
+    "Pull the dark gray slanted microwave box's handle to open it.",
+    "Open the microwave by pulling on its handle.",
+    "Open the rectangular microwave with clear glass panel by pulling its handle.",
+    "Open the microwave by pulling with the left arm.",
+    "Open the gray and glass microwave for cooking by grasping its handle.",
+    "Pull the handle to open the microwave with glass top.",
+    "Grab the handle and open the dark gray kitchen microwave with the left arm.",
+    "Pull the handle to open the microwave."
+  ],
+  "unseen": [
+    "Move the left arm and open the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode19.json b/open_microwave/demo_clean/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba5806f2e3963dcf99aba9670f804493e80c65af
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode19.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the handle to open the dark gray slanted microwave box.",
+    "Pull and open the gray appliance with transparent glass top.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Pull the handle of the microwave with smooth surface with the left arm.",
+    "Open the microwave with glossy dark gray finish by pulling on its handle.",
+    "Get the gray appliance with transparent glass top open.",
+    "Open the gray appliance with transparent glass top by grasping its handle.",
+    "Engage the microwave with smooth surface using the left arm to open.",
+    "Grip the medium microwave with slanted sides's handle and pull it open.",
+    "Access the inside by opening the microwave.",
+    "Pull the door to open the microwave with glossy dark gray finish.",
+    "Open the gray appliance with transparent glass top by pulling its handle.",
+    "Use the left arm to pull the gray appliance with transparent glass top open.",
+    "Open the microwave with glass top by pulling its handle.",
+    "Grasp the dark gray slanted microwave box's handle and pull to open.",
+    "Activate the door to open the gray and glass microwave for cooking.",
+    "Utilize the left arm to pull the microwave with glass top open.",
+    "Pull open the door of the gray and glass microwave for cooking using the left arm.",
+    "Pull the the gray and glass microwave for cooking's handle using the left arm.",
+    "Pull the handle of the medium microwave with slanted sides to open it.",
+    "Open the rectangular gray microwave by pulling with the left arm.",
+    "Pull the handle to open the microwave with glass top.",
+    "Grab the handle and open the gray and glass microwave for cooking.",
+    "Engage the left arm to open the microwave with smooth surface.",
+    "Use the left arm to open the gray and glass microwave for cooking by pulling.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Use the left arm to grab and pull the medium microwave with slanted sides.",
+    "Use the left arm to grab and open the microwave.",
+    "Pull to open the rectangular microwave with clear glass panel.",
+    "Open the dark gray slanted microwave box by pulling its door with the left arm.",
+    "Open the microwave for heating food using the left arm.",
+    "Grab the handle and open the microwave for heating food with the left arm.",
+    "Pull the medium microwave with slanted sides's handle to open it.",
+    "Engage the microwave for heating food's handle and open it.",
+    "Use the left arm to engage the dark gray kitchen microwave's opening mechanism.",
+    "Pull the door of the microwave for heating food to open it.",
+    "Handle the microwave and open it with the left arm.",
+    "Use the left arm to pull open the door of the dark gray kitchen microwave.",
+    "Grab and pull the microwave with glossy dark gray finish using the left arm.",
+    "Use the handle to open the microwave for heating food.",
+    "Pull and open the microwave for heating food.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Pull the handle of the microwave for heating food with the left arm.",
+    "Open the microwave with glass top by pulling on its handle.",
+    "Get the microwave with glass top open.",
+    "Open the rectangular microwave with clear glass panel by grasping its handle.",
+    "Engage the microwave with glass top using the left arm to open.",
+    "Grip the rectangular gray microwave's handle and pull it open.",
+    "Access the inside by opening the gray appliance with transparent glass top.",
+    "Pull the door to open the dark gray kitchen microwave.",
+    "Open the dark gray kitchen microwave by pulling its handle.",
+    "Use the left arm to pull the gray and glass microwave for cooking open.",
+    "Open the microwave with smooth surface by pulling its handle.",
+    "Grasp the rectangular gray microwave's handle and pull to open.",
+    "Activate the door to open the gray appliance with transparent glass top.",
+    "Utilize the left arm to pull the rectangular gray microwave open.",
+    "Pull open the door of the microwave for heating food using the left arm.",
+    "Pull the the dark gray kitchen microwave's handle using the left arm.",
+    "Pull the handle of the microwave with smooth surface to open it.",
+    "Open the gray and glass microwave for cooking by pulling with the left arm.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Grab the handle and open the dark gray kitchen microwave.",
+    "Engage the left arm to open the microwave for heating food.",
+    "Use the left arm to open the microwave by pulling.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Use the left arm to grab and pull the gray appliance with transparent glass top.",
+    "Use the left arm to grab and open the rectangular microwave with clear glass panel.",
+    "Pull to open the microwave with smooth surface.",
+    "Open the gray and glass microwave for cooking by pulling its door with the left arm.",
+    "Open the gray appliance with transparent glass top using the left arm.",
+    "Grab the handle and open the microwave for heating food with the left arm.",
+    "Pull the medium microwave with slanted sides's handle to open it.",
+    "Engage the rectangular gray microwave's handle and open it.",
+    "Use the left arm to engage the rectangular gray microwave's opening mechanism.",
+    "Pull the door of the rectangular microwave with clear glass panel to open it.",
+    "Handle the microwave with smooth surface and open it with the left arm.",
+    "Use the left arm to pull open the door of the dark gray slanted microwave box.",
+    "Grab and pull the microwave with smooth surface using the left arm.",
+    "Use the handle to open the gray appliance with transparent glass top.",
+    "Pull and open the rectangular gray microwave.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Pull the handle of the microwave with smooth surface with the left arm.",
+    "Open the dark gray kitchen microwave by pulling on its handle.",
+    "Get the microwave with smooth surface open.",
+    "Open the microwave with smooth surface by grasping its handle.",
+    "Engage the microwave for heating food using the left arm to open.",
+    "Grip the medium microwave with slanted sides's handle and pull it open.",
+    "Access the inside by opening the microwave with glossy dark gray finish.",
+    "Pull the door to open the rectangular microwave with clear glass panel.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Use the left arm to pull the rectangular gray microwave open.",
+    "Open the medium microwave with slanted sides by pulling its handle.",
+    "Grasp the dark gray slanted microwave box's handle and pull to open.",
+    "Activate the door to open the microwave with glossy dark gray finish.",
+    "Utilize the left arm to pull the rectangular gray microwave open.",
+    "Pull open the door of the microwave using the left arm.",
+    "Pull the the microwave with smooth surface's handle using the left arm.",
+    "Pull the handle of the rectangular gray microwave to open it.",
+    "Open the microwave with glossy dark gray finish by pulling with the left arm.",
+    "Pull the handle to open the microwave."
+  ],
+  "unseen": [
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the medium-sized microwave with angled walls."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode2.json b/open_microwave/demo_clean/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..3656351be1d78ea450c08ac415d6d56dcf38a525
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode2.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the handle of the gray microwave with two control knobs to open it.",
+    "Pull the rectangular microwave's handle to open it.",
+    "Use the left arm to engage the yellow-panel microwave with smooth sides's opening mechanism.",
+    "Pull the door of the microwave with knobs to open it.",
+    "Pull the handle of the microwave with the left arm.",
+    "Open the medium microwave by grasping its handle.",
+    "Use the left arm to grab and open the microwave with textured top panel.",
+    "Grab the handle and open the microwave with knobs.",
+    "Handle the microwave with patterned top and knobs and open it with the left arm.",
+    "Get the medium microwave open.",
+    "Activate the door to open the microwave.",
+    "Access the inside by opening the microwave with textured top panel.",
+    "Pull the handle to open the microwave.",
+    "Open the countertop microwave by pulling its handle.",
+    "Grasp the gray microwave with two control knobs's handle and pull to open.",
+    "Use the left arm to pull the countertop microwave open.",
+    "Open the gray microwave with two control knobs using the left arm.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Engage the microwave using the left arm to open.",
+    "Pull and open the microwave with knobs.",
+    "Pull open the door of the microwave with textured top panel using the left arm.",
+    "Use the left arm to pull open the door of the microwave with patterned top and knobs.",
+    "Pull to open the rectangular microwave.",
+    "Engage the left arm to open the gray and yellow microwave with rounded edges.",
+    "Use the left arm to grab and pull the microwave with knobs.",
+    "Grip the yellow-panel microwave with smooth sides's handle and pull it open.",
+    "Engage the microwave's handle and open it.",
+    "Pull the the microwave with knobs's handle using the left arm.",
+    "Open the gray and yellow microwave with rounded edges by pulling on its handle.",
+    "Pull the door to open the countertop microwave.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Use the handle to open the rectangular microwave.",
+    "Grab and pull the countertop microwave using the left arm.",
+    "Open the microwave with patterned top and knobs by pulling with the left arm.",
+    "Grab the handle and open the microwave with patterned top and knobs with the left arm.",
+    "Use the left arm to open the microwave by pulling.",
+    "Utilize the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Open the microwave with patterned top and knobs by pulling its door with the left arm.",
+    "Pull the handle of the rectangular microwave to open it.",
+    "Pull the microwave with knobs's handle to open it.",
+    "Use the left arm to engage the microwave with knobs's opening mechanism.",
+    "Pull the door of the microwave with knobs to open it.",
+    "Pull the handle of the gray microwave with the left arm.",
+    "Open the gray microwave by grasping its handle.",
+    "Use the left arm to grab and open the microwave.",
+    "Grab the handle and open the microwave with patterned top and knobs.",
+    "Handle the yellow-sided microwave and open it with the left arm.",
+    "Get the microwave with textured top panel open.",
+    "Activate the door to open the microwave with textured top panel.",
+    "Access the inside by opening the microwave.",
+    "Pull the handle to open the countertop microwave.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Grasp the microwave with knobs's handle and pull to open.",
+    "Use the left arm to pull the countertop microwave open.",
+    "Open the microwave with textured top panel using the left arm.",
+    "Pull the handle to open the countertop microwave.",
+    "Engage the microwave with knobs using the left arm to open.",
+    "Pull and open the yellow-panel microwave with smooth sides.",
+    "Pull open the door of the yellow-sided microwave using the left arm.",
+    "Use the left arm to pull open the door of the countertop microwave.",
+    "Pull to open the microwave with knobs.",
+    "Engage the left arm to open the gray microwave.",
+    "Use the left arm to grab and pull the gray microwave.",
+    "Grip the microwave with patterned top and knobs's handle and pull it open.",
+    "Engage the gray and yellow microwave with rounded edges's handle and open it.",
+    "Pull the the microwave's handle using the left arm.",
+    "Open the gray microwave with two control knobs by pulling on its handle.",
+    "Pull the door to open the medium microwave.",
+    "Open the medium microwave by pulling its handle.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Use the handle to open the microwave with knobs.",
+    "Grab and pull the microwave with knobs using the left arm.",
+    "Open the microwave with patterned top and knobs by pulling with the left arm.",
+    "Grab the handle and open the yellow-sided microwave with the left arm.",
+    "Use the left arm to open the rectangular microwave by pulling.",
+    "Utilize the left arm to pull the yellow-sided microwave open.",
+    "Open the microwave with textured top panel by pulling its door with the left arm.",
+    "Pull the handle of the gray and yellow microwave with rounded edges to open it.",
+    "Pull the gray and yellow microwave with rounded edges's handle to open it.",
+    "Use the left arm to engage the microwave with patterned top and knobs's opening mechanism.",
+    "Pull the door of the medium microwave to open it.",
+    "Pull the handle of the gray and yellow microwave with rounded edges with the left arm.",
+    "Open the yellow-panel microwave with smooth sides by grasping its handle.",
+    "Use the left arm to grab and open the medium microwave.",
+    "Grab the handle and open the medium microwave.",
+    "Handle the yellow-panel microwave with smooth sides and open it with the left arm.",
+    "Get the microwave open.",
+    "Activate the door to open the gray and yellow microwave with rounded edges.",
+    "Access the inside by opening the microwave.",
+    "Pull the handle to open the microwave.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Grasp the microwave with patterned top and knobs's handle and pull to open.",
+    "Use the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Open the gray microwave using the left arm.",
+    "Pull the handle to open the microwave.",
+    "Engage the rectangular microwave using the left arm to open.",
+    "Pull and open the yellow-sided microwave.",
+    "Pull open the door of the gray microwave with two control knobs using the left arm.",
+    "Use the left arm to pull open the door of the microwave with patterned top and knobs."
+  ],
+  "unseen": [
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode20.json b/open_microwave/demo_clean/instructions/episode20.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3b95eb49e4915391342fa7e210381eeaaae5a31
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode20.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the door of the gray appliance with transparent glass top to open it.",
+    "Open the rectangular gray microwave by pulling with the left arm.",
+    "Use the left arm to pull the rectangular gray microwave open.",
+    "Pull the door to open the microwave with glossy dark gray finish.",
+    "Grab the handle and open the dark gray kitchen microwave with the left arm.",
+    "Engage the left arm to open the medium microwave with slanted sides.",
+    "Grip the microwave with glass top's handle and pull it open.",
+    "Open the microwave with glossy dark gray finish by pulling on its handle.",
+    "Use the handle to open the microwave with glass top.",
+    "Pull the the gray and glass microwave for cooking's handle using the left arm.",
+    "Pull to open the microwave.",
+    "Pull the microwave with glossy dark gray finish's handle to open it.",
+    "Open the dark gray kitchen microwave by pulling its handle.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Open the microwave for heating food by pulling its handle.",
+    "Pull the handle of the microwave to open it.",
+    "Pull and open the microwave.",
+    "Activate the door to open the microwave with glossy dark gray finish.",
+    "Grab and pull the microwave for heating food using the left arm.",
+    "Engage the rectangular microwave with clear glass panel's handle and open it.",
+    "Utilize the left arm to pull the gray and glass microwave for cooking open.",
+    "Handle the microwave for heating food and open it with the left arm.",
+    "Engage the microwave with glossy dark gray finish using the left arm to open.",
+    "Open the dark gray kitchen microwave using the left arm.",
+    "Use the left arm to pull open the door of the rectangular gray microwave.",
+    "Pull the handle of the microwave with glossy dark gray finish with the left arm.",
+    "Use the left arm to grab and open the microwave.",
+    "Open the rectangular microwave with clear glass panel by pulling its door with the left arm.",
+    "Open the gray appliance with transparent glass top by grasping its handle.",
+    "Access the inside by opening the gray appliance with transparent glass top.",
+    "Use the left arm to engage the microwave for heating food's opening mechanism.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Use the left arm to open the microwave by pulling.",
+    "Grasp the rectangular microwave with clear glass panel's handle and pull to open.",
+    "Pull the handle to open the microwave for heating food.",
+    "Grab the handle and open the microwave with glossy dark gray finish.",
+    "Get the microwave for heating food open.",
+    "Use the left arm to grab and pull the medium microwave with slanted sides.",
+    "Pull open the door of the gray appliance with transparent glass top using the left arm.",
+    "Pull the door of the rectangular microwave with clear glass panel to open it.",
+    "Open the dark gray kitchen microwave by pulling with the left arm.",
+    "Use the left arm to pull the microwave with smooth surface open.",
+    "Pull the door to open the rectangular gray microwave.",
+    "Grab the handle and open the dark gray kitchen microwave with the left arm.",
+    "Engage the left arm to open the medium microwave with slanted sides.",
+    "Grip the microwave's handle and pull it open.",
+    "Open the rectangular microwave with clear glass panel by pulling on its handle.",
+    "Use the handle to open the dark gray kitchen microwave.",
+    "Pull the the gray and glass microwave for cooking's handle using the left arm.",
+    "Pull to open the microwave with glass top.",
+    "Pull the microwave with glossy dark gray finish's handle to open it.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Pull the handle to open the microwave.",
+    "Open the gray and glass microwave for cooking by pulling its handle.",
+    "Pull the handle of the microwave to open it.",
+    "Pull and open the rectangular microwave with clear glass panel.",
+    "Activate the door to open the microwave for heating food.",
+    "Grab and pull the medium microwave with slanted sides using the left arm.",
+    "Engage the dark gray kitchen microwave's handle and open it.",
+    "Utilize the left arm to pull the rectangular microwave with clear glass panel open.",
+    "Handle the microwave and open it with the left arm.",
+    "Engage the microwave with smooth surface using the left arm to open.",
+    "Open the gray appliance with transparent glass top using the left arm.",
+    "Use the left arm to pull open the door of the microwave with glossy dark gray finish.",
+    "Pull the handle of the microwave with the left arm.",
+    "Use the left arm to grab and open the gray appliance with transparent glass top.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Open the medium microwave with slanted sides by grasping its handle.",
+    "Access the inside by opening the medium microwave with slanted sides.",
+    "Use the left arm to engage the medium microwave with slanted sides's opening mechanism.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Use the left arm to open the gray appliance with transparent glass top by pulling.",
+    "Grasp the gray appliance with transparent glass top's handle and pull to open.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Grab the handle and open the microwave for heating food.",
+    "Get the rectangular gray microwave open.",
+    "Use the left arm to grab and pull the microwave with glass top.",
+    "Pull open the door of the rectangular microwave with clear glass panel using the left arm.",
+    "Pull the door of the microwave with smooth surface to open it.",
+    "Open the microwave with glass top by pulling with the left arm.",
+    "Use the left arm to pull the microwave open.",
+    "Pull the door to open the microwave.",
+    "Grab the handle and open the microwave for heating food with the left arm.",
+    "Engage the left arm to open the microwave.",
+    "Grip the dark gray kitchen microwave's handle and pull it open.",
+    "Open the microwave for heating food by pulling on its handle.",
+    "Use the handle to open the microwave with glass top.",
+    "Pull the the dark gray kitchen microwave's handle using the left arm.",
+    "Pull to open the dark gray kitchen microwave.",
+    "Pull the microwave with glass top's handle to open it.",
+    "Open the rectangular gray microwave by pulling its handle.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Open the microwave with smooth surface by pulling its handle.",
+    "Pull the handle of the microwave with smooth surface to open it.",
+    "Pull and open the microwave with glass top.",
+    "Activate the door to open the microwave for heating food.",
+    "Grab and pull the dark gray slanted microwave box using the left arm.",
+    "Engage the microwave with smooth surface's handle and open it.",
+    "Utilize the left arm to pull the microwave open.",
+    "Handle the microwave with glass top and open it with the left arm."
+  ],
+  "unseen": [
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the dark gray microwave."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode21.json b/open_microwave/demo_clean/instructions/episode21.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cef149ae17a3d6f050c2317f3ba8ec56852c26a
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode21.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the handle and open the microwave with glossy dark gray finish with the left arm.",
+    "Use the left arm to pull open the door of the dark gray kitchen microwave.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Open the microwave by pulling with the left arm.",
+    "Activate the door to open the microwave with glass top.",
+    "Engage the medium microwave with slanted sides's handle and open it.",
+    "Grab the handle and open the rectangular microwave with clear glass panel.",
+    "Grab and pull the rectangular microwave with clear glass panel using the left arm.",
+    "Pull the door to open the microwave.",
+    "Open the gray and glass microwave for cooking by pulling its door with the left arm.",
+    "Use the left arm to grab and pull the gray and glass microwave for cooking.",
+    "Handle the microwave with glass top and open it with the left arm.",
+    "Use the left arm to grab and open the dark gray kitchen microwave.",
+    "Pull the rectangular microwave with clear glass panel's handle to open it.",
+    "Pull the handle of the microwave for heating food to open it.",
+    "Open the dark gray kitchen microwave by pulling on its handle.",
+    "Use the left arm to open the dark gray slanted microwave box by pulling.",
+    "Pull open the door of the microwave with smooth surface using the left arm.",
+    "Get the medium microwave with slanted sides open.",
+    "Grip the rectangular microwave with clear glass panel's handle and pull it open.",
+    "Open the microwave by pulling its handle.",
+    "Pull the the gray appliance with transparent glass top's handle using the left arm.",
+    "Use the left arm to engage the microwave for heating food's opening mechanism.",
+    "Engage the rectangular microwave with clear glass panel using the left arm to open.",
+    "Access the inside by opening the rectangular microwave with clear glass panel.",
+    "Engage the left arm to open the dark gray slanted microwave box.",
+    "Use the handle to open the dark gray slanted microwave box.",
+    "Pull to open the rectangular microwave with clear glass panel.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Pull the door of the microwave with glossy dark gray finish to open it.",
+    "Open the microwave with glass top using the left arm.",
+    "Pull the handle to open the microwave.",
+    "Pull the handle of the dark gray slanted microwave box with the left arm.",
+    "Open the gray and glass microwave for cooking by grasping its handle.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Use the left arm to pull the dark gray kitchen microwave open.",
+    "Grasp the microwave with glossy dark gray finish's handle and pull to open.",
+    "Utilize the left arm to pull the microwave with glass top open.",
+    "Pull and open the microwave with glass top.",
+    "Grab the handle and open the gray and glass microwave for cooking with the left arm.",
+    "Use the left arm to pull open the door of the microwave with smooth surface.",
+    "Pull the handle to open the microwave for heating food.",
+    "Open the dark gray slanted microwave box by pulling with the left arm.",
+    "Activate the door to open the gray appliance with transparent glass top.",
+    "Engage the gray appliance with transparent glass top's handle and open it.",
+    "Grab the handle and open the rectangular microwave with clear glass panel.",
+    "Grab and pull the microwave with glossy dark gray finish using the left arm.",
+    "Pull the door to open the gray appliance with transparent glass top.",
+    "Open the gray appliance with transparent glass top by pulling its door with the left arm.",
+    "Use the left arm to grab and pull the gray and glass microwave for cooking.",
+    "Handle the microwave for heating food and open it with the left arm.",
+    "Use the left arm to grab and open the dark gray kitchen microwave.",
+    "Pull the dark gray slanted microwave box's handle to open it.",
+    "Pull the handle of the gray appliance with transparent glass top to open it.",
+    "Open the dark gray kitchen microwave by pulling on its handle.",
+    "Use the left arm to open the microwave by pulling.",
+    "Pull open the door of the microwave for heating food using the left arm.",
+    "Get the medium microwave with slanted sides open.",
+    "Grip the medium microwave with slanted sides's handle and pull it open.",
+    "Open the gray and glass microwave for cooking by pulling its handle.",
+    "Pull the the dark gray slanted microwave box's handle using the left arm.",
+    "Use the left arm to engage the dark gray slanted microwave box's opening mechanism.",
+    "Engage the gray and glass microwave for cooking using the left arm to open.",
+    "Access the inside by opening the microwave for heating food.",
+    "Engage the left arm to open the rectangular microwave with clear glass panel.",
+    "Use the handle to open the dark gray kitchen microwave.",
+    "Pull to open the microwave.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Pull the door of the rectangular gray microwave to open it.",
+    "Open the microwave for heating food using the left arm.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Pull the handle of the microwave with glossy dark gray finish with the left arm.",
+    "Open the gray and glass microwave for cooking by grasping its handle.",
+    "Open the gray appliance with transparent glass top by pulling its handle.",
+    "Use the left arm to pull the gray and glass microwave for cooking open.",
+    "Grasp the dark gray kitchen microwave's handle and pull to open.",
+    "Utilize the left arm to pull the microwave for heating food open.",
+    "Pull and open the rectangular gray microwave.",
+    "Grab the handle and open the microwave for heating food with the left arm.",
+    "Use the left arm to pull open the door of the microwave with glass top.",
+    "Pull the handle to open the microwave for heating food.",
+    "Open the gray appliance with transparent glass top by pulling with the left arm.",
+    "Activate the door to open the rectangular microwave with clear glass panel.",
+    "Engage the dark gray slanted microwave box's handle and open it.",
+    "Grab the handle and open the dark gray kitchen microwave.",
+    "Grab and pull the microwave for heating food using the left arm.",
+    "Pull the door to open the dark gray kitchen microwave.",
+    "Open the microwave with glossy dark gray finish by pulling its door with the left arm.",
+    "Use the left arm to grab and pull the microwave.",
+    "Handle the rectangular microwave with clear glass panel and open it with the left arm.",
+    "Use the left arm to grab and open the microwave with glossy dark gray finish.",
+    "Pull the rectangular microwave with clear glass panel's handle to open it.",
+    "Pull the handle of the microwave to open it.",
+    "Open the microwave with smooth surface by pulling on its handle.",
+    "Use the left arm to open the microwave with glossy dark gray finish by pulling.",
+    "Pull open the door of the dark gray slanted microwave box using the left arm.",
+    "Get the microwave with smooth surface open.",
+    "Grip the microwave's handle and pull it open.",
+    "Open the microwave with glass top by pulling its handle.",
+    "Pull the the rectangular microwave with clear glass panel's handle using the left arm."
+  ],
+  "unseen": [
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode22.json b/open_microwave/demo_clean/instructions/episode22.json
new file mode 100644
index 0000000000000000000000000000000000000000..e71216d7e9fd8755f2c609c2942a9da2df9fa09a
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode22.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull open the door of the medium microwave using the left arm.",
+    "Activate the door to open the gray microwave with two control knobs.",
+    "Pull the handle to open the medium microwave.",
+    "Get the gray microwave with two control knobs open.",
+    "Grab and pull the microwave with patterned top and knobs using the left arm.",
+    "Utilize the left arm to pull the microwave with knobs open.",
+    "Engage the left arm to open the yellow-sided microwave.",
+    "Grip the microwave with textured top panel's handle and pull it open.",
+    "Use the left arm to pull the countertop microwave open.",
+    "Use the handle to open the microwave with textured top panel.",
+    "Use the left arm to grab and open the medium microwave.",
+    "Open the countertop microwave by pulling its handle.",
+    "Pull and open the microwave with knobs.",
+    "Pull the handle to open the countertop microwave.",
+    "Pull to open the microwave with knobs.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Grab the handle and open the microwave with the left arm.",
+    "Pull the door to open the medium microwave.",
+    "Use the left arm to pull open the door of the yellow-panel microwave with smooth sides.",
+    "Engage the countertop microwave using the left arm to open.",
+    "Open the microwave using the left arm.",
+    "Pull the the gray microwave's handle using the left arm.",
+    "Pull the handle to open the rectangular microwave.",
+    "Open the microwave with textured top panel by pulling on its handle.",
+    "Access the inside by opening the gray and yellow microwave with rounded edges.",
+    "Handle the gray microwave and open it with the left arm.",
+    "Pull the handle of the gray and yellow microwave with rounded edges with the left arm.",
+    "Pull the medium microwave's handle to open it.",
+    "Grasp the microwave with knobs's handle and pull to open.",
+    "Pull the handle of the rectangular microwave to open it.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges.",
+    "Open the medium microwave by pulling its door with the left arm.",
+    "Pull the door of the medium microwave to open it.",
+    "Use the left arm to open the medium microwave by pulling.",
+    "Open the microwave by pulling with the left arm.",
+    "Use the left arm to engage the microwave with patterned top and knobs's opening mechanism.",
+    "Use the left arm to grab and pull the microwave with knobs.",
+    "Open the rectangular microwave by grasping its handle.",
+    "Engage the gray and yellow microwave with rounded edges's handle and open it.",
+    "Pull open the door of the countertop microwave using the left arm.",
+    "Activate the door to open the yellow-sided microwave.",
+    "Pull the handle to open the rectangular microwave.",
+    "Get the microwave with textured top panel open.",
+    "Grab and pull the yellow-panel microwave with smooth sides using the left arm.",
+    "Utilize the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Engage the left arm to open the microwave.",
+    "Grip the yellow-panel microwave with smooth sides's handle and pull it open.",
+    "Use the left arm to pull the microwave with patterned top and knobs open.",
+    "Use the handle to open the yellow-sided microwave.",
+    "Use the left arm to grab and open the microwave with textured top panel.",
+    "Open the countertop microwave by pulling its handle.",
+    "Pull and open the gray and yellow microwave with rounded edges.",
+    "Pull the handle to open the countertop microwave.",
+    "Pull to open the gray microwave.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Grab the handle and open the gray microwave with the left arm.",
+    "Pull the door to open the yellow-sided microwave.",
+    "Use the left arm to pull open the door of the microwave with knobs.",
+    "Engage the gray and yellow microwave with rounded edges using the left arm to open.",
+    "Open the yellow-panel microwave with smooth sides using the left arm.",
+    "Pull the the microwave's handle using the left arm.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Open the gray and yellow microwave with rounded edges by pulling on its handle.",
+    "Access the inside by opening the gray and yellow microwave with rounded edges.",
+    "Handle the rectangular microwave and open it with the left arm.",
+    "Pull the handle of the yellow-panel microwave with smooth sides with the left arm.",
+    "Pull the rectangular microwave's handle to open it.",
+    "Grasp the gray microwave's handle and pull to open.",
+    "Pull the handle of the microwave with textured top panel to open it.",
+    "Grab the handle and open the microwave with textured top panel.",
+    "Open the rectangular microwave by pulling its door with the left arm.",
+    "Pull the door of the microwave with textured top panel to open it.",
+    "Use the left arm to open the microwave by pulling.",
+    "Open the microwave with patterned top and knobs by pulling with the left arm.",
+    "Use the left arm to engage the gray microwave with two control knobs's opening mechanism.",
+    "Use the left arm to grab and pull the medium microwave.",
+    "Open the rectangular microwave by grasping its handle.",
+    "Engage the gray microwave with two control knobs's handle and open it.",
+    "Pull open the door of the microwave with textured top panel using the left arm.",
+    "Activate the door to open the microwave with textured top panel.",
+    "Pull the handle to open the countertop microwave.",
+    "Get the medium microwave open.",
+    "Grab and pull the rectangular microwave using the left arm.",
+    "Utilize the left arm to pull the microwave with patterned top and knobs open.",
+    "Engage the left arm to open the microwave.",
+    "Grip the countertop microwave's handle and pull it open.",
+    "Use the left arm to pull the medium microwave open.",
+    "Use the handle to open the yellow-panel microwave with smooth sides.",
+    "Use the left arm to grab and open the yellow-sided microwave.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Pull and open the microwave with patterned top and knobs.",
+    "Pull the handle to open the microwave with knobs.",
+    "Pull to open the gray microwave with two control knobs.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Grab the handle and open the microwave with knobs with the left arm.",
+    "Pull the door to open the yellow-panel microwave with smooth sides.",
+    "Use the left arm to pull open the door of the gray microwave.",
+    "Engage the gray and yellow microwave with rounded edges using the left arm to open.",
+    "Open the microwave with knobs using the left arm.",
+    "Pull the the yellow-sided microwave's handle using the left arm."
+  ],
+  "unseen": [
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode23.json b/open_microwave/demo_clean/instructions/episode23.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c5c3fd42334ce051aeb171bbb795d9968edf5d3
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode23.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the gray and glass microwave for cooking by pulling on its handle.",
+    "Open the rectangular microwave with clear glass panel using the left arm.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Pull the handle of the microwave with glossy dark gray finish with the left arm.",
+    "Utilize the left arm to pull the medium microwave with slanted sides open.",
+    "Open the microwave by pulling its handle.",
+    "Use the left arm to pull open the door of the microwave for heating food.",
+    "Activate the door to open the microwave with glossy dark gray finish.",
+    "Pull the dark gray slanted microwave box's handle to open it.",
+    "Use the left arm to engage the medium microwave with slanted sides's opening mechanism.",
+    "Pull the door to open the rectangular microwave with clear glass panel.",
+    "Use the left arm to open the dark gray slanted microwave box by pulling.",
+    "Open the medium microwave with slanted sides by pulling its handle.",
+    "Grasp the dark gray slanted microwave box's handle and pull to open.",
+    "Pull the handle of the gray appliance with transparent glass top to open it.",
+    "Open the medium microwave with slanted sides by pulling with the left arm.",
+    "Pull the door of the dark gray slanted microwave box to open it.",
+    "Get the microwave open.",
+    "Open the rectangular microwave with clear glass panel by grasping its handle.",
+    "Use the left arm to pull the microwave with smooth surface open.",
+    "Grip the microwave for heating food's handle and pull it open.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Engage the microwave with smooth surface using the left arm to open.",
+    "Engage the left arm to open the gray appliance with transparent glass top.",
+    "Use the left arm to grab and open the medium microwave with slanted sides.",
+    "Grab the handle and open the dark gray kitchen microwave with the left arm.",
+    "Open the microwave with glass top by pulling its door with the left arm.",
+    "Pull open the door of the medium microwave with slanted sides using the left arm.",
+    "Handle the microwave for heating food and open it with the left arm.",
+    "Pull the handle to open the microwave with glass top.",
+    "Grab the handle and open the microwave with smooth surface.",
+    "Use the handle to open the rectangular gray microwave.",
+    "Use the left arm to grab and pull the microwave.",
+    "Pull and open the microwave for heating food.",
+    "Pull to open the gray and glass microwave for cooking.",
+    "Engage the microwave with glossy dark gray finish's handle and open it.",
+    "Access the inside by opening the gray appliance with transparent glass top.",
+    "Pull the the microwave with smooth surface's handle using the left arm.",
+    "Grab and pull the rectangular gray microwave using the left arm.",
+    "Open the medium microwave with slanted sides by pulling on its handle.",
+    "Open the gray and glass microwave for cooking using the left arm.",
+    "Pull the handle to open the microwave for heating food.",
+    "Pull the handle of the microwave with smooth surface with the left arm.",
+    "Utilize the left arm to pull the dark gray kitchen microwave open.",
+    "Open the rectangular gray microwave by pulling its handle.",
+    "Use the left arm to pull open the door of the dark gray kitchen microwave.",
+    "Activate the door to open the gray appliance with transparent glass top.",
+    "Pull the gray appliance with transparent glass top's handle to open it.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Pull the door to open the rectangular microwave with clear glass panel.",
+    "Use the left arm to open the dark gray kitchen microwave by pulling.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Grasp the microwave with smooth surface's handle and pull to open.",
+    "Pull the handle of the dark gray slanted microwave box to open it.",
+    "Open the microwave with glass top by pulling with the left arm.",
+    "Pull the door of the dark gray slanted microwave box to open it.",
+    "Get the microwave with smooth surface open.",
+    "Open the rectangular microwave with clear glass panel by grasping its handle.",
+    "Use the left arm to pull the gray appliance with transparent glass top open.",
+    "Grip the microwave with glossy dark gray finish's handle and pull it open.",
+    "Pull the handle to open the microwave with glass top.",
+    "Engage the rectangular gray microwave using the left arm to open.",
+    "Engage the left arm to open the microwave with smooth surface.",
+    "Use the left arm to grab and open the microwave with smooth surface.",
+    "Grab the handle and open the dark gray slanted microwave box with the left arm.",
+    "Open the dark gray kitchen microwave by pulling its door with the left arm.",
+    "Pull open the door of the microwave with glossy dark gray finish using the left arm.",
+    "Handle the dark gray slanted microwave box and open it with the left arm.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Grab the handle and open the rectangular microwave with clear glass panel.",
+    "Use the handle to open the microwave.",
+    "Use the left arm to grab and pull the microwave with glossy dark gray finish.",
+    "Pull and open the dark gray slanted microwave box.",
+    "Pull to open the microwave for heating food.",
+    "Engage the microwave's handle and open it.",
+    "Access the inside by opening the microwave for heating food.",
+    "Pull the the microwave for heating food's handle using the left arm.",
+    "Grab and pull the medium microwave with slanted sides using the left arm.",
+    "Open the microwave by pulling on its handle.",
+    "Open the rectangular microwave with clear glass panel using the left arm.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Pull the handle of the gray appliance with transparent glass top with the left arm.",
+    "Utilize the left arm to pull the dark gray kitchen microwave open.",
+    "Open the microwave by pulling its handle.",
+    "Use the left arm to pull open the door of the dark gray kitchen microwave.",
+    "Activate the door to open the microwave for heating food.",
+    "Pull the gray appliance with transparent glass top's handle to open it.",
+    "Use the left arm to engage the microwave with glossy dark gray finish's opening mechanism.",
+    "Pull the door to open the microwave for heating food.",
+    "Use the left arm to open the microwave with glossy dark gray finish by pulling.",
+    "Open the microwave by pulling its handle.",
+    "Grasp the rectangular microwave with clear glass panel's handle and pull to open.",
+    "Pull the handle of the microwave with glass top to open it.",
+    "Open the rectangular gray microwave by pulling with the left arm.",
+    "Pull the door of the microwave for heating food to open it.",
+    "Get the rectangular gray microwave open.",
+    "Open the dark gray slanted microwave box by grasping its handle.",
+    "Use the left arm to pull the dark gray kitchen microwave open.",
+    "Grip the microwave with glossy dark gray finish's handle and pull it open.",
+    "Pull the handle to open the microwave for heating food."
+  ],
+  "unseen": [
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to open the dark gray microwave.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to open the dark gray microwave.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to open the dark gray microwave.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to open the dark gray microwave.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode24.json b/open_microwave/demo_clean/instructions/episode24.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf9209897665029115d36a473c36f2a93b314639
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode24.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the handle and open the microwave with patterned top and knobs.",
+    "Pull the the countertop microwave's handle using the left arm.",
+    "Use the left arm to pull open the door of the gray and yellow microwave with rounded edges.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Grab the handle and open the rectangular microwave with the left arm.",
+    "Open the microwave with textured top panel using the left arm.",
+    "Pull the door of the gray and yellow microwave with rounded edges to open it.",
+    "Pull and open the rectangular microwave.",
+    "Grab and pull the yellow-sided microwave using the left arm.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Pull to open the rectangular microwave.",
+    "Pull the handle of the gray and yellow microwave with rounded edges to open it.",
+    "Open the rectangular microwave by pulling its door with the left arm.",
+    "Grip the microwave with textured top panel's handle and pull it open.",
+    "Use the left arm to grab and open the microwave.",
+    "Engage the microwave with patterned top and knobs using the left arm to open.",
+    "Pull the microwave with knobs's handle to open it.",
+    "Pull the handle to open the microwave.",
+    "Get the yellow-sided microwave open.",
+    "Open the yellow-panel microwave with smooth sides by pulling on its handle.",
+    "Handle the microwave and open it with the left arm.",
+    "Use the left arm to grab and pull the gray and yellow microwave with rounded edges.",
+    "Use the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Utilize the left arm to pull the microwave with patterned top and knobs open.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Open the microwave with textured top panel by grasping its handle.",
+    "Open the medium microwave by pulling its handle.",
+    "Use the left arm to open the medium microwave by pulling.",
+    "Pull the door to open the medium microwave.",
+    "Pull open the door of the yellow-sided microwave using the left arm.",
+    "Engage the left arm to open the rectangular microwave.",
+    "Engage the rectangular microwave's handle and open it.",
+    "Access the inside by opening the countertop microwave.",
+    "Activate the door to open the yellow-panel microwave with smooth sides.",
+    "Use the left arm to engage the gray and yellow microwave with rounded edges's opening mechanism.",
+    "Grasp the microwave's handle and pull to open.",
+    "Use the handle to open the countertop microwave.",
+    "Pull the handle of the microwave with patterned top and knobs with the left arm.",
+    "Open the yellow-sided microwave by pulling with the left arm.",
+    "Grab the handle and open the countertop microwave.",
+    "Pull the the gray and yellow microwave with rounded edges's handle using the left arm.",
+    "Use the left arm to pull open the door of the gray and yellow microwave with rounded edges.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Grab the handle and open the countertop microwave with the left arm.",
+    "Open the countertop microwave using the left arm.",
+    "Pull the door of the yellow-panel microwave with smooth sides to open it.",
+    "Pull and open the gray microwave with two control knobs.",
+    "Grab and pull the gray microwave with two control knobs using the left arm.",
+    "Pull the handle to open the gray microwave.",
+    "Pull to open the gray and yellow microwave with rounded edges.",
+    "Pull the handle of the yellow-panel microwave with smooth sides to open it.",
+    "Open the yellow-sided microwave by pulling its door with the left arm.",
+    "Grip the yellow-sided microwave's handle and pull it open.",
+    "Use the left arm to grab and open the countertop microwave.",
+    "Engage the gray microwave with two control knobs using the left arm to open.",
+    "Pull the microwave with patterned top and knobs's handle to open it.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Get the countertop microwave open.",
+    "Open the yellow-panel microwave with smooth sides by pulling on its handle.",
+    "Handle the yellow-panel microwave with smooth sides and open it with the left arm.",
+    "Use the left arm to grab and pull the yellow-sided microwave.",
+    "Use the left arm to pull the microwave open.",
+    "Utilize the left arm to pull the microwave with textured top panel open.",
+    "Pull the handle to open the microwave with knobs.",
+    "Open the microwave with knobs by grasping its handle.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Use the left arm to open the microwave with textured top panel by pulling.",
+    "Pull the door to open the countertop microwave.",
+    "Pull open the door of the microwave with textured top panel using the left arm.",
+    "Engage the left arm to open the rectangular microwave.",
+    "Engage the yellow-sided microwave's handle and open it.",
+    "Access the inside by opening the rectangular microwave.",
+    "Activate the door to open the gray and yellow microwave with rounded edges.",
+    "Use the left arm to engage the gray microwave with two control knobs's opening mechanism.",
+    "Grasp the microwave's handle and pull to open.",
+    "Use the handle to open the microwave.",
+    "Pull the handle of the countertop microwave with the left arm.",
+    "Open the gray and yellow microwave with rounded edges by pulling with the left arm.",
+    "Grab the handle and open the gray microwave.",
+    "Pull the the gray microwave's handle using the left arm.",
+    "Use the left arm to pull open the door of the countertop microwave.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Grab the handle and open the microwave with the left arm.",
+    "Open the microwave using the left arm.",
+    "Pull the door of the rectangular microwave to open it.",
+    "Pull and open the microwave with patterned top and knobs.",
+    "Grab and pull the gray microwave using the left arm.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Pull to open the yellow-panel microwave with smooth sides.",
+    "Pull the handle of the medium microwave to open it.",
+    "Open the gray and yellow microwave with rounded edges by pulling its door with the left arm.",
+    "Grip the microwave with patterned top and knobs's handle and pull it open.",
+    "Use the left arm to grab and open the yellow-panel microwave with smooth sides.",
+    "Engage the gray microwave with two control knobs using the left arm to open.",
+    "Pull the yellow-panel microwave with smooth sides's handle to open it.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Get the microwave with patterned top and knobs open.",
+    "Open the yellow-panel microwave with smooth sides by pulling on its handle.",
+    "Handle the microwave with patterned top and knobs and open it with the left arm.",
+    "Use the left arm to grab and pull the microwave with patterned top and knobs."
+  ],
+  "unseen": [
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode25.json b/open_microwave/demo_clean/instructions/episode25.json
new file mode 100644
index 0000000000000000000000000000000000000000..a819e9d896a59f26e6ac757f1c15fbc129beefeb
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode25.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to engage the microwave for heating food's opening mechanism.",
+    "Pull the handle of the microwave for heating food with the left arm.",
+    "Open the rectangular microwave with clear glass panel by pulling its handle.",
+    "Use the left arm to open the dark gray slanted microwave box by pulling.",
+    "Open the medium microwave with slanted sides by pulling on its handle.",
+    "Open the microwave with glossy dark gray finish by pulling with the left arm.",
+    "Grasp the dark gray slanted microwave box's handle and pull to open.",
+    "Handle the dark gray kitchen microwave and open it with the left arm.",
+    "Pull the handle of the microwave to open it.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Activate the door to open the dark gray kitchen microwave.",
+    "Use the left arm to pull the rectangular microwave with clear glass panel open.",
+    "Open the rectangular microwave with clear glass panel by pulling its door with the left arm.",
+    "Pull open the door of the medium microwave with slanted sides using the left arm.",
+    "Open the gray appliance with transparent glass top by grasping its handle.",
+    "Open the dark gray kitchen microwave using the left arm.",
+    "Access the inside by opening the rectangular gray microwave.",
+    "Grab and pull the microwave with glass top using the left arm.",
+    "Use the handle to open the dark gray slanted microwave box.",
+    "Use the left arm to grab and pull the rectangular microwave with clear glass panel.",
+    "Use the left arm to pull open the door of the medium microwave with slanted sides.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Get the gray and glass microwave for cooking open.",
+    "Engage the left arm to open the rectangular microwave with clear glass panel.",
+    "Use the left arm to grab and open the microwave with glass top.",
+    "Pull the door to open the microwave with glossy dark gray finish.",
+    "Utilize the left arm to pull the rectangular gray microwave open.",
+    "Pull the door of the rectangular microwave with clear glass panel to open it.",
+    "Pull the microwave with glass top's handle to open it.",
+    "Grab the handle and open the rectangular gray microwave.",
+    "Grab the handle and open the microwave with glass top with the left arm.",
+    "Pull and open the rectangular gray microwave.",
+    "Engage the rectangular microwave with clear glass panel using the left arm to open.",
+    "Grip the microwave for heating food's handle and pull it open.",
+    "Pull to open the rectangular gray microwave.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Pull the the microwave with glass top's handle using the left arm.",
+    "Engage the gray and glass microwave for cooking's handle and open it.",
+    "Use the left arm to engage the gray appliance with transparent glass top's opening mechanism.",
+    "Pull the handle of the dark gray slanted microwave box with the left arm.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Use the left arm to open the dark gray slanted microwave box by pulling.",
+    "Open the dark gray kitchen microwave by pulling on its handle.",
+    "Open the microwave with smooth surface by pulling with the left arm.",
+    "Grasp the microwave with glossy dark gray finish's handle and pull to open.",
+    "Handle the medium microwave with slanted sides and open it with the left arm.",
+    "Pull the handle of the dark gray slanted microwave box to open it.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Activate the door to open the gray appliance with transparent glass top.",
+    "Use the left arm to pull the gray and glass microwave for cooking open.",
+    "Open the rectangular microwave with clear glass panel by pulling its door with the left arm.",
+    "Pull open the door of the microwave for heating food using the left arm.",
+    "Open the dark gray slanted microwave box by grasping its handle.",
+    "Open the microwave for heating food using the left arm.",
+    "Access the inside by opening the microwave.",
+    "Grab and pull the microwave with glass top using the left arm.",
+    "Use the handle to open the microwave for heating food.",
+    "Use the left arm to grab and pull the rectangular microwave with clear glass panel.",
+    "Use the left arm to pull open the door of the microwave with smooth surface.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Pull the handle to open the microwave with glass top.",
+    "Get the medium microwave with slanted sides open.",
+    "Engage the left arm to open the rectangular gray microwave.",
+    "Use the left arm to grab and open the microwave with smooth surface.",
+    "Pull the door to open the gray and glass microwave for cooking.",
+    "Utilize the left arm to pull the rectangular microwave with clear glass panel open.",
+    "Pull the door of the dark gray slanted microwave box to open it.",
+    "Pull the microwave's handle to open it.",
+    "Grab the handle and open the dark gray kitchen microwave.",
+    "Grab the handle and open the rectangular gray microwave with the left arm.",
+    "Pull and open the dark gray slanted microwave box.",
+    "Engage the gray and glass microwave for cooking using the left arm to open.",
+    "Grip the gray and glass microwave for cooking's handle and pull it open.",
+    "Pull to open the gray appliance with transparent glass top.",
+    "Open the rectangular gray microwave by pulling its handle.",
+    "Pull the the microwave with glossy dark gray finish's handle using the left arm.",
+    "Engage the dark gray kitchen microwave's handle and open it.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Pull the handle of the microwave with smooth surface with the left arm.",
+    "Open the rectangular microwave with clear glass panel by pulling its handle.",
+    "Use the left arm to open the dark gray slanted microwave box by pulling.",
+    "Open the microwave with smooth surface by pulling on its handle.",
+    "Open the medium microwave with slanted sides by pulling with the left arm.",
+    "Grasp the gray appliance with transparent glass top's handle and pull to open.",
+    "Handle the medium microwave with slanted sides and open it with the left arm.",
+    "Pull the handle of the medium microwave with slanted sides to open it.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Activate the door to open the dark gray kitchen microwave.",
+    "Use the left arm to pull the microwave with glossy dark gray finish open.",
+    "Open the microwave with smooth surface by pulling its door with the left arm.",
+    "Pull open the door of the microwave with smooth surface using the left arm.",
+    "Open the microwave with glossy dark gray finish by grasping its handle.",
+    "Open the dark gray kitchen microwave using the left arm.",
+    "Access the inside by opening the microwave with glossy dark gray finish.",
+    "Grab and pull the gray appliance with transparent glass top using the left arm.",
+    "Use the handle to open the gray and glass microwave for cooking.",
+    "Use the left arm to grab and pull the rectangular gray microwave.",
+    "Use the left arm to pull open the door of the microwave for heating food.",
+    "Pull the handle to open the dark gray slanted microwave box."
+  ],
+  "unseen": [
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the dark gray microwave.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the dark gray microwave.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the dark gray microwave.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the dark gray microwave.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the dark gray microwave.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode26.json b/open_microwave/demo_clean/instructions/episode26.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc397656c4498165da3ebedae0769fa15adfe8a9
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode26.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the handle and open the microwave.",
+    "Open the microwave with knobs by pulling its door with the left arm.",
+    "Use the left arm to pull the countertop microwave open.",
+    "Use the handle to open the microwave.",
+    "Access the inside by opening the microwave with knobs.",
+    "Open the microwave with knobs by pulling on its handle.",
+    "Engage the left arm to open the microwave.",
+    "Open the gray microwave by pulling with the left arm.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Use the left arm to grab and pull the microwave with textured top panel.",
+    "Handle the microwave with textured top panel and open it with the left arm.",
+    "Engage the microwave's handle and open it.",
+    "Get the yellow-sided microwave open.",
+    "Use the left arm to engage the medium microwave's opening mechanism.",
+    "Engage the microwave with patterned top and knobs using the left arm to open.",
+    "Open the medium microwave by pulling its handle.",
+    "Use the left arm to pull open the door of the rectangular microwave.",
+    "Pull the handle of the rectangular microwave with the left arm.",
+    "Utilize the left arm to pull the microwave open.",
+    "Use the left arm to grab and open the microwave with patterned top and knobs.",
+    "Pull the door to open the microwave.",
+    "Grab the handle and open the microwave with patterned top and knobs with the left arm.",
+    "Pull the handle of the gray microwave with two control knobs to open it.",
+    "Open the medium microwave by pulling its handle.",
+    "Grip the gray microwave's handle and pull it open.",
+    "Pull the handle to open the microwave.",
+    "Open the gray microwave by grasping its handle.",
+    "Activate the door to open the medium microwave.",
+    "Pull open the door of the microwave using the left arm.",
+    "Grab and pull the gray microwave using the left arm.",
+    "Use the left arm to open the rectangular microwave by pulling.",
+    "Open the microwave using the left arm.",
+    "Pull the the gray microwave's handle using the left arm.",
+    "Pull to open the yellow-panel microwave with smooth sides.",
+    "Pull the microwave with textured top panel's handle to open it.",
+    "Pull the door of the medium microwave to open it.",
+    "Grasp the countertop microwave's handle and pull to open.",
+    "Pull and open the gray and yellow microwave with rounded edges.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Use the left arm to pull the microwave open.",
+    "Use the handle to open the gray and yellow microwave with rounded edges.",
+    "Access the inside by opening the yellow-panel microwave with smooth sides.",
+    "Open the yellow-sided microwave by pulling on its handle.",
+    "Engage the left arm to open the yellow-panel microwave with smooth sides.",
+    "Open the microwave by pulling with the left arm.",
+    "Pull the handle to open the microwave with knobs.",
+    "Use the left arm to grab and pull the rectangular microwave.",
+    "Handle the yellow-sided microwave and open it with the left arm.",
+    "Engage the yellow-sided microwave's handle and open it.",
+    "Get the microwave with knobs open.",
+    "Use the left arm to engage the microwave with knobs's opening mechanism.",
+    "Engage the medium microwave using the left arm to open.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Use the left arm to pull open the door of the gray microwave with two control knobs.",
+    "Pull the handle of the gray microwave with two control knobs with the left arm.",
+    "Utilize the left arm to pull the yellow-sided microwave open.",
+    "Use the left arm to grab and open the gray and yellow microwave with rounded edges.",
+    "Pull the door to open the gray and yellow microwave with rounded edges.",
+    "Grab the handle and open the countertop microwave with the left arm.",
+    "Pull the handle of the microwave to open it.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Grip the gray microwave's handle and pull it open.",
+    "Pull the handle to open the microwave.",
+    "Open the gray microwave by grasping its handle.",
+    "Activate the door to open the gray microwave.",
+    "Pull open the door of the medium microwave using the left arm.",
+    "Grab and pull the microwave using the left arm.",
+    "Use the left arm to open the gray and yellow microwave with rounded edges by pulling.",
+    "Open the microwave with knobs using the left arm.",
+    "Pull the the microwave with textured top panel's handle using the left arm.",
+    "Pull to open the microwave with knobs.",
+    "Pull the microwave with textured top panel's handle to open it.",
+    "Pull the door of the rectangular microwave to open it.",
+    "Grasp the medium microwave's handle and pull to open.",
+    "Pull and open the gray microwave with two control knobs.",
+    "Pull the handle to open the microwave with knobs.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges.",
+    "Open the microwave with knobs by pulling its door with the left arm.",
+    "Use the left arm to pull the gray microwave with two control knobs open.",
+    "Use the handle to open the countertop microwave.",
+    "Access the inside by opening the gray microwave.",
+    "Open the yellow-panel microwave with smooth sides by pulling on its handle.",
+    "Engage the left arm to open the microwave with patterned top and knobs.",
+    "Open the gray and yellow microwave with rounded edges by pulling with the left arm.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Use the left arm to grab and pull the microwave with patterned top and knobs.",
+    "Handle the microwave with textured top panel and open it with the left arm.",
+    "Engage the yellow-panel microwave with smooth sides's handle and open it.",
+    "Get the countertop microwave open.",
+    "Use the left arm to engage the yellow-panel microwave with smooth sides's opening mechanism.",
+    "Engage the gray and yellow microwave with rounded edges using the left arm to open.",
+    "Open the gray microwave by pulling its handle.",
+    "Use the left arm to pull open the door of the medium microwave.",
+    "Pull the handle of the medium microwave with the left arm.",
+    "Utilize the left arm to pull the microwave with textured top panel open.",
+    "Use the left arm to grab and open the yellow-panel microwave with smooth sides.",
+    "Pull the door to open the countertop microwave.",
+    "Grab the handle and open the microwave with knobs with the left arm."
+  ],
+  "unseen": [
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode27.json b/open_microwave/demo_clean/instructions/episode27.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bcadfd2cc3cbe7289f67e8323d23a4eb97bfef7
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode27.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the gray and yellow microwave with rounded edges using the left arm.",
+    "Use the left arm to open the microwave with knobs by pulling.",
+    "Engage the left arm to open the yellow-sided microwave.",
+    "Engage the countertop microwave using the left arm to open.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Access the inside by opening the gray and yellow microwave with rounded edges.",
+    "Utilize the left arm to pull the medium microwave open.",
+    "Pull open the door of the yellow-panel microwave with smooth sides using the left arm.",
+    "Pull the the microwave with patterned top and knobs's handle using the left arm.",
+    "Open the countertop microwave by pulling on its handle.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Open the medium microwave by grasping its handle.",
+    "Open the gray microwave with two control knobs by pulling its door with the left arm.",
+    "Engage the yellow-sided microwave's handle and open it.",
+    "Grab and pull the medium microwave using the left arm.",
+    "Pull the handle of the gray microwave with two control knobs with the left arm.",
+    "Open the yellow-sided microwave by pulling with the left arm.",
+    "Pull the door to open the medium microwave.",
+    "Grip the gray and yellow microwave with rounded edges's handle and pull it open.",
+    "Activate the door to open the countertop microwave.",
+    "Use the left arm to pull open the door of the rectangular microwave.",
+    "Pull the handle to open the gray microwave.",
+    "Grab the handle and open the yellow-sided microwave with the left arm.",
+    "Use the left arm to grab and pull the yellow-panel microwave with smooth sides.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Grab the handle and open the microwave with knobs.",
+    "Use the left arm to grab and open the medium microwave.",
+    "Handle the microwave with patterned top and knobs and open it with the left arm.",
+    "Use the handle to open the gray microwave.",
+    "Grasp the microwave with knobs's handle and pull to open.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Pull to open the microwave with textured top panel.",
+    "Pull the door of the gray microwave to open it.",
+    "Pull and open the microwave with textured top panel.",
+    "Pull the handle of the microwave with textured top panel to open it.",
+    "Get the countertop microwave open.",
+    "Pull the microwave with textured top panel's handle to open it.",
+    "Use the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Use the left arm to engage the gray microwave with two control knobs's opening mechanism.",
+    "Open the microwave with patterned top and knobs using the left arm.",
+    "Use the left arm to open the microwave with textured top panel by pulling.",
+    "Engage the left arm to open the rectangular microwave.",
+    "Engage the countertop microwave using the left arm to open.",
+    "Open the countertop microwave by pulling its handle.",
+    "Access the inside by opening the countertop microwave.",
+    "Utilize the left arm to pull the gray microwave with two control knobs open.",
+    "Pull open the door of the yellow-panel microwave with smooth sides using the left arm.",
+    "Pull the the microwave with knobs's handle using the left arm.",
+    "Open the microwave with textured top panel by pulling on its handle.",
+    "Pull the handle to open the microwave with knobs.",
+    "Open the gray and yellow microwave with rounded edges by grasping its handle.",
+    "Open the gray microwave by pulling its door with the left arm.",
+    "Engage the rectangular microwave's handle and open it.",
+    "Grab and pull the rectangular microwave using the left arm.",
+    "Pull the handle of the yellow-sided microwave with the left arm.",
+    "Open the rectangular microwave by pulling with the left arm.",
+    "Pull the door to open the yellow-sided microwave.",
+    "Grip the gray and yellow microwave with rounded edges's handle and pull it open.",
+    "Activate the door to open the microwave with patterned top and knobs.",
+    "Use the left arm to pull open the door of the yellow-panel microwave with smooth sides.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Grab the handle and open the countertop microwave with the left arm.",
+    "Use the left arm to grab and pull the microwave with patterned top and knobs.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Grab the handle and open the yellow-sided microwave.",
+    "Use the left arm to grab and open the yellow-sided microwave.",
+    "Handle the microwave and open it with the left arm.",
+    "Use the handle to open the microwave.",
+    "Grasp the gray microwave with two control knobs's handle and pull to open.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Pull to open the yellow-sided microwave.",
+    "Pull the door of the microwave with patterned top and knobs to open it.",
+    "Pull and open the microwave.",
+    "Pull the handle of the yellow-sided microwave to open it.",
+    "Get the gray microwave with two control knobs open.",
+    "Pull the countertop microwave's handle to open it.",
+    "Use the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Use the left arm to engage the gray and yellow microwave with rounded edges's opening mechanism.",
+    "Open the gray microwave using the left arm.",
+    "Use the left arm to open the countertop microwave by pulling.",
+    "Engage the left arm to open the microwave.",
+    "Engage the microwave with patterned top and knobs using the left arm to open.",
+    "Open the medium microwave by pulling its handle.",
+    "Access the inside by opening the yellow-sided microwave.",
+    "Utilize the left arm to pull the gray microwave with two control knobs open.",
+    "Pull open the door of the countertop microwave using the left arm.",
+    "Pull the the microwave with textured top panel's handle using the left arm.",
+    "Open the yellow-sided microwave by pulling on its handle.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Open the gray and yellow microwave with rounded edges by grasping its handle.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Engage the rectangular microwave's handle and open it.",
+    "Grab and pull the microwave with knobs using the left arm.",
+    "Pull the handle of the microwave with the left arm.",
+    "Open the rectangular microwave by pulling with the left arm.",
+    "Pull the door to open the microwave with patterned top and knobs.",
+    "Grip the microwave's handle and pull it open.",
+    "Activate the door to open the microwave with patterned top and knobs.",
+    "Use the left arm to pull open the door of the gray and yellow microwave with rounded edges.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides."
+  ],
+  "unseen": [
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode28.json b/open_microwave/demo_clean/instructions/episode28.json
new file mode 100644
index 0000000000000000000000000000000000000000..41e10e813c86f1788d9533be8a1dc742e8ec16ca
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode28.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the microwave for heating food by pulling its handle.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Access the inside by opening the rectangular microwave with clear glass panel.",
+    "Activate the door to open the dark gray kitchen microwave.",
+    "Pull and open the microwave with smooth surface.",
+    "Utilize the left arm to pull the rectangular microwave with clear glass panel open.",
+    "Grab the handle and open the dark gray slanted microwave box with the left arm.",
+    "Grasp the rectangular gray microwave's handle and pull to open.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Open the microwave for heating food by grasping its handle.",
+    "Use the left arm to pull open the door of the microwave with smooth surface.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Grab the handle and open the dark gray slanted microwave box.",
+    "Pull the microwave with smooth surface's handle to open it.",
+    "Pull the handle of the rectangular microwave with clear glass panel with the left arm.",
+    "Pull the door of the rectangular microwave with clear glass panel to open it.",
+    "Pull to open the microwave with smooth surface.",
+    "Open the medium microwave with slanted sides by pulling its handle.",
+    "Use the handle to open the microwave with smooth surface.",
+    "Pull the handle of the gray and glass microwave for cooking to open it.",
+    "Pull open the door of the microwave with glass top using the left arm.",
+    "Grip the rectangular gray microwave's handle and pull it open.",
+    "Use the left arm to grab and open the rectangular gray microwave.",
+    "Use the left arm to engage the microwave with smooth surface's opening mechanism.",
+    "Pull the the gray and glass microwave for cooking's handle using the left arm.",
+    "Open the medium microwave with slanted sides by pulling with the left arm.",
+    "Use the left arm to grab and pull the rectangular microwave with clear glass panel.",
+    "Engage the microwave with glossy dark gray finish using the left arm to open.",
+    "Open the microwave for heating food by pulling on its handle.",
+    "Open the dark gray slanted microwave box using the left arm.",
+    "Pull the door to open the dark gray slanted microwave box.",
+    "Open the microwave with glossy dark gray finish by pulling its door with the left arm.",
+    "Engage the rectangular microwave with clear glass panel's handle and open it.",
+    "Handle the microwave with smooth surface and open it with the left arm.",
+    "Engage the left arm to open the rectangular gray microwave.",
+    "Use the left arm to pull the microwave for heating food open.",
+    "Grab and pull the rectangular microwave with clear glass panel using the left arm.",
+    "Get the rectangular microwave with clear glass panel open.",
+    "Use the left arm to open the gray appliance with transparent glass top by pulling.",
+    "Open the gray and glass microwave for cooking by pulling its handle.",
+    "Pull the handle to open the microwave for heating food.",
+    "Access the inside by opening the gray appliance with transparent glass top.",
+    "Activate the door to open the microwave with glossy dark gray finish.",
+    "Pull and open the microwave.",
+    "Utilize the left arm to pull the microwave with glass top open.",
+    "Grab the handle and open the microwave with the left arm.",
+    "Grasp the dark gray kitchen microwave's handle and pull to open.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Open the microwave with glossy dark gray finish by grasping its handle.",
+    "Use the left arm to pull open the door of the gray and glass microwave for cooking.",
+    "Pull the handle to open the microwave.",
+    "Grab the handle and open the microwave with glass top.",
+    "Pull the dark gray slanted microwave box's handle to open it.",
+    "Pull the handle of the microwave with glossy dark gray finish with the left arm.",
+    "Pull the door of the gray and glass microwave for cooking to open it.",
+    "Pull to open the rectangular gray microwave.",
+    "Open the gray and glass microwave for cooking by pulling its handle.",
+    "Use the handle to open the dark gray kitchen microwave.",
+    "Pull the handle of the gray appliance with transparent glass top to open it.",
+    "Pull open the door of the medium microwave with slanted sides using the left arm.",
+    "Grip the medium microwave with slanted sides's handle and pull it open.",
+    "Use the left arm to grab and open the microwave for heating food.",
+    "Use the left arm to engage the gray appliance with transparent glass top's opening mechanism.",
+    "Pull the the rectangular microwave with clear glass panel's handle using the left arm.",
+    "Open the dark gray kitchen microwave by pulling with the left arm.",
+    "Use the left arm to grab and pull the dark gray kitchen microwave.",
+    "Engage the microwave with smooth surface using the left arm to open.",
+    "Open the microwave with glass top by pulling on its handle.",
+    "Open the gray and glass microwave for cooking using the left arm.",
+    "Pull the door to open the microwave.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Engage the gray appliance with transparent glass top's handle and open it.",
+    "Handle the microwave for heating food and open it with the left arm.",
+    "Engage the left arm to open the microwave with smooth surface.",
+    "Use the left arm to pull the gray appliance with transparent glass top open.",
+    "Grab and pull the dark gray kitchen microwave using the left arm.",
+    "Get the microwave with glossy dark gray finish open.",
+    "Use the left arm to open the microwave with glass top by pulling.",
+    "Open the gray appliance with transparent glass top by pulling its handle.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Access the inside by opening the rectangular microwave with clear glass panel.",
+    "Activate the door to open the microwave with smooth surface.",
+    "Pull and open the microwave for heating food.",
+    "Utilize the left arm to pull the rectangular microwave with clear glass panel open.",
+    "Grab the handle and open the gray appliance with transparent glass top with the left arm.",
+    "Grasp the rectangular microwave with clear glass panel's handle and pull to open.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Open the rectangular microwave with clear glass panel by grasping its handle.",
+    "Use the left arm to pull open the door of the dark gray slanted microwave box.",
+    "Pull the handle to open the microwave.",
+    "Grab the handle and open the microwave for heating food.",
+    "Pull the microwave with smooth surface's handle to open it.",
+    "Pull the handle of the medium microwave with slanted sides with the left arm.",
+    "Pull the door of the microwave for heating food to open it.",
+    "Pull to open the microwave.",
+    "Open the gray appliance with transparent glass top by pulling its handle.",
+    "Use the handle to open the rectangular gray microwave.",
+    "Pull the handle of the microwave with glossy dark gray finish to open it.",
+    "Pull open the door of the microwave for heating food using the left arm.",
+    "Grip the rectangular gray microwave's handle and pull it open."
+  ],
+  "unseen": [
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the dark gray microwave using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode29.json b/open_microwave/demo_clean/instructions/episode29.json
new file mode 100644
index 0000000000000000000000000000000000000000..a78aa9fd09d468c361a303f3de5ebffe342fa2d0
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode29.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the door of the microwave with patterned top and knobs to open it.",
+    "Activate the door to open the medium microwave.",
+    "Pull the the yellow-sided microwave's handle using the left arm.",
+    "Use the left arm to pull open the door of the yellow-panel microwave with smooth sides.",
+    "Use the left arm to open the yellow-sided microwave by pulling.",
+    "Use the left arm to grab and open the microwave with textured top panel.",
+    "Open the medium microwave by grasping its handle.",
+    "Use the left arm to grab and pull the rectangular microwave.",
+    "Grasp the gray microwave's handle and pull to open.",
+    "Open the medium microwave by pulling on its handle.",
+    "Utilize the left arm to pull the gray microwave open.",
+    "Pull the handle of the medium microwave with the left arm.",
+    "Use the handle to open the microwave with patterned top and knobs.",
+    "Get the rectangular microwave open.",
+    "Pull the door to open the yellow-panel microwave with smooth sides.",
+    "Engage the rectangular microwave using the left arm to open.",
+    "Use the left arm to pull the gray microwave with two control knobs open.",
+    "Engage the left arm to open the microwave with textured top panel.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Open the gray microwave with two control knobs by pulling its door with the left arm.",
+    "Open the microwave with textured top panel by pulling with the left arm.",
+    "Pull to open the microwave.",
+    "Pull the handle to open the microwave with knobs.",
+    "Pull open the door of the countertop microwave using the left arm.",
+    "Pull the gray and yellow microwave with rounded edges's handle to open it.",
+    "Grip the yellow-panel microwave with smooth sides's handle and pull it open.",
+    "Pull the handle of the gray microwave to open it.",
+    "Use the left arm to engage the gray microwave with two control knobs's opening mechanism.",
+    "Grab and pull the countertop microwave using the left arm.",
+    "Access the inside by opening the rectangular microwave.",
+    "Grab the handle and open the gray microwave with the left arm.",
+    "Pull and open the countertop microwave.",
+    "Grab the handle and open the microwave with patterned top and knobs.",
+    "Pull the handle to open the gray microwave.",
+    "Open the microwave with patterned top and knobs using the left arm.",
+    "Handle the yellow-sided microwave and open it with the left arm.",
+    "Engage the gray microwave's handle and open it.",
+    "Pull the handle to open the microwave with knobs.",
+    "Open the gray microwave by pulling its handle.",
+    "Pull the door of the microwave with knobs to open it.",
+    "Activate the door to open the yellow-panel microwave with smooth sides.",
+    "Pull the the countertop microwave's handle using the left arm.",
+    "Use the left arm to pull open the door of the countertop microwave.",
+    "Use the left arm to open the gray and yellow microwave with rounded edges by pulling.",
+    "Use the left arm to grab and open the yellow-sided microwave.",
+    "Open the microwave with patterned top and knobs by grasping its handle.",
+    "Use the left arm to grab and pull the yellow-panel microwave with smooth sides.",
+    "Grasp the microwave with patterned top and knobs's handle and pull to open.",
+    "Open the yellow-sided microwave by pulling on its handle.",
+    "Utilize the left arm to pull the gray microwave with two control knobs open.",
+    "Pull the handle of the gray microwave with two control knobs with the left arm.",
+    "Use the handle to open the gray and yellow microwave with rounded edges.",
+    "Get the microwave with knobs open.",
+    "Pull the door to open the medium microwave.",
+    "Engage the medium microwave using the left arm to open.",
+    "Use the left arm to pull the gray microwave with two control knobs open.",
+    "Engage the left arm to open the microwave.",
+    "Open the countertop microwave by pulling its handle.",
+    "Open the gray microwave by pulling its door with the left arm.",
+    "Open the microwave with knobs by pulling with the left arm.",
+    "Pull to open the gray microwave with two control knobs.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Pull open the door of the yellow-sided microwave using the left arm.",
+    "Pull the gray microwave's handle to open it.",
+    "Grip the microwave with knobs's handle and pull it open.",
+    "Pull the handle of the microwave with patterned top and knobs to open it.",
+    "Use the left arm to engage the microwave with textured top panel's opening mechanism.",
+    "Grab and pull the medium microwave using the left arm.",
+    "Access the inside by opening the rectangular microwave.",
+    "Grab the handle and open the rectangular microwave with the left arm.",
+    "Pull and open the medium microwave.",
+    "Grab the handle and open the microwave with textured top panel.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Open the microwave using the left arm.",
+    "Handle the microwave with knobs and open it with the left arm.",
+    "Engage the gray and yellow microwave with rounded edges's handle and open it.",
+    "Pull the handle to open the rectangular microwave.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Pull the door of the gray microwave with two control knobs to open it.",
+    "Activate the door to open the microwave.",
+    "Pull the the countertop microwave's handle using the left arm.",
+    "Use the left arm to pull open the door of the yellow-panel microwave with smooth sides.",
+    "Use the left arm to open the microwave with patterned top and knobs by pulling.",
+    "Use the left arm to grab and open the microwave with textured top panel.",
+    "Open the yellow-panel microwave with smooth sides by grasping its handle.",
+    "Use the left arm to grab and pull the gray microwave with two control knobs.",
+    "Grasp the microwave with patterned top and knobs's handle and pull to open.",
+    "Open the microwave by pulling on its handle.",
+    "Utilize the left arm to pull the countertop microwave open.",
+    "Pull the handle of the countertop microwave with the left arm.",
+    "Use the handle to open the gray microwave.",
+    "Get the yellow-sided microwave open.",
+    "Pull the door to open the microwave.",
+    "Engage the microwave with patterned top and knobs using the left arm to open.",
+    "Use the left arm to pull the gray microwave open.",
+    "Engage the left arm to open the countertop microwave.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Open the microwave with knobs by pulling its door with the left arm.",
+    "Open the rectangular microwave by pulling with the left arm.",
+    "Pull to open the yellow-sided microwave."
+  ],
+  "unseen": [
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode3.json b/open_microwave/demo_clean/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e651f750d1d1849a1695dfb1a85fca3dad735f6
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode3.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Handle the microwave for heating food and open it with the left arm.",
+    "Open the rectangular microwave with clear glass panel by pulling its handle.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Grasp the dark gray slanted microwave box's handle and pull to open.",
+    "Use the left arm to pull open the door of the microwave for heating food.",
+    "Grab and pull the dark gray slanted microwave box using the left arm.",
+    "Open the microwave for heating food by pulling its door with the left arm.",
+    "Pull the door of the medium microwave with slanted sides to open it.",
+    "Open the rectangular microwave with clear glass panel by pulling its handle.",
+    "Pull the handle of the rectangular gray microwave to open it.",
+    "Activate the door to open the microwave with smooth surface.",
+    "Use the left arm to engage the rectangular microwave with clear glass panel's opening mechanism.",
+    "Grip the rectangular microwave with clear glass panel's handle and pull it open.",
+    "Pull the door to open the medium microwave with slanted sides.",
+    "Open the microwave with glass top by pulling on its handle.",
+    "Access the inside by opening the microwave for heating food.",
+    "Grab the handle and open the dark gray slanted microwave box with the left arm.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Use the left arm to pull the microwave for heating food open.",
+    "Pull the handle of the gray and glass microwave for cooking with the left arm.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Engage the left arm to open the medium microwave with slanted sides.",
+    "Pull to open the rectangular gray microwave.",
+    "Engage the microwave with smooth surface's handle and open it.",
+    "Grab the handle and open the dark gray kitchen microwave.",
+    "Pull the gray and glass microwave for cooking's handle to open it.",
+    "Get the rectangular microwave with clear glass panel open.",
+    "Use the left arm to open the microwave by pulling.",
+    "Open the gray appliance with transparent glass top using the left arm.",
+    "Pull open the door of the microwave using the left arm.",
+    "Open the gray appliance with transparent glass top by grasping its handle.",
+    "Open the microwave with glossy dark gray finish by pulling with the left arm.",
+    "Use the left arm to grab and pull the microwave with glossy dark gray finish.",
+    "Use the left arm to grab and open the rectangular gray microwave.",
+    "Engage the dark gray slanted microwave box using the left arm to open.",
+    "Use the handle to open the microwave.",
+    "Utilize the left arm to pull the microwave for heating food open.",
+    "Pull the the dark gray slanted microwave box's handle using the left arm.",
+    "Pull and open the dark gray slanted microwave box.",
+    "Handle the gray appliance with transparent glass top and open it with the left arm.",
+    "Open the microwave with glass top by pulling its handle.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Grasp the microwave with smooth surface's handle and pull to open.",
+    "Use the left arm to pull open the door of the dark gray slanted microwave box.",
+    "Grab and pull the microwave with glossy dark gray finish using the left arm.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Pull the door of the rectangular gray microwave to open it.",
+    "Open the microwave for heating food by pulling its handle.",
+    "Pull the handle of the gray appliance with transparent glass top to open it.",
+    "Activate the door to open the dark gray kitchen microwave.",
+    "Use the left arm to engage the gray appliance with transparent glass top's opening mechanism.",
+    "Grip the microwave for heating food's handle and pull it open.",
+    "Pull the door to open the microwave with smooth surface.",
+    "Open the microwave with glossy dark gray finish by pulling on its handle.",
+    "Access the inside by opening the medium microwave with slanted sides.",
+    "Grab the handle and open the rectangular microwave with clear glass panel with the left arm.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Use the left arm to pull the rectangular gray microwave open.",
+    "Pull the handle of the microwave with the left arm.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Engage the left arm to open the dark gray kitchen microwave.",
+    "Pull to open the microwave with glass top.",
+    "Engage the gray and glass microwave for cooking's handle and open it.",
+    "Grab the handle and open the microwave.",
+    "Pull the gray appliance with transparent glass top's handle to open it.",
+    "Get the dark gray slanted microwave box open.",
+    "Use the left arm to open the medium microwave with slanted sides by pulling.",
+    "Open the microwave for heating food using the left arm.",
+    "Pull open the door of the gray appliance with transparent glass top using the left arm.",
+    "Open the rectangular gray microwave by grasping its handle.",
+    "Open the gray appliance with transparent glass top by pulling with the left arm.",
+    "Use the left arm to grab and pull the microwave with glass top.",
+    "Use the left arm to grab and open the microwave with glass top.",
+    "Engage the dark gray kitchen microwave using the left arm to open.",
+    "Use the handle to open the rectangular microwave with clear glass panel.",
+    "Utilize the left arm to pull the gray appliance with transparent glass top open.",
+    "Pull the the rectangular gray microwave's handle using the left arm.",
+    "Pull and open the gray appliance with transparent glass top.",
+    "Handle the microwave and open it with the left arm.",
+    "Open the microwave with smooth surface by pulling its handle.",
+    "Pull the handle to open the microwave with glass top.",
+    "Grasp the gray and glass microwave for cooking's handle and pull to open.",
+    "Use the left arm to pull open the door of the rectangular gray microwave.",
+    "Grab and pull the dark gray slanted microwave box using the left arm.",
+    "Open the microwave with glass top by pulling its door with the left arm.",
+    "Pull the door of the dark gray slanted microwave box to open it.",
+    "Open the gray and glass microwave for cooking by pulling its handle.",
+    "Pull the handle of the microwave with smooth surface to open it.",
+    "Activate the door to open the rectangular microwave with clear glass panel.",
+    "Use the left arm to engage the microwave with glossy dark gray finish's opening mechanism.",
+    "Grip the rectangular microwave with clear glass panel's handle and pull it open.",
+    "Pull the door to open the microwave with glossy dark gray finish.",
+    "Open the microwave for heating food by pulling on its handle.",
+    "Access the inside by opening the gray and glass microwave for cooking.",
+    "Grab the handle and open the microwave with the left arm.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Use the left arm to pull the microwave with smooth surface open.",
+    "Pull the handle of the microwave for heating food with the left arm.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Engage the left arm to open the rectangular gray microwave."
+  ],
+  "unseen": [
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode30.json b/open_microwave/demo_clean/instructions/episode30.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b1d1283181c1baab6a0cadc73026bdbfbe003a1
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode30.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull to open the gray and yellow microwave with rounded edges.",
+    "Open the gray microwave by pulling with the left arm.",
+    "Grasp the medium microwave's handle and pull to open.",
+    "Engage the microwave with textured top panel using the left arm to open.",
+    "Activate the door to open the countertop microwave.",
+    "Pull the handle to open the countertop microwave.",
+    "Pull the yellow-sided microwave's handle to open it.",
+    "Use the left arm to pull the microwave with knobs open.",
+    "Grip the microwave with textured top panel's handle and pull it open.",
+    "Pull the the rectangular microwave's handle using the left arm.",
+    "Use the left arm to grab and pull the gray and yellow microwave with rounded edges.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Open the microwave with textured top panel by pulling on its handle.",
+    "Get the rectangular microwave open.",
+    "Pull the handle to open the microwave.",
+    "Grab and pull the microwave with textured top panel using the left arm.",
+    "Access the inside by opening the countertop microwave.",
+    "Pull the handle of the gray and yellow microwave with rounded edges with the left arm.",
+    "Grab the handle and open the microwave with knobs with the left arm.",
+    "Utilize the left arm to pull the microwave open.",
+    "Engage the left arm to open the yellow-panel microwave with smooth sides.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges.",
+    "Use the handle to open the rectangular microwave.",
+    "Engage the microwave with textured top panel's handle and open it.",
+    "Open the microwave with textured top panel by pulling its door with the left arm.",
+    "Handle the microwave with knobs and open it with the left arm.",
+    "Use the left arm to open the gray and yellow microwave with rounded edges by pulling.",
+    "Pull open the door of the medium microwave using the left arm.",
+    "Use the left arm to pull open the door of the rectangular microwave.",
+    "Pull the handle to open the gray microwave.",
+    "Pull the door to open the countertop microwave.",
+    "Use the left arm to engage the gray and yellow microwave with rounded edges's opening mechanism.",
+    "Open the rectangular microwave using the left arm.",
+    "Pull and open the countertop microwave.",
+    "Open the gray microwave by grasping its handle.",
+    "Use the left arm to grab and open the gray microwave.",
+    "Pull the door of the yellow-panel microwave with smooth sides to open it.",
+    "Pull the handle of the microwave to open it.",
+    "Pull to open the gray and yellow microwave with rounded edges.",
+    "Open the countertop microwave by pulling with the left arm.",
+    "Grasp the medium microwave's handle and pull to open.",
+    "Engage the gray microwave with two control knobs using the left arm to open.",
+    "Activate the door to open the microwave with textured top panel.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Pull the gray microwave's handle to open it.",
+    "Use the left arm to pull the microwave with patterned top and knobs open.",
+    "Grip the countertop microwave's handle and pull it open.",
+    "Pull the the yellow-panel microwave with smooth sides's handle using the left arm.",
+    "Use the left arm to grab and pull the microwave with patterned top and knobs.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Open the gray microwave with two control knobs by pulling on its handle.",
+    "Get the countertop microwave open.",
+    "Pull the handle to open the gray microwave.",
+    "Grab and pull the microwave with textured top panel using the left arm.",
+    "Access the inside by opening the gray and yellow microwave with rounded edges.",
+    "Pull the handle of the yellow-panel microwave with smooth sides with the left arm.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides with the left arm.",
+    "Utilize the left arm to pull the gray microwave open.",
+    "Engage the left arm to open the microwave with patterned top and knobs.",
+    "Grab the handle and open the medium microwave.",
+    "Use the handle to open the microwave.",
+    "Engage the countertop microwave's handle and open it.",
+    "Open the countertop microwave by pulling its door with the left arm.",
+    "Handle the yellow-panel microwave with smooth sides and open it with the left arm.",
+    "Use the left arm to open the countertop microwave by pulling.",
+    "Pull open the door of the microwave using the left arm.",
+    "Use the left arm to pull open the door of the microwave with patterned top and knobs.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Pull the door to open the countertop microwave.",
+    "Use the left arm to engage the gray and yellow microwave with rounded edges's opening mechanism.",
+    "Open the microwave with knobs using the left arm.",
+    "Pull and open the microwave with knobs.",
+    "Open the medium microwave by grasping its handle.",
+    "Use the left arm to grab and open the gray and yellow microwave with rounded edges.",
+    "Pull the door of the microwave with patterned top and knobs to open it.",
+    "Pull the handle of the microwave with textured top panel to open it.",
+    "Pull to open the microwave with patterned top and knobs.",
+    "Open the microwave with knobs by pulling with the left arm.",
+    "Grasp the microwave with textured top panel's handle and pull to open.",
+    "Engage the gray microwave using the left arm to open.",
+    "Activate the door to open the rectangular microwave.",
+    "Pull the handle to open the gray microwave.",
+    "Pull the microwave with textured top panel's handle to open it.",
+    "Use the left arm to pull the rectangular microwave open.",
+    "Grip the microwave with patterned top and knobs's handle and pull it open.",
+    "Pull the the gray microwave's handle using the left arm.",
+    "Use the left arm to grab and pull the yellow-sided microwave.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Open the gray and yellow microwave with rounded edges by pulling on its handle.",
+    "Get the gray microwave open.",
+    "Pull the handle to open the medium microwave.",
+    "Grab and pull the gray microwave using the left arm.",
+    "Access the inside by opening the rectangular microwave.",
+    "Pull the handle of the gray and yellow microwave with rounded edges with the left arm.",
+    "Grab the handle and open the microwave with the left arm.",
+    "Utilize the left arm to pull the microwave with patterned top and knobs open.",
+    "Engage the left arm to open the rectangular microwave."
+  ],
+  "unseen": [
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode31.json b/open_microwave/demo_clean/instructions/episode31.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2cbb5fa50c58be9366c0815f8ff0576cb4aa833
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode31.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the handle to open the rectangular microwave.",
+    "Use the left arm to open the countertop microwave by pulling.",
+    "Access the inside by opening the medium microwave.",
+    "Grip the microwave with knobs's handle and pull it open.",
+    "Pull the handle of the gray and yellow microwave with rounded edges to open it.",
+    "Get the medium microwave open.",
+    "Open the gray and yellow microwave with rounded edges by pulling on its handle.",
+    "Use the handle to open the microwave with patterned top and knobs.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Engage the left arm to open the microwave with knobs.",
+    "Pull the door to open the microwave.",
+    "Grab and pull the gray microwave with two control knobs using the left arm.",
+    "Grab the handle and open the countertop microwave.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Engage the rectangular microwave's handle and open it.",
+    "Open the gray microwave with two control knobs using the left arm.",
+    "Engage the microwave with knobs using the left arm to open.",
+    "Pull the the microwave with patterned top and knobs's handle using the left arm.",
+    "Activate the door to open the microwave.",
+    "Pull the microwave's handle to open it.",
+    "Utilize the left arm to pull the microwave with knobs open.",
+    "Use the left arm to engage the yellow-sided microwave's opening mechanism.",
+    "Pull to open the yellow-panel microwave with smooth sides.",
+    "Open the yellow-panel microwave with smooth sides by pulling its door with the left arm.",
+    "Pull and open the medium microwave.",
+    "Open the gray microwave with two control knobs by grasping its handle.",
+    "Handle the rectangular microwave and open it with the left arm.",
+    "Use the left arm to pull open the door of the rectangular microwave.",
+    "Pull the door of the rectangular microwave to open it.",
+    "Open the yellow-sided microwave by pulling with the left arm.",
+    "Pull open the door of the microwave with patterned top and knobs using the left arm.",
+    "Pull the handle of the medium microwave with the left arm.",
+    "Use the left arm to pull the yellow-sided microwave open.",
+    "Use the left arm to grab and pull the gray microwave with two control knobs.",
+    "Use the left arm to grab and open the yellow-sided microwave.",
+    "Open the countertop microwave by pulling its handle.",
+    "Grab the handle and open the microwave with knobs with the left arm.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Grasp the medium microwave's handle and pull to open.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Use the left arm to open the microwave with knobs by pulling.",
+    "Access the inside by opening the microwave.",
+    "Grip the gray and yellow microwave with rounded edges's handle and pull it open.",
+    "Pull the handle of the gray microwave with two control knobs to open it.",
+    "Get the gray microwave open.",
+    "Open the gray microwave with two control knobs by pulling on its handle.",
+    "Use the handle to open the gray microwave.",
+    "Open the gray microwave by pulling its handle.",
+    "Engage the left arm to open the gray microwave with two control knobs.",
+    "Pull the door to open the gray and yellow microwave with rounded edges.",
+    "Grab and pull the microwave with textured top panel using the left arm.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Engage the microwave's handle and open it.",
+    "Open the microwave with textured top panel using the left arm.",
+    "Engage the gray microwave with two control knobs using the left arm to open.",
+    "Pull the the yellow-sided microwave's handle using the left arm.",
+    "Activate the door to open the yellow-sided microwave.",
+    "Pull the gray microwave's handle to open it.",
+    "Utilize the left arm to pull the microwave with textured top panel open.",
+    "Use the left arm to engage the gray microwave's opening mechanism.",
+    "Pull to open the gray and yellow microwave with rounded edges.",
+    "Open the gray and yellow microwave with rounded edges by pulling its door with the left arm.",
+    "Pull and open the microwave with knobs.",
+    "Open the microwave with patterned top and knobs by grasping its handle.",
+    "Handle the countertop microwave and open it with the left arm.",
+    "Use the left arm to pull open the door of the microwave with patterned top and knobs.",
+    "Pull the door of the microwave to open it.",
+    "Open the countertop microwave by pulling with the left arm.",
+    "Pull open the door of the microwave with patterned top and knobs using the left arm.",
+    "Pull the handle of the countertop microwave with the left arm.",
+    "Use the left arm to pull the microwave with patterned top and knobs open.",
+    "Use the left arm to grab and pull the gray microwave.",
+    "Use the left arm to grab and open the microwave with knobs.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Grab the handle and open the microwave with the left arm.",
+    "Pull the handle to open the microwave.",
+    "Grasp the yellow-sided microwave's handle and pull to open.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Use the left arm to open the gray and yellow microwave with rounded edges by pulling.",
+    "Access the inside by opening the gray microwave with two control knobs.",
+    "Grip the microwave with patterned top and knobs's handle and pull it open.",
+    "Pull the handle of the rectangular microwave to open it.",
+    "Get the microwave open.",
+    "Open the microwave by pulling on its handle.",
+    "Use the handle to open the microwave with knobs.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Engage the left arm to open the microwave with textured top panel.",
+    "Pull the door to open the gray microwave.",
+    "Grab and pull the gray microwave with two control knobs using the left arm.",
+    "Grab the handle and open the gray microwave with two control knobs.",
+    "Pull the handle to open the gray microwave.",
+    "Engage the microwave with textured top panel's handle and open it.",
+    "Open the gray microwave using the left arm.",
+    "Engage the rectangular microwave using the left arm to open.",
+    "Pull the the yellow-sided microwave's handle using the left arm.",
+    "Activate the door to open the microwave.",
+    "Pull the gray microwave's handle to open it.",
+    "Utilize the left arm to pull the microwave open.",
+    "Use the left arm to engage the rectangular microwave's opening mechanism."
+  ],
+  "unseen": [
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode32.json b/open_microwave/demo_clean/instructions/episode32.json
new file mode 100644
index 0000000000000000000000000000000000000000..c46ac2cc4f309e76e1aa2467479bb54b481b0f38
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode32.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the rectangular gray microwave by pulling its handle.",
+    "Utilize the left arm to pull the rectangular gray microwave open.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Grab the handle and open the microwave with glossy dark gray finish with the left arm.",
+    "Open the microwave with glossy dark gray finish using the left arm.",
+    "Open the medium microwave with slanted sides by pulling with the left arm.",
+    "Engage the left arm to open the microwave for heating food.",
+    "Get the dark gray kitchen microwave open.",
+    "Open the dark gray slanted microwave box by pulling on its handle.",
+    "Pull the door of the microwave to open it.",
+    "Open the rectangular microwave with clear glass panel by grasping its handle.",
+    "Use the left arm to open the microwave with glossy dark gray finish by pulling.",
+    "Use the left arm to grab and pull the medium microwave with slanted sides.",
+    "Use the handle to open the dark gray slanted microwave box.",
+    "Access the inside by opening the rectangular microwave with clear glass panel.",
+    "Engage the rectangular gray microwave's handle and open it.",
+    "Grab and pull the microwave with glass top using the left arm.",
+    "Pull and open the gray appliance with transparent glass top.",
+    "Pull the the medium microwave with slanted sides's handle using the left arm.",
+    "Use the left arm to pull open the door of the gray and glass microwave for cooking.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Use the left arm to grab and open the microwave for heating food.",
+    "Grasp the rectangular gray microwave's handle and pull to open.",
+    "Pull the door to open the gray appliance with transparent glass top.",
+    "Use the left arm to engage the gray and glass microwave for cooking's opening mechanism.",
+    "Pull open the door of the microwave with glossy dark gray finish using the left arm.",
+    "Pull the handle of the microwave with glass top with the left arm.",
+    "Open the microwave with smooth surface by pulling its handle.",
+    "Activate the door to open the dark gray slanted microwave box.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Open the microwave with glass top by pulling its door with the left arm.",
+    "Pull the handle of the microwave for heating food to open it.",
+    "Use the left arm to pull the rectangular microwave with clear glass panel open.",
+    "Grip the dark gray slanted microwave box's handle and pull it open.",
+    "Engage the dark gray kitchen microwave using the left arm to open.",
+    "Handle the rectangular microwave with clear glass panel and open it with the left arm.",
+    "Pull the microwave with glossy dark gray finish's handle to open it.",
+    "Grab the handle and open the rectangular microwave with clear glass panel.",
+    "Pull to open the microwave with glossy dark gray finish.",
+    "Open the microwave for heating food by pulling its handle.",
+    "Utilize the left arm to pull the gray and glass microwave for cooking open.",
+    "Pull the handle to open the microwave with glass top.",
+    "Grab the handle and open the gray and glass microwave for cooking with the left arm.",
+    "Open the rectangular microwave with clear glass panel using the left arm.",
+    "Open the gray and glass microwave for cooking by pulling with the left arm.",
+    "Engage the left arm to open the dark gray kitchen microwave.",
+    "Get the microwave for heating food open.",
+    "Open the dark gray kitchen microwave by pulling on its handle.",
+    "Pull the door of the microwave with glossy dark gray finish to open it.",
+    "Open the microwave with glass top by grasping its handle.",
+    "Use the left arm to open the microwave for heating food by pulling.",
+    "Use the left arm to grab and pull the rectangular microwave with clear glass panel.",
+    "Use the handle to open the rectangular gray microwave.",
+    "Access the inside by opening the microwave with glass top.",
+    "Engage the rectangular gray microwave's handle and open it.",
+    "Grab and pull the microwave using the left arm.",
+    "Pull and open the rectangular microwave with clear glass panel.",
+    "Pull the the medium microwave with slanted sides's handle using the left arm.",
+    "Use the left arm to pull open the door of the gray appliance with transparent glass top.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Use the left arm to grab and open the gray and glass microwave for cooking.",
+    "Grasp the microwave with glossy dark gray finish's handle and pull to open.",
+    "Pull the door to open the rectangular microwave with clear glass panel.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Pull open the door of the gray and glass microwave for cooking using the left arm.",
+    "Pull the handle of the gray and glass microwave for cooking with the left arm.",
+    "Open the gray appliance with transparent glass top by pulling its handle.",
+    "Activate the door to open the dark gray kitchen microwave.",
+    "Pull the handle to open the microwave for heating food.",
+    "Open the gray and glass microwave for cooking by pulling its door with the left arm.",
+    "Pull the handle of the rectangular microwave with clear glass panel to open it.",
+    "Use the left arm to pull the gray appliance with transparent glass top open.",
+    "Grip the microwave for heating food's handle and pull it open.",
+    "Engage the gray appliance with transparent glass top using the left arm to open.",
+    "Handle the rectangular gray microwave and open it with the left arm.",
+    "Pull the microwave for heating food's handle to open it.",
+    "Grab the handle and open the rectangular microwave with clear glass panel.",
+    "Pull to open the microwave with smooth surface.",
+    "Open the gray and glass microwave for cooking by pulling its handle.",
+    "Utilize the left arm to pull the dark gray slanted microwave box open.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Grab the handle and open the microwave with glossy dark gray finish with the left arm.",
+    "Open the medium microwave with slanted sides using the left arm.",
+    "Open the microwave for heating food by pulling with the left arm.",
+    "Engage the left arm to open the rectangular gray microwave.",
+    "Get the microwave open.",
+    "Open the medium microwave with slanted sides by pulling on its handle.",
+    "Pull the door of the medium microwave with slanted sides to open it.",
+    "Open the microwave by grasping its handle.",
+    "Use the left arm to open the rectangular microwave with clear glass panel by pulling.",
+    "Use the left arm to grab and pull the dark gray kitchen microwave.",
+    "Use the handle to open the dark gray kitchen microwave.",
+    "Access the inside by opening the gray appliance with transparent glass top.",
+    "Engage the medium microwave with slanted sides's handle and open it.",
+    "Grab and pull the microwave using the left arm.",
+    "Pull and open the medium microwave with slanted sides.",
+    "Pull the the gray appliance with transparent glass top's handle using the left arm.",
+    "Use the left arm to pull open the door of the microwave.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Use the left arm to grab and open the dark gray kitchen microwave."
+  ],
+  "unseen": [
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to open the dark gray microwave.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to open the dark gray microwave.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to open the dark gray microwave.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode33.json b/open_microwave/demo_clean/instructions/episode33.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9d65f641b16b74c6dc252057351f807cd481c94
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode33.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab and pull the gray microwave using the left arm.",
+    "Pull the door to open the rectangular microwave.",
+    "Pull the the rectangular microwave's handle using the left arm.",
+    "Engage the yellow-panel microwave with smooth sides using the left arm to open.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Use the left arm to open the microwave by pulling.",
+    "Pull the microwave with textured top panel's handle to open it.",
+    "Get the gray and yellow microwave with rounded edges open.",
+    "Open the gray microwave by grasping its handle.",
+    "Use the left arm to grab and open the yellow-panel microwave with smooth sides.",
+    "Pull and open the yellow-panel microwave with smooth sides.",
+    "Activate the door to open the medium microwave.",
+    "Use the handle to open the microwave with textured top panel.",
+    "Pull the handle to open the countertop microwave.",
+    "Pull open the door of the microwave with textured top panel using the left arm.",
+    "Pull to open the microwave with patterned top and knobs.",
+    "Open the gray microwave using the left arm.",
+    "Engage the medium microwave's handle and open it.",
+    "Use the left arm to engage the microwave with knobs's opening mechanism.",
+    "Grasp the medium microwave's handle and pull to open.",
+    "Pull the handle to open the medium microwave.",
+    "Utilize the left arm to pull the microwave with patterned top and knobs open.",
+    "Open the yellow-sided microwave by pulling on its handle.",
+    "Pull the handle of the medium microwave with the left arm.",
+    "Grip the yellow-sided microwave's handle and pull it open.",
+    "Open the microwave with knobs by pulling with the left arm.",
+    "Handle the gray and yellow microwave with rounded edges and open it with the left arm.",
+    "Grab the handle and open the yellow-sided microwave.",
+    "Access the inside by opening the rectangular microwave.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Use the left arm to grab and pull the rectangular microwave.",
+    "Open the gray microwave by pulling its door with the left arm.",
+    "Grab the handle and open the microwave with textured top panel with the left arm.",
+    "Use the left arm to pull open the door of the gray and yellow microwave with rounded edges.",
+    "Pull the handle of the microwave with textured top panel to open it.",
+    "Pull the door of the gray and yellow microwave with rounded edges to open it.",
+    "Use the left arm to pull the microwave with patterned top and knobs open.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Engage the left arm to open the gray and yellow microwave with rounded edges.",
+    "Grab and pull the gray microwave using the left arm.",
+    "Pull the door to open the microwave with textured top panel.",
+    "Pull the the yellow-sided microwave's handle using the left arm.",
+    "Engage the microwave with textured top panel using the left arm to open.",
+    "Pull the handle to open the microwave with knobs.",
+    "Use the left arm to open the yellow-sided microwave by pulling.",
+    "Pull the yellow-panel microwave with smooth sides's handle to open it.",
+    "Get the rectangular microwave open.",
+    "Open the yellow-panel microwave with smooth sides by grasping its handle.",
+    "Use the left arm to grab and open the yellow-sided microwave.",
+    "Pull and open the microwave.",
+    "Activate the door to open the microwave with textured top panel.",
+    "Use the handle to open the yellow-sided microwave.",
+    "Pull the handle to open the medium microwave.",
+    "Pull open the door of the gray microwave with two control knobs using the left arm.",
+    "Pull to open the yellow-panel microwave with smooth sides.",
+    "Open the medium microwave using the left arm.",
+    "Engage the microwave with patterned top and knobs's handle and open it.",
+    "Use the left arm to engage the microwave with knobs's opening mechanism.",
+    "Grasp the gray microwave's handle and pull to open.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Utilize the left arm to pull the microwave with textured top panel open.",
+    "Open the gray microwave with two control knobs by pulling on its handle.",
+    "Pull the handle of the gray and yellow microwave with rounded edges with the left arm.",
+    "Grip the medium microwave's handle and pull it open.",
+    "Open the microwave with patterned top and knobs by pulling with the left arm.",
+    "Handle the microwave with knobs and open it with the left arm.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides.",
+    "Access the inside by opening the microwave with knobs.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Use the left arm to grab and pull the microwave with knobs.",
+    "Open the microwave with patterned top and knobs by pulling its door with the left arm.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides with the left arm.",
+    "Use the left arm to pull open the door of the yellow-sided microwave.",
+    "Pull the handle of the gray microwave to open it.",
+    "Pull the door of the countertop microwave to open it.",
+    "Use the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Open the countertop microwave by pulling its handle.",
+    "Engage the left arm to open the microwave.",
+    "Grab and pull the yellow-sided microwave using the left arm.",
+    "Pull the door to open the medium microwave.",
+    "Pull the the medium microwave's handle using the left arm.",
+    "Engage the gray microwave using the left arm to open.",
+    "Pull the handle to open the medium microwave.",
+    "Use the left arm to open the microwave with textured top panel by pulling.",
+    "Pull the gray microwave's handle to open it.",
+    "Get the gray microwave with two control knobs open.",
+    "Open the rectangular microwave by grasping its handle.",
+    "Use the left arm to grab and open the microwave with patterned top and knobs.",
+    "Pull and open the yellow-sided microwave.",
+    "Activate the door to open the gray microwave with two control knobs.",
+    "Use the handle to open the gray microwave with two control knobs.",
+    "Pull the handle to open the medium microwave.",
+    "Pull open the door of the gray and yellow microwave with rounded edges using the left arm.",
+    "Pull to open the microwave with textured top panel.",
+    "Open the microwave using the left arm.",
+    "Engage the gray microwave with two control knobs's handle and open it.",
+    "Use the left arm to engage the gray and yellow microwave with rounded edges's opening mechanism.",
+    "Grasp the gray microwave with two control knobs's handle and pull to open.",
+    "Pull the handle to open the microwave.",
+    "Utilize the left arm to pull the microwave with patterned top and knobs open."
+  ],
+  "unseen": [
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode34.json b/open_microwave/demo_clean/instructions/episode34.json
new file mode 100644
index 0000000000000000000000000000000000000000..74f489d9e67b9c823b547e0de277f072a81951aa
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode34.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grasp the microwave with smooth surface's handle and pull to open.",
+    "Pull the door to open the dark gray kitchen microwave.",
+    "Use the handle to open the dark gray kitchen microwave.",
+    "Get the rectangular microwave with clear glass panel open.",
+    "Grab the handle and open the rectangular gray microwave with the left arm.",
+    "Pull the door of the microwave for heating food to open it.",
+    "Grab and pull the rectangular gray microwave using the left arm.",
+    "Use the left arm to pull the medium microwave with slanted sides open.",
+    "Pull the handle of the rectangular microwave with clear glass panel to open it.",
+    "Open the microwave by pulling its handle.",
+    "Open the gray and glass microwave for cooking using the left arm.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Activate the door to open the medium microwave with slanted sides.",
+    "Use the left arm to engage the microwave with glossy dark gray finish's opening mechanism.",
+    "Open the rectangular gray microwave by pulling with the left arm.",
+    "Engage the dark gray kitchen microwave using the left arm to open.",
+    "Pull the handle of the medium microwave with slanted sides with the left arm.",
+    "Pull the gray appliance with transparent glass top's handle to open it.",
+    "Open the microwave with smooth surface by pulling its handle.",
+    "Handle the microwave and open it with the left arm.",
+    "Use the left arm to grab and open the microwave with glass top.",
+    "Pull to open the medium microwave with slanted sides.",
+    "Use the left arm to grab and pull the dark gray slanted microwave box.",
+    "Engage the microwave with glass top's handle and open it.",
+    "Pull open the door of the microwave for heating food using the left arm.",
+    "Pull the the microwave for heating food's handle using the left arm.",
+    "Open the microwave with glass top by pulling its door with the left arm.",
+    "Use the left arm to open the microwave with glass top by pulling.",
+    "Utilize the left arm to pull the rectangular gray microwave open.",
+    "Open the dark gray kitchen microwave by pulling on its handle.",
+    "Access the inside by opening the microwave.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Grip the gray appliance with transparent glass top's handle and pull it open.",
+    "Engage the left arm to open the microwave.",
+    "Pull and open the gray appliance with transparent glass top.",
+    "Open the gray appliance with transparent glass top by grasping its handle.",
+    "Use the left arm to pull open the door of the microwave for heating food.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Grab the handle and open the microwave for heating food.",
+    "Grasp the microwave for heating food's handle and pull to open.",
+    "Pull the door to open the microwave for heating food.",
+    "Use the handle to open the rectangular microwave with clear glass panel.",
+    "Get the microwave with smooth surface open.",
+    "Grab the handle and open the rectangular gray microwave with the left arm.",
+    "Pull the door of the microwave with glossy dark gray finish to open it.",
+    "Grab and pull the dark gray kitchen microwave using the left arm.",
+    "Use the left arm to pull the rectangular microwave with clear glass panel open.",
+    "Pull the handle of the rectangular gray microwave to open it.",
+    "Open the gray appliance with transparent glass top by pulling its handle.",
+    "Open the medium microwave with slanted sides using the left arm.",
+    "Pull the handle to open the microwave for heating food.",
+    "Activate the door to open the dark gray slanted microwave box.",
+    "Use the left arm to engage the microwave with glossy dark gray finish's opening mechanism.",
+    "Open the dark gray kitchen microwave by pulling with the left arm.",
+    "Engage the gray and glass microwave for cooking using the left arm to open.",
+    "Pull the handle of the microwave for heating food with the left arm.",
+    "Pull the medium microwave with slanted sides's handle to open it.",
+    "Open the rectangular microwave with clear glass panel by pulling its handle.",
+    "Handle the microwave with smooth surface and open it with the left arm.",
+    "Use the left arm to grab and open the rectangular microwave with clear glass panel.",
+    "Pull to open the dark gray slanted microwave box.",
+    "Use the left arm to grab and pull the microwave for heating food.",
+    "Engage the medium microwave with slanted sides's handle and open it.",
+    "Pull open the door of the microwave with glass top using the left arm.",
+    "Pull the the gray and glass microwave for cooking's handle using the left arm.",
+    "Open the gray and glass microwave for cooking by pulling its door with the left arm.",
+    "Use the left arm to open the dark gray kitchen microwave by pulling.",
+    "Utilize the left arm to pull the microwave open.",
+    "Open the medium microwave with slanted sides by pulling on its handle.",
+    "Access the inside by opening the microwave for heating food.",
+    "Pull the handle to open the microwave with glass top.",
+    "Grip the microwave with glass top's handle and pull it open.",
+    "Engage the left arm to open the rectangular gray microwave.",
+    "Pull and open the dark gray kitchen microwave.",
+    "Open the gray and glass microwave for cooking by grasping its handle.",
+    "Use the left arm to pull open the door of the medium microwave with slanted sides.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Grab the handle and open the microwave with glass top.",
+    "Grasp the microwave's handle and pull to open.",
+    "Pull the door to open the dark gray slanted microwave box.",
+    "Use the handle to open the rectangular microwave with clear glass panel.",
+    "Get the gray and glass microwave for cooking open.",
+    "Grab the handle and open the microwave for heating food with the left arm.",
+    "Pull the door of the microwave for heating food to open it.",
+    "Grab and pull the microwave using the left arm.",
+    "Use the left arm to pull the gray and glass microwave for cooking open.",
+    "Pull the handle of the dark gray slanted microwave box to open it.",
+    "Open the rectangular gray microwave by pulling its handle.",
+    "Open the microwave with glossy dark gray finish using the left arm.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Activate the door to open the gray appliance with transparent glass top.",
+    "Use the left arm to engage the microwave with glossy dark gray finish's opening mechanism.",
+    "Open the microwave for heating food by pulling with the left arm.",
+    "Engage the rectangular gray microwave using the left arm to open.",
+    "Pull the handle of the dark gray slanted microwave box with the left arm.",
+    "Pull the medium microwave with slanted sides's handle to open it.",
+    "Open the microwave for heating food by pulling its handle.",
+    "Handle the rectangular gray microwave and open it with the left arm.",
+    "Use the left arm to grab and open the medium microwave with slanted sides.",
+    "Pull to open the microwave."
+  ],
+  "unseen": [
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the dark gray microwave by pulling its door handle."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode35.json b/open_microwave/demo_clean/instructions/episode35.json
new file mode 100644
index 0000000000000000000000000000000000000000..67a4f1f3c6b3e3f2035fec978075e28f6cd9046e
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode35.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab and pull the rectangular microwave with clear glass panel using the left arm.",
+    "Grasp the microwave with glossy dark gray finish's handle and pull to open.",
+    "Use the left arm to pull open the door of the microwave with smooth surface.",
+    "Grab the handle and open the microwave for heating food.",
+    "Handle the microwave with smooth surface and open it with the left arm.",
+    "Pull open the door of the microwave using the left arm.",
+    "Grab the handle and open the microwave with smooth surface with the left arm.",
+    "Pull the door to open the microwave with smooth surface.",
+    "Pull the handle of the gray and glass microwave for cooking with the left arm.",
+    "Pull to open the dark gray slanted microwave box.",
+    "Open the microwave by grasping its handle.",
+    "Use the left arm to open the microwave with glass top by pulling.",
+    "Open the gray appliance with transparent glass top by pulling its handle.",
+    "Pull the door of the dark gray slanted microwave box to open it.",
+    "Pull the microwave with glossy dark gray finish's handle to open it.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Use the handle to open the dark gray slanted microwave box.",
+    "Use the left arm to pull the microwave for heating food open.",
+    "Access the inside by opening the rectangular microwave with clear glass panel.",
+    "Use the left arm to grab and open the gray appliance with transparent glass top.",
+    "Pull the handle of the gray and glass microwave for cooking to open it.",
+    "Open the dark gray kitchen microwave by pulling on its handle.",
+    "Open the microwave for heating food by pulling with the left arm.",
+    "Engage the medium microwave with slanted sides's handle and open it.",
+    "Use the left arm to engage the gray appliance with transparent glass top's opening mechanism.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Engage the left arm to open the dark gray kitchen microwave.",
+    "Get the microwave with glass top open.",
+    "Pull the the microwave for heating food's handle using the left arm.",
+    "Grip the microwave for heating food's handle and pull it open.",
+    "Utilize the left arm to pull the gray appliance with transparent glass top open.",
+    "Activate the door to open the gray and glass microwave for cooking.",
+    "Open the dark gray kitchen microwave using the left arm.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Pull and open the microwave for heating food.",
+    "Use the left arm to grab and pull the rectangular gray microwave.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Engage the microwave with glossy dark gray finish using the left arm to open.",
+    "Grab and pull the gray appliance with transparent glass top using the left arm.",
+    "Grasp the gray and glass microwave for cooking's handle and pull to open.",
+    "Use the left arm to pull open the door of the dark gray slanted microwave box.",
+    "Grab the handle and open the dark gray slanted microwave box.",
+    "Handle the rectangular microwave with clear glass panel and open it with the left arm.",
+    "Pull open the door of the microwave with smooth surface using the left arm.",
+    "Grab the handle and open the rectangular microwave with clear glass panel with the left arm.",
+    "Pull the door to open the gray and glass microwave for cooking.",
+    "Pull the handle of the microwave with glass top with the left arm.",
+    "Pull to open the gray appliance with transparent glass top.",
+    "Open the microwave for heating food by grasping its handle.",
+    "Use the left arm to open the rectangular microwave with clear glass panel by pulling.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Pull the door of the dark gray slanted microwave box to open it.",
+    "Pull the microwave for heating food's handle to open it.",
+    "Pull the handle to open the microwave with glass top.",
+    "Use the handle to open the microwave.",
+    "Use the left arm to pull the dark gray kitchen microwave open.",
+    "Access the inside by opening the gray and glass microwave for cooking.",
+    "Use the left arm to grab and open the microwave with smooth surface.",
+    "Pull the handle of the microwave with smooth surface to open it.",
+    "Open the dark gray slanted microwave box by pulling on its handle.",
+    "Open the microwave with smooth surface by pulling with the left arm.",
+    "Engage the microwave's handle and open it.",
+    "Use the left arm to engage the dark gray kitchen microwave's opening mechanism.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Engage the left arm to open the dark gray kitchen microwave.",
+    "Get the rectangular gray microwave open.",
+    "Pull the the dark gray slanted microwave box's handle using the left arm.",
+    "Grip the rectangular microwave with clear glass panel's handle and pull it open.",
+    "Utilize the left arm to pull the rectangular gray microwave open.",
+    "Activate the door to open the gray and glass microwave for cooking.",
+    "Open the microwave with glass top using the left arm.",
+    "Open the dark gray kitchen microwave by pulling its door with the left arm.",
+    "Pull and open the rectangular microwave with clear glass panel.",
+    "Use the left arm to grab and pull the rectangular microwave with clear glass panel.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Pull the handle to open the microwave.",
+    "Engage the microwave with glossy dark gray finish using the left arm to open.",
+    "Grab and pull the rectangular gray microwave using the left arm.",
+    "Grasp the rectangular gray microwave's handle and pull to open.",
+    "Use the left arm to pull open the door of the gray appliance with transparent glass top.",
+    "Grab the handle and open the microwave with smooth surface.",
+    "Handle the microwave with smooth surface and open it with the left arm.",
+    "Pull open the door of the microwave for heating food using the left arm.",
+    "Grab the handle and open the microwave with glass top with the left arm.",
+    "Pull the door to open the microwave with glossy dark gray finish.",
+    "Pull the handle of the microwave with glossy dark gray finish with the left arm.",
+    "Pull to open the gray and glass microwave for cooking.",
+    "Open the microwave with glass top by grasping its handle.",
+    "Use the left arm to open the rectangular microwave with clear glass panel by pulling.",
+    "Open the rectangular microwave with clear glass panel by pulling its handle.",
+    "Pull the door of the gray appliance with transparent glass top to open it.",
+    "Pull the dark gray slanted microwave box's handle to open it.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Use the handle to open the rectangular microwave with clear glass panel.",
+    "Use the left arm to pull the gray and glass microwave for cooking open.",
+    "Access the inside by opening the dark gray kitchen microwave.",
+    "Use the left arm to grab and open the dark gray slanted microwave box.",
+    "Pull the handle of the rectangular microwave with clear glass panel to open it.",
+    "Open the microwave with glass top by pulling on its handle."
+  ],
+  "unseen": [
+    "Open the dark gray microwave using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode36.json b/open_microwave/demo_clean/instructions/episode36.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a055ba669d324a2738297e67b0f842dfb76c525
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode36.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab and open the yellow-sided microwave.",
+    "Engage the left arm to open the gray microwave.",
+    "Open the microwave with textured top panel by grasping its handle.",
+    "Pull and open the microwave with textured top panel.",
+    "Activate the door to open the gray microwave with two control knobs.",
+    "Pull the door to open the microwave with textured top panel.",
+    "Open the microwave by pulling its handle.",
+    "Grab and pull the yellow-sided microwave using the left arm.",
+    "Use the left arm to engage the yellow-sided microwave's opening mechanism.",
+    "Pull the handle to open the microwave with knobs.",
+    "Open the countertop microwave using the left arm.",
+    "Use the handle to open the microwave.",
+    "Use the left arm to grab and pull the yellow-sided microwave.",
+    "Access the inside by opening the yellow-panel microwave with smooth sides.",
+    "Pull to open the rectangular microwave.",
+    "Engage the yellow-sided microwave's handle and open it.",
+    "Grip the microwave with knobs's handle and pull it open.",
+    "Grasp the microwave with textured top panel's handle and pull to open.",
+    "Pull open the door of the medium microwave using the left arm.",
+    "Open the microwave by pulling on its handle.",
+    "Grab the handle and open the countertop microwave with the left arm.",
+    "Pull the gray and yellow microwave with rounded edges's handle to open it.",
+    "Pull the handle of the yellow-panel microwave with smooth sides with the left arm.",
+    "Use the left arm to pull open the door of the medium microwave.",
+    "Open the microwave with patterned top and knobs by pulling its door with the left arm.",
+    "Pull the door of the microwave with knobs to open it.",
+    "Pull the handle to open the countertop microwave.",
+    "Utilize the left arm to pull the microwave with textured top panel open.",
+    "Get the microwave open.",
+    "Pull the the gray microwave with two control knobs's handle using the left arm.",
+    "Engage the yellow-panel microwave with smooth sides using the left arm to open.",
+    "Use the left arm to open the yellow-sided microwave by pulling.",
+    "Open the countertop microwave by pulling its handle.",
+    "Pull the handle of the medium microwave to open it.",
+    "Handle the medium microwave and open it with the left arm.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Grab the handle and open the yellow-sided microwave.",
+    "Use the left arm to pull the microwave with textured top panel open.",
+    "Open the microwave with knobs by pulling with the left arm.",
+    "Use the left arm to grab and open the medium microwave.",
+    "Engage the left arm to open the gray microwave.",
+    "Open the yellow-sided microwave by grasping its handle.",
+    "Pull and open the microwave with knobs.",
+    "Activate the door to open the yellow-panel microwave with smooth sides.",
+    "Pull the door to open the microwave with textured top panel.",
+    "Open the countertop microwave by pulling its handle.",
+    "Grab and pull the microwave with textured top panel using the left arm.",
+    "Use the left arm to engage the gray microwave with two control knobs's opening mechanism.",
+    "Pull the handle to open the microwave.",
+    "Open the microwave with textured top panel using the left arm.",
+    "Use the handle to open the countertop microwave.",
+    "Use the left arm to grab and pull the rectangular microwave.",
+    "Access the inside by opening the microwave with patterned top and knobs.",
+    "Pull to open the gray and yellow microwave with rounded edges.",
+    "Engage the microwave with knobs's handle and open it.",
+    "Grip the yellow-panel microwave with smooth sides's handle and pull it open.",
+    "Grasp the microwave with knobs's handle and pull to open.",
+    "Pull open the door of the microwave with textured top panel using the left arm.",
+    "Open the medium microwave by pulling on its handle.",
+    "Grab the handle and open the microwave with textured top panel with the left arm.",
+    "Pull the microwave with textured top panel's handle to open it.",
+    "Pull the handle of the yellow-sided microwave with the left arm.",
+    "Use the left arm to pull open the door of the microwave.",
+    "Open the yellow-panel microwave with smooth sides by pulling its door with the left arm.",
+    "Pull the door of the microwave with knobs to open it.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Utilize the left arm to pull the microwave with knobs open.",
+    "Get the yellow-panel microwave with smooth sides open.",
+    "Pull the the yellow-sided microwave's handle using the left arm.",
+    "Engage the microwave with textured top panel using the left arm to open.",
+    "Use the left arm to open the rectangular microwave by pulling.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Pull the handle of the gray microwave with two control knobs to open it.",
+    "Handle the countertop microwave and open it with the left arm.",
+    "Pull the handle to open the microwave.",
+    "Grab the handle and open the microwave with textured top panel.",
+    "Use the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Open the microwave with textured top panel by pulling with the left arm.",
+    "Use the left arm to grab and open the yellow-panel microwave with smooth sides.",
+    "Engage the left arm to open the gray microwave with two control knobs.",
+    "Open the yellow-sided microwave by grasping its handle.",
+    "Pull and open the yellow-sided microwave.",
+    "Activate the door to open the rectangular microwave.",
+    "Pull the door to open the microwave.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Grab and pull the gray microwave with two control knobs using the left arm.",
+    "Use the left arm to engage the medium microwave's opening mechanism.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Open the microwave with patterned top and knobs using the left arm.",
+    "Use the handle to open the microwave with knobs.",
+    "Use the left arm to grab and pull the microwave with textured top panel.",
+    "Access the inside by opening the gray microwave with two control knobs.",
+    "Pull to open the medium microwave.",
+    "Engage the gray microwave with two control knobs's handle and open it.",
+    "Grip the microwave with patterned top and knobs's handle and pull it open.",
+    "Grasp the rectangular microwave's handle and pull to open.",
+    "Pull open the door of the microwave with patterned top and knobs using the left arm.",
+    "Open the gray and yellow microwave with rounded edges by pulling on its handle.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides with the left arm.",
+    "Pull the gray microwave's handle to open it."
+  ],
+  "unseen": [
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode37.json b/open_microwave/demo_clean/instructions/episode37.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6fe9d3d8078af642685da331df45aa3c2b7a557
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode37.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the yellow-panel microwave with smooth sides using the left arm.",
+    "Handle the gray and yellow microwave with rounded edges and open it with the left arm.",
+    "Engage the medium microwave's handle and open it.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides.",
+    "Pull the door to open the countertop microwave.",
+    "Use the left arm to pull open the door of the microwave.",
+    "Use the left arm to open the rectangular microwave by pulling.",
+    "Pull open the door of the gray microwave using the left arm.",
+    "Grip the gray and yellow microwave with rounded edges's handle and pull it open.",
+    "Engage the microwave with textured top panel using the left arm to open.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Pull the handle of the yellow-sided microwave with the left arm.",
+    "Activate the door to open the gray and yellow microwave with rounded edges.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Pull the microwave with textured top panel's handle to open it.",
+    "Use the left arm to grab and pull the yellow-sided microwave.",
+    "Use the left arm to grab and open the microwave with knobs.",
+    "Open the microwave with patterned top and knobs by pulling with the left arm.",
+    "Grasp the microwave with knobs's handle and pull to open.",
+    "Pull the door of the microwave with textured top panel to open it.",
+    "Open the microwave with textured top panel by grasping its handle.",
+    "Open the gray microwave with two control knobs by pulling on its handle.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Pull and open the rectangular microwave.",
+    "Use the left arm to engage the gray microwave with two control knobs's opening mechanism.",
+    "Pull to open the yellow-panel microwave with smooth sides.",
+    "Pull the handle to open the medium microwave.",
+    "Pull the the medium microwave's handle using the left arm.",
+    "Get the yellow-panel microwave with smooth sides open.",
+    "Utilize the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Access the inside by opening the countertop microwave.",
+    "Pull the handle of the microwave with patterned top and knobs to open it.",
+    "Grab and pull the gray microwave with two control knobs using the left arm.",
+    "Use the left arm to pull the yellow-sided microwave open.",
+    "Use the handle to open the microwave.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Open the microwave with textured top panel by pulling its door with the left arm.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides with the left arm.",
+    "Engage the left arm to open the microwave with textured top panel.",
+    "Open the gray microwave using the left arm.",
+    "Handle the countertop microwave and open it with the left arm.",
+    "Engage the yellow-sided microwave's handle and open it.",
+    "Grab the handle and open the medium microwave.",
+    "Pull the door to open the microwave with patterned top and knobs.",
+    "Use the left arm to pull open the door of the microwave with patterned top and knobs.",
+    "Use the left arm to open the rectangular microwave by pulling.",
+    "Pull open the door of the microwave with patterned top and knobs using the left arm.",
+    "Grip the microwave with textured top panel's handle and pull it open.",
+    "Engage the rectangular microwave using the left arm to open.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Pull the handle of the microwave with the left arm.",
+    "Activate the door to open the microwave.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Pull the medium microwave's handle to open it.",
+    "Use the left arm to grab and pull the microwave with patterned top and knobs.",
+    "Use the left arm to grab and open the countertop microwave.",
+    "Open the microwave with patterned top and knobs by pulling with the left arm.",
+    "Grasp the gray microwave with two control knobs's handle and pull to open.",
+    "Pull the door of the microwave to open it.",
+    "Open the gray microwave by grasping its handle.",
+    "Open the medium microwave by pulling on its handle.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Pull and open the rectangular microwave.",
+    "Use the left arm to engage the gray microwave's opening mechanism.",
+    "Pull to open the rectangular microwave.",
+    "Pull the handle to open the medium microwave.",
+    "Pull the the yellow-sided microwave's handle using the left arm.",
+    "Get the yellow-sided microwave open.",
+    "Utilize the left arm to pull the gray microwave with two control knobs open.",
+    "Access the inside by opening the microwave.",
+    "Pull the handle of the gray microwave with two control knobs to open it.",
+    "Grab and pull the microwave using the left arm.",
+    "Use the left arm to pull the rectangular microwave open.",
+    "Use the handle to open the microwave with patterned top and knobs.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Open the rectangular microwave by pulling its door with the left arm.",
+    "Grab the handle and open the microwave with patterned top and knobs with the left arm.",
+    "Engage the left arm to open the gray microwave.",
+    "Open the medium microwave using the left arm.",
+    "Handle the rectangular microwave and open it with the left arm.",
+    "Engage the microwave with textured top panel's handle and open it.",
+    "Grab the handle and open the microwave with patterned top and knobs.",
+    "Pull the door to open the microwave with knobs.",
+    "Use the left arm to pull open the door of the gray microwave with two control knobs.",
+    "Use the left arm to open the gray microwave with two control knobs by pulling.",
+    "Pull open the door of the yellow-sided microwave using the left arm.",
+    "Grip the microwave's handle and pull it open.",
+    "Engage the rectangular microwave using the left arm to open.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Pull the handle of the gray microwave with the left arm.",
+    "Activate the door to open the rectangular microwave.",
+    "Pull the handle to open the gray microwave.",
+    "Pull the yellow-sided microwave's handle to open it.",
+    "Use the left arm to grab and pull the rectangular microwave.",
+    "Use the left arm to grab and open the gray and yellow microwave with rounded edges.",
+    "Open the medium microwave by pulling with the left arm.",
+    "Grasp the microwave with textured top panel's handle and pull to open.",
+    "Pull the door of the yellow-sided microwave to open it.",
+    "Open the rectangular microwave by grasping its handle.",
+    "Open the yellow-panel microwave with smooth sides by pulling on its handle."
+  ],
+  "unseen": [
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode38.json b/open_microwave/demo_clean/instructions/episode38.json
new file mode 100644
index 0000000000000000000000000000000000000000..60451a552f6baabb0ed10d0bb1144305d01e2ba6
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode38.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the door to open the medium microwave with slanted sides.",
+    "Pull the handle of the microwave with glass top to open it.",
+    "Pull the handle to open the microwave.",
+    "Open the microwave with glass top by pulling its handle.",
+    "Pull the handle to open the microwave for heating food.",
+    "Grasp the microwave with smooth surface's handle and pull to open.",
+    "Pull the handle to open the microwave.",
+    "Pull open the door of the rectangular microwave with clear glass panel using the left arm.",
+    "Pull the handle of the microwave with smooth surface with the left arm.",
+    "Pull and open the dark gray kitchen microwave.",
+    "Pull the door of the microwave with glass top to open it.",
+    "Activate the door to open the medium microwave with slanted sides.",
+    "Open the microwave by pulling on its handle.",
+    "Engage the left arm to open the gray appliance with transparent glass top.",
+    "Grab the handle and open the microwave with the left arm.",
+    "Get the rectangular gray microwave open.",
+    "Pull to open the microwave for heating food.",
+    "Use the left arm to grab and open the microwave with glass top.",
+    "Use the handle to open the microwave with glass top.",
+    "Use the left arm to grab and pull the dark gray slanted microwave box.",
+    "Pull the the microwave with smooth surface's handle using the left arm.",
+    "Grab and pull the microwave with glass top using the left arm.",
+    "Open the medium microwave with slanted sides by pulling its handle.",
+    "Grab the handle and open the dark gray slanted microwave box.",
+    "Utilize the left arm to pull the microwave with glass top open.",
+    "Open the dark gray slanted microwave box by pulling with the left arm.",
+    "Open the gray appliance with transparent glass top by grasping its handle.",
+    "Engage the gray appliance with transparent glass top using the left arm to open.",
+    "Engage the dark gray slanted microwave box's handle and open it.",
+    "Open the dark gray slanted microwave box using the left arm.",
+    "Pull the rectangular gray microwave's handle to open it.",
+    "Handle the microwave and open it with the left arm.",
+    "Open the dark gray slanted microwave box by pulling its door with the left arm.",
+    "Use the left arm to pull open the door of the microwave for heating food.",
+    "Access the inside by opening the rectangular gray microwave.",
+    "Use the left arm to open the microwave with glass top by pulling.",
+    "Use the left arm to pull the microwave for heating food open.",
+    "Use the left arm to engage the medium microwave with slanted sides's opening mechanism.",
+    "Grip the rectangular gray microwave's handle and pull it open.",
+    "Pull the door to open the gray and glass microwave for cooking.",
+    "Pull the handle of the dark gray kitchen microwave to open it.",
+    "Pull the handle to open the microwave.",
+    "Open the dark gray kitchen microwave by pulling its handle.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Grasp the dark gray kitchen microwave's handle and pull to open.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Pull open the door of the gray appliance with transparent glass top using the left arm.",
+    "Pull the handle of the dark gray kitchen microwave with the left arm.",
+    "Pull and open the rectangular gray microwave.",
+    "Pull the door of the rectangular gray microwave to open it.",
+    "Activate the door to open the gray and glass microwave for cooking.",
+    "Open the dark gray slanted microwave box by pulling on its handle.",
+    "Engage the left arm to open the microwave with glass top.",
+    "Grab the handle and open the rectangular gray microwave with the left arm.",
+    "Get the gray and glass microwave for cooking open.",
+    "Pull to open the dark gray slanted microwave box.",
+    "Use the left arm to grab and open the dark gray kitchen microwave.",
+    "Use the handle to open the rectangular gray microwave.",
+    "Use the left arm to grab and pull the dark gray slanted microwave box.",
+    "Pull the the microwave with smooth surface's handle using the left arm.",
+    "Grab and pull the gray appliance with transparent glass top using the left arm.",
+    "Open the rectangular microwave with clear glass panel by pulling its handle.",
+    "Grab the handle and open the dark gray kitchen microwave.",
+    "Utilize the left arm to pull the microwave with smooth surface open.",
+    "Open the microwave with smooth surface by pulling with the left arm.",
+    "Open the rectangular gray microwave by grasping its handle.",
+    "Engage the gray and glass microwave for cooking using the left arm to open.",
+    "Engage the gray appliance with transparent glass top's handle and open it.",
+    "Open the rectangular microwave with clear glass panel using the left arm.",
+    "Pull the dark gray kitchen microwave's handle to open it.",
+    "Handle the rectangular gray microwave and open it with the left arm.",
+    "Open the microwave with glossy dark gray finish by pulling its door with the left arm.",
+    "Use the left arm to pull open the door of the microwave with smooth surface.",
+    "Access the inside by opening the microwave with smooth surface.",
+    "Use the left arm to open the microwave for heating food by pulling.",
+    "Use the left arm to pull the microwave with glossy dark gray finish open.",
+    "Use the left arm to engage the microwave with smooth surface's opening mechanism.",
+    "Grip the gray appliance with transparent glass top's handle and pull it open.",
+    "Pull the door to open the microwave with glossy dark gray finish.",
+    "Pull the handle of the rectangular gray microwave to open it.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Open the microwave with smooth surface by pulling its handle.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Grasp the microwave for heating food's handle and pull to open.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Pull open the door of the microwave using the left arm.",
+    "Pull the handle of the rectangular microwave with clear glass panel with the left arm.",
+    "Pull and open the rectangular gray microwave.",
+    "Pull the door of the gray appliance with transparent glass top to open it.",
+    "Activate the door to open the rectangular gray microwave.",
+    "Open the gray and glass microwave for cooking by pulling on its handle.",
+    "Engage the left arm to open the microwave for heating food.",
+    "Grab the handle and open the microwave with glossy dark gray finish with the left arm.",
+    "Get the gray appliance with transparent glass top open.",
+    "Pull to open the rectangular gray microwave.",
+    "Use the left arm to grab and open the dark gray kitchen microwave.",
+    "Use the handle to open the microwave.",
+    "Use the left arm to grab and pull the dark gray slanted microwave box.",
+    "Pull the the microwave's handle using the left arm.",
+    "Grab and pull the gray appliance with transparent glass top using the left arm."
+  ],
+  "unseen": [
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the dark gray microwave by pulling its door handle."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode39.json b/open_microwave/demo_clean/instructions/episode39.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a35529f2de4374da5da7554cb7c1ccb1cdf21c9
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode39.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Utilize the left arm to pull the dark gray kitchen microwave open.",
+    "Engage the microwave with smooth surface using the left arm to open.",
+    "Get the rectangular microwave with clear glass panel open.",
+    "Use the left arm to pull the microwave with smooth surface open.",
+    "Open the rectangular microwave with clear glass panel by pulling on its handle.",
+    "Grasp the gray and glass microwave for cooking's handle and pull to open.",
+    "Pull the handle of the microwave for heating food with the left arm.",
+    "Use the left arm to engage the rectangular gray microwave's opening mechanism.",
+    "Use the left arm to pull open the door of the microwave with smooth surface.",
+    "Open the medium microwave with slanted sides by pulling its handle.",
+    "Access the inside by opening the microwave with glass top.",
+    "Open the microwave with smooth surface using the left arm.",
+    "Pull the microwave with smooth surface's handle to open it.",
+    "Grab the handle and open the microwave for heating food with the left arm.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Pull the the microwave with glass top's handle using the left arm.",
+    "Open the medium microwave with slanted sides by pulling its door with the left arm.",
+    "Use the left arm to open the medium microwave with slanted sides by pulling.",
+    "Open the microwave with glass top by pulling its handle.",
+    "Pull the door to open the rectangular microwave with clear glass panel.",
+    "Pull the handle of the gray and glass microwave for cooking to open it.",
+    "Use the handle to open the rectangular microwave with clear glass panel.",
+    "Pull to open the dark gray kitchen microwave.",
+    "Pull open the door of the microwave using the left arm.",
+    "Open the microwave by grasping its handle.",
+    "Grip the gray appliance with transparent glass top's handle and pull it open.",
+    "Use the left arm to grab and pull the gray appliance with transparent glass top.",
+    "Pull the handle to open the microwave for heating food.",
+    "Engage the left arm to open the microwave with glossy dark gray finish.",
+    "Use the left arm to grab and open the gray appliance with transparent glass top.",
+    "Activate the door to open the medium microwave with slanted sides.",
+    "Pull the door of the rectangular gray microwave to open it.",
+    "Handle the dark gray kitchen microwave and open it with the left arm.",
+    "Engage the dark gray kitchen microwave's handle and open it.",
+    "Open the microwave for heating food by pulling with the left arm.",
+    "Grab the handle and open the dark gray kitchen microwave.",
+    "Pull and open the medium microwave with slanted sides.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Grab and pull the rectangular gray microwave using the left arm.",
+    "Utilize the left arm to pull the gray appliance with transparent glass top open.",
+    "Engage the gray and glass microwave for cooking using the left arm to open.",
+    "Get the medium microwave with slanted sides open.",
+    "Use the left arm to pull the rectangular microwave with clear glass panel open.",
+    "Open the microwave with glossy dark gray finish by pulling on its handle.",
+    "Grasp the dark gray slanted microwave box's handle and pull to open.",
+    "Pull the handle of the dark gray slanted microwave box with the left arm.",
+    "Use the left arm to engage the dark gray slanted microwave box's opening mechanism.",
+    "Use the left arm to pull open the door of the microwave with glossy dark gray finish.",
+    "Open the microwave with glass top by pulling its handle.",
+    "Access the inside by opening the microwave with glossy dark gray finish.",
+    "Open the gray and glass microwave for cooking using the left arm.",
+    "Pull the medium microwave with slanted sides's handle to open it.",
+    "Grab the handle and open the gray and glass microwave for cooking with the left arm.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Pull the the gray appliance with transparent glass top's handle using the left arm.",
+    "Open the dark gray slanted microwave box by pulling its door with the left arm.",
+    "Use the left arm to open the microwave with smooth surface by pulling.",
+    "Open the rectangular microwave with clear glass panel by pulling its handle.",
+    "Pull the door to open the microwave with glass top.",
+    "Pull the handle of the microwave with glass top to open it.",
+    "Use the handle to open the microwave.",
+    "Pull to open the microwave for heating food.",
+    "Pull open the door of the microwave with glossy dark gray finish using the left arm.",
+    "Open the dark gray kitchen microwave by grasping its handle.",
+    "Grip the microwave with glass top's handle and pull it open.",
+    "Use the left arm to grab and pull the medium microwave with slanted sides.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Engage the left arm to open the rectangular gray microwave.",
+    "Use the left arm to grab and open the microwave with glossy dark gray finish.",
+    "Activate the door to open the dark gray kitchen microwave.",
+    "Pull the door of the rectangular microwave with clear glass panel to open it.",
+    "Handle the microwave with glass top and open it with the left arm.",
+    "Engage the microwave with glossy dark gray finish's handle and open it.",
+    "Open the rectangular microwave with clear glass panel by pulling with the left arm.",
+    "Grab the handle and open the microwave with smooth surface.",
+    "Pull and open the microwave with glossy dark gray finish.",
+    "Pull the handle to open the microwave with glass top.",
+    "Grab and pull the microwave with glass top using the left arm.",
+    "Utilize the left arm to pull the microwave with glass top open.",
+    "Engage the rectangular microwave with clear glass panel using the left arm to open.",
+    "Get the microwave with smooth surface open.",
+    "Use the left arm to pull the rectangular microwave with clear glass panel open.",
+    "Open the microwave for heating food by pulling on its handle.",
+    "Grasp the medium microwave with slanted sides's handle and pull to open.",
+    "Pull the handle of the microwave with the left arm.",
+    "Use the left arm to engage the rectangular microwave with clear glass panel's opening mechanism.",
+    "Use the left arm to pull open the door of the gray and glass microwave for cooking.",
+    "Open the gray appliance with transparent glass top by pulling its handle.",
+    "Access the inside by opening the dark gray kitchen microwave.",
+    "Open the gray and glass microwave for cooking using the left arm.",
+    "Pull the gray appliance with transparent glass top's handle to open it.",
+    "Grab the handle and open the gray appliance with transparent glass top with the left arm.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Pull the the microwave with glass top's handle using the left arm.",
+    "Open the microwave with smooth surface by pulling its door with the left arm.",
+    "Use the left arm to open the microwave with glass top by pulling.",
+    "Open the medium microwave with slanted sides by pulling its handle.",
+    "Pull the door to open the microwave.",
+    "Pull the handle of the dark gray slanted microwave box to open it.",
+    "Use the handle to open the gray and glass microwave for cooking."
+  ],
+  "unseen": [
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode4.json b/open_microwave/demo_clean/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bbfecaf85068120e2176da078e6ef8397382ac5
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode4.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Engage the left arm to open the microwave with knobs.",
+    "Pull open the door of the microwave with patterned top and knobs using the left arm.",
+    "Open the microwave with patterned top and knobs by pulling with the left arm.",
+    "Pull the the gray and yellow microwave with rounded edges's handle using the left arm.",
+    "Handle the microwave and open it with the left arm.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Access the inside by opening the rectangular microwave.",
+    "Use the left arm to engage the gray and yellow microwave with rounded edges's opening mechanism.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Open the countertop microwave by pulling on its handle.",
+    "Open the microwave with patterned top and knobs using the left arm.",
+    "Pull the handle to open the gray microwave.",
+    "Grasp the microwave with knobs's handle and pull to open.",
+    "Use the left arm to pull open the door of the microwave with textured top panel.",
+    "Grip the yellow-panel microwave with smooth sides's handle and pull it open.",
+    "Grab the handle and open the countertop microwave with the left arm.",
+    "Engage the gray microwave using the left arm to open.",
+    "Use the handle to open the microwave with patterned top and knobs.",
+    "Utilize the left arm to pull the medium microwave open.",
+    "Use the left arm to pull the rectangular microwave open.",
+    "Pull the handle of the yellow-panel microwave with smooth sides to open it.",
+    "Grab the handle and open the medium microwave.",
+    "Pull the door to open the gray and yellow microwave with rounded edges.",
+    "Pull the door of the gray microwave with two control knobs to open it.",
+    "Get the microwave open.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Use the left arm to grab and open the countertop microwave.",
+    "Use the left arm to open the gray microwave with two control knobs by pulling.",
+    "Pull the microwave with textured top panel's handle to open it.",
+    "Engage the microwave with knobs's handle and open it.",
+    "Pull to open the rectangular microwave.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Open the medium microwave by pulling its door with the left arm.",
+    "Activate the door to open the medium microwave.",
+    "Pull and open the gray microwave.",
+    "Pull the handle of the countertop microwave with the left arm.",
+    "Open the microwave with knobs by grasping its handle.",
+    "Grab and pull the rectangular microwave using the left arm.",
+    "Use the left arm to grab and pull the microwave with textured top panel.",
+    "Engage the left arm to open the rectangular microwave.",
+    "Pull open the door of the gray microwave using the left arm.",
+    "Open the yellow-panel microwave with smooth sides by pulling with the left arm.",
+    "Pull the the medium microwave's handle using the left arm.",
+    "Handle the medium microwave and open it with the left arm.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Access the inside by opening the microwave with textured top panel.",
+    "Use the left arm to engage the microwave with textured top panel's opening mechanism.",
+    "Pull the handle to open the gray microwave.",
+    "Open the gray and yellow microwave with rounded edges by pulling on its handle.",
+    "Open the rectangular microwave using the left arm.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Grasp the rectangular microwave's handle and pull to open.",
+    "Use the left arm to pull open the door of the gray and yellow microwave with rounded edges.",
+    "Grip the gray and yellow microwave with rounded edges's handle and pull it open.",
+    "Grab the handle and open the countertop microwave with the left arm.",
+    "Engage the microwave with patterned top and knobs using the left arm to open.",
+    "Use the handle to open the gray and yellow microwave with rounded edges.",
+    "Utilize the left arm to pull the yellow-sided microwave open.",
+    "Use the left arm to pull the countertop microwave open.",
+    "Pull the handle of the rectangular microwave to open it.",
+    "Grab the handle and open the microwave.",
+    "Pull the door to open the yellow-panel microwave with smooth sides.",
+    "Pull the door of the microwave with patterned top and knobs to open it.",
+    "Get the gray microwave open.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Use the left arm to grab and open the microwave with knobs.",
+    "Use the left arm to open the gray microwave by pulling.",
+    "Pull the microwave's handle to open it.",
+    "Engage the gray microwave's handle and open it.",
+    "Pull to open the gray microwave.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Activate the door to open the gray and yellow microwave with rounded edges.",
+    "Pull and open the yellow-panel microwave with smooth sides.",
+    "Pull the handle of the microwave with the left arm.",
+    "Open the microwave with knobs by grasping its handle.",
+    "Grab and pull the microwave with knobs using the left arm.",
+    "Use the left arm to grab and pull the countertop microwave.",
+    "Engage the left arm to open the gray and yellow microwave with rounded edges.",
+    "Pull open the door of the microwave with patterned top and knobs using the left arm.",
+    "Open the microwave with patterned top and knobs by pulling with the left arm.",
+    "Pull the the yellow-panel microwave with smooth sides's handle using the left arm.",
+    "Handle the yellow-panel microwave with smooth sides and open it with the left arm.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Access the inside by opening the yellow-sided microwave.",
+    "Use the left arm to engage the microwave with textured top panel's opening mechanism.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Open the medium microwave by pulling on its handle.",
+    "Open the yellow-sided microwave using the left arm.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Grasp the microwave with knobs's handle and pull to open.",
+    "Use the left arm to pull open the door of the gray and yellow microwave with rounded edges.",
+    "Grip the gray and yellow microwave with rounded edges's handle and pull it open.",
+    "Grab the handle and open the countertop microwave with the left arm.",
+    "Engage the gray microwave using the left arm to open.",
+    "Use the handle to open the gray microwave with two control knobs.",
+    "Utilize the left arm to pull the gray microwave open.",
+    "Use the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Pull the handle of the yellow-sided microwave to open it.",
+    "Grab the handle and open the rectangular microwave."
+  ],
+  "unseen": [
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode40.json b/open_microwave/demo_clean/instructions/episode40.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf848cbd377ffb41c843cc2987e6bb7436f87203
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode40.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the yellow-sided microwave's handle to open it.",
+    "Pull the handle of the gray microwave with the left arm.",
+    "Pull the handle to open the rectangular microwave.",
+    "Pull and open the yellow-sided microwave.",
+    "Pull the the yellow-sided microwave's handle using the left arm.",
+    "Grip the countertop microwave's handle and pull it open.",
+    "Use the left arm to grab and open the microwave.",
+    "Use the left arm to pull open the door of the microwave.",
+    "Access the inside by opening the yellow-sided microwave.",
+    "Use the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Utilize the left arm to pull the countertop microwave open.",
+    "Pull the handle to open the microwave with knobs.",
+    "Use the left arm to grab and pull the gray microwave.",
+    "Activate the door to open the countertop microwave.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges.",
+    "Use the handle to open the microwave with textured top panel.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Pull the handle of the yellow-panel microwave with smooth sides to open it.",
+    "Engage the medium microwave using the left arm to open.",
+    "Pull open the door of the microwave using the left arm.",
+    "Open the yellow-panel microwave with smooth sides using the left arm.",
+    "Grab and pull the gray microwave with two control knobs using the left arm.",
+    "Use the left arm to engage the microwave with knobs's opening mechanism.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Handle the microwave with patterned top and knobs and open it with the left arm.",
+    "Engage the left arm to open the gray microwave.",
+    "Pull the door of the rectangular microwave to open it.",
+    "Grasp the rectangular microwave's handle and pull to open.",
+    "Pull to open the gray microwave with two control knobs.",
+    "Open the microwave with patterned top and knobs by pulling with the left arm.",
+    "Pull the door to open the microwave.",
+    "Open the gray microwave with two control knobs by pulling its door with the left arm.",
+    "Open the yellow-panel microwave with smooth sides by pulling on its handle.",
+    "Grab the handle and open the microwave with patterned top and knobs with the left arm.",
+    "Get the microwave with knobs open.",
+    "Engage the yellow-panel microwave with smooth sides's handle and open it.",
+    "Use the left arm to open the yellow-sided microwave by pulling.",
+    "Open the microwave by grasping its handle.",
+    "Pull the microwave with patterned top and knobs's handle to open it.",
+    "Pull the handle of the rectangular microwave with the left arm.",
+    "Pull the handle to open the gray microwave.",
+    "Pull and open the yellow-sided microwave.",
+    "Pull the the gray microwave's handle using the left arm.",
+    "Grip the rectangular microwave's handle and pull it open.",
+    "Use the left arm to grab and open the countertop microwave.",
+    "Use the left arm to pull open the door of the gray microwave with two control knobs.",
+    "Access the inside by opening the yellow-panel microwave with smooth sides.",
+    "Use the left arm to pull the microwave with patterned top and knobs open.",
+    "Utilize the left arm to pull the gray microwave with two control knobs open.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Use the left arm to grab and pull the microwave.",
+    "Activate the door to open the rectangular microwave.",
+    "Open the microwave by pulling its handle.",
+    "Grab the handle and open the countertop microwave.",
+    "Use the handle to open the rectangular microwave.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Pull the handle of the medium microwave to open it.",
+    "Engage the microwave with knobs using the left arm to open.",
+    "Pull open the door of the gray microwave with two control knobs using the left arm.",
+    "Open the rectangular microwave using the left arm.",
+    "Grab and pull the microwave with knobs using the left arm.",
+    "Use the left arm to engage the yellow-sided microwave's opening mechanism.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Handle the microwave with textured top panel and open it with the left arm.",
+    "Engage the left arm to open the yellow-sided microwave.",
+    "Pull the door of the rectangular microwave to open it.",
+    "Grasp the yellow-panel microwave with smooth sides's handle and pull to open.",
+    "Pull to open the microwave with knobs.",
+    "Open the yellow-panel microwave with smooth sides by pulling with the left arm.",
+    "Pull the door to open the microwave.",
+    "Open the rectangular microwave by pulling its door with the left arm.",
+    "Open the medium microwave by pulling on its handle.",
+    "Grab the handle and open the microwave with patterned top and knobs with the left arm.",
+    "Get the gray microwave with two control knobs open.",
+    "Engage the microwave's handle and open it.",
+    "Use the left arm to open the microwave by pulling.",
+    "Open the gray microwave with two control knobs by grasping its handle.",
+    "Pull the microwave with knobs's handle to open it.",
+    "Pull the handle of the microwave with knobs with the left arm.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Pull and open the medium microwave.",
+    "Pull the the microwave with patterned top and knobs's handle using the left arm.",
+    "Grip the gray and yellow microwave with rounded edges's handle and pull it open.",
+    "Use the left arm to grab and open the yellow-panel microwave with smooth sides.",
+    "Use the left arm to pull open the door of the gray and yellow microwave with rounded edges.",
+    "Access the inside by opening the countertop microwave.",
+    "Use the left arm to pull the countertop microwave open.",
+    "Utilize the left arm to pull the yellow-sided microwave open.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Use the left arm to grab and pull the microwave with knobs.",
+    "Activate the door to open the countertop microwave.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges.",
+    "Use the handle to open the yellow-sided microwave.",
+    "Pull the handle to open the microwave with knobs.",
+    "Pull the handle of the countertop microwave to open it.",
+    "Engage the gray microwave with two control knobs using the left arm to open.",
+    "Pull open the door of the countertop microwave using the left arm.",
+    "Open the yellow-panel microwave with smooth sides using the left arm."
+  ],
+  "unseen": [
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode41.json b/open_microwave/demo_clean/instructions/episode41.json
new file mode 100644
index 0000000000000000000000000000000000000000..a07bc1e4766e3fe32a908ec76df56512f320f27c
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode41.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the microwave with textured top panel by pulling on its handle.",
+    "Pull the handle of the microwave with the left arm.",
+    "Use the handle to open the yellow-sided microwave.",
+    "Engage the yellow-sided microwave using the left arm to open.",
+    "Open the microwave with textured top panel by pulling with the left arm.",
+    "Use the left arm to grab and open the microwave with textured top panel.",
+    "Grab the handle and open the gray microwave with the left arm.",
+    "Grab the handle and open the countertop microwave.",
+    "Grasp the microwave with textured top panel's handle and pull to open.",
+    "Open the gray microwave by pulling its handle.",
+    "Use the left arm to pull the medium microwave open.",
+    "Open the medium microwave by pulling its handle.",
+    "Pull open the door of the yellow-panel microwave with smooth sides using the left arm.",
+    "Grip the yellow-sided microwave's handle and pull it open.",
+    "Open the countertop microwave by grasping its handle.",
+    "Access the inside by opening the gray microwave with two control knobs.",
+    "Pull the handle to open the microwave with knobs.",
+    "Grab and pull the microwave using the left arm.",
+    "Pull to open the microwave with knobs.",
+    "Use the left arm to grab and pull the microwave.",
+    "Utilize the left arm to pull the rectangular microwave open.",
+    "Engage the left arm to open the microwave.",
+    "Activate the door to open the gray microwave.",
+    "Use the left arm to pull open the door of the microwave with patterned top and knobs.",
+    "Pull the door of the microwave with knobs to open it.",
+    "Pull the handle to open the gray microwave.",
+    "Engage the yellow-panel microwave with smooth sides's handle and open it.",
+    "Pull the the microwave with textured top panel's handle using the left arm.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Use the left arm to open the yellow-sided microwave by pulling.",
+    "Pull and open the microwave with knobs.",
+    "Pull the handle of the microwave with knobs to open it.",
+    "Open the gray and yellow microwave with rounded edges by pulling its door with the left arm.",
+    "Get the microwave with knobs open.",
+    "Open the yellow-panel microwave with smooth sides using the left arm.",
+    "Pull the microwave with textured top panel's handle to open it.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Pull the door to open the yellow-sided microwave.",
+    "Handle the gray and yellow microwave with rounded edges and open it with the left arm.",
+    "Open the microwave with textured top panel by pulling on its handle.",
+    "Pull the handle of the medium microwave with the left arm.",
+    "Use the handle to open the countertop microwave.",
+    "Engage the microwave with textured top panel using the left arm to open.",
+    "Open the gray and yellow microwave with rounded edges by pulling with the left arm.",
+    "Use the left arm to grab and open the yellow-sided microwave.",
+    "Grab the handle and open the gray microwave with two control knobs with the left arm.",
+    "Grab the handle and open the microwave with textured top panel.",
+    "Grasp the countertop microwave's handle and pull to open.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Use the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Pull open the door of the microwave with textured top panel using the left arm.",
+    "Grip the gray microwave with two control knobs's handle and pull it open.",
+    "Open the gray microwave by grasping its handle.",
+    "Access the inside by opening the yellow-panel microwave with smooth sides.",
+    "Pull the handle to open the countertop microwave.",
+    "Grab and pull the medium microwave using the left arm.",
+    "Pull to open the gray microwave with two control knobs.",
+    "Use the left arm to grab and pull the microwave with knobs.",
+    "Utilize the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Engage the left arm to open the microwave with textured top panel.",
+    "Activate the door to open the microwave with textured top panel.",
+    "Use the left arm to pull open the door of the gray microwave.",
+    "Pull the door of the medium microwave to open it.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Engage the gray microwave's handle and open it.",
+    "Pull the the countertop microwave's handle using the left arm.",
+    "Use the left arm to engage the microwave with patterned top and knobs's opening mechanism.",
+    "Use the left arm to open the yellow-panel microwave with smooth sides by pulling.",
+    "Pull and open the yellow-panel microwave with smooth sides.",
+    "Pull the handle of the microwave to open it.",
+    "Open the gray microwave with two control knobs by pulling its door with the left arm.",
+    "Get the yellow-panel microwave with smooth sides open.",
+    "Open the rectangular microwave using the left arm.",
+    "Pull the yellow-sided microwave's handle to open it.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Pull the door to open the microwave with patterned top and knobs.",
+    "Handle the gray microwave with two control knobs and open it with the left arm.",
+    "Open the microwave with knobs by pulling on its handle.",
+    "Pull the handle of the gray microwave with two control knobs with the left arm.",
+    "Use the handle to open the rectangular microwave.",
+    "Engage the microwave with textured top panel using the left arm to open.",
+    "Open the yellow-sided microwave by pulling with the left arm.",
+    "Use the left arm to grab and open the microwave with textured top panel.",
+    "Grab the handle and open the medium microwave with the left arm.",
+    "Grab the handle and open the medium microwave.",
+    "Grasp the yellow-sided microwave's handle and pull to open.",
+    "Open the medium microwave by pulling its handle.",
+    "Use the left arm to pull the countertop microwave open.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Pull open the door of the gray microwave using the left arm.",
+    "Grip the microwave with knobs's handle and pull it open.",
+    "Open the countertop microwave by grasping its handle.",
+    "Access the inside by opening the gray microwave with two control knobs.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Grab and pull the gray microwave with two control knobs using the left arm.",
+    "Pull to open the microwave with knobs.",
+    "Use the left arm to grab and pull the microwave.",
+    "Utilize the left arm to pull the gray microwave open.",
+    "Engage the left arm to open the gray and yellow microwave with rounded edges."
+  ],
+  "unseen": [
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode42.json b/open_microwave/demo_clean/instructions/episode42.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa998f45ac2906ff9370b0cdd2ffd8b7f09d580a
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode42.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pull the gray microwave with two control knobs open.",
+    "Use the left arm to engage the gray microwave with two control knobs's opening mechanism.",
+    "Engage the countertop microwave's handle and open it.",
+    "Grab and pull the countertop microwave using the left arm.",
+    "Pull open the door of the microwave with knobs using the left arm.",
+    "Handle the gray microwave with two control knobs and open it with the left arm.",
+    "Grip the gray and yellow microwave with rounded edges's handle and pull it open.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Access the inside by opening the microwave.",
+    "Pull the medium microwave's handle to open it.",
+    "Pull the handle to open the medium microwave.",
+    "Open the microwave with textured top panel by pulling its door with the left arm.",
+    "Use the left arm to grab and pull the rectangular microwave.",
+    "Use the handle to open the gray microwave with two control knobs.",
+    "Engage the yellow-panel microwave with smooth sides using the left arm to open.",
+    "Engage the left arm to open the countertop microwave.",
+    "Pull the door of the gray microwave with two control knobs to open it.",
+    "Open the microwave with textured top panel by grasping its handle.",
+    "Pull the handle of the microwave to open it.",
+    "Utilize the left arm to pull the yellow-sided microwave open.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Pull the the rectangular microwave's handle using the left arm.",
+    "Pull the handle of the microwave with patterned top and knobs with the left arm.",
+    "Pull the door to open the rectangular microwave.",
+    "Use the left arm to open the microwave with textured top panel by pulling.",
+    "Pull and open the yellow-sided microwave.",
+    "Pull to open the microwave with textured top panel.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Grasp the microwave's handle and pull to open.",
+    "Open the microwave with knobs by pulling on its handle.",
+    "Activate the door to open the rectangular microwave.",
+    "Open the rectangular microwave by pulling with the left arm.",
+    "Open the rectangular microwave using the left arm.",
+    "Use the left arm to pull open the door of the microwave with patterned top and knobs.",
+    "Grab the handle and open the countertop microwave.",
+    "Grab the handle and open the medium microwave with the left arm.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Get the rectangular microwave open.",
+    "Use the left arm to grab and open the gray microwave with two control knobs.",
+    "Use the left arm to pull the rectangular microwave open.",
+    "Use the left arm to engage the gray microwave with two control knobs's opening mechanism.",
+    "Engage the medium microwave's handle and open it.",
+    "Grab and pull the microwave using the left arm.",
+    "Pull open the door of the rectangular microwave using the left arm.",
+    "Handle the countertop microwave and open it with the left arm.",
+    "Grip the gray microwave with two control knobs's handle and pull it open.",
+    "Pull the handle to open the gray microwave.",
+    "Access the inside by opening the medium microwave.",
+    "Pull the microwave with textured top panel's handle to open it.",
+    "Pull the handle to open the countertop microwave.",
+    "Open the countertop microwave by pulling its door with the left arm.",
+    "Use the left arm to grab and pull the microwave with knobs.",
+    "Use the handle to open the gray and yellow microwave with rounded edges.",
+    "Engage the gray microwave with two control knobs using the left arm to open.",
+    "Engage the left arm to open the rectangular microwave.",
+    "Pull the door of the microwave with textured top panel to open it.",
+    "Open the gray and yellow microwave with rounded edges by grasping its handle.",
+    "Pull the handle of the yellow-panel microwave with smooth sides to open it.",
+    "Utilize the left arm to pull the countertop microwave open.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Pull the the countertop microwave's handle using the left arm.",
+    "Pull the handle of the microwave with patterned top and knobs with the left arm.",
+    "Pull the door to open the microwave.",
+    "Use the left arm to open the microwave by pulling.",
+    "Pull and open the countertop microwave.",
+    "Pull to open the yellow-sided microwave.",
+    "Open the microwave by pulling its handle.",
+    "Grasp the countertop microwave's handle and pull to open.",
+    "Open the gray and yellow microwave with rounded edges by pulling on its handle.",
+    "Activate the door to open the microwave with textured top panel.",
+    "Open the gray and yellow microwave with rounded edges by pulling with the left arm.",
+    "Open the microwave using the left arm.",
+    "Use the left arm to pull open the door of the gray and yellow microwave with rounded edges.",
+    "Grab the handle and open the microwave with patterned top and knobs.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges with the left arm.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Get the microwave with knobs open.",
+    "Use the left arm to grab and open the gray microwave with two control knobs.",
+    "Use the left arm to pull the microwave open.",
+    "Use the left arm to engage the medium microwave's opening mechanism.",
+    "Engage the gray microwave's handle and open it.",
+    "Grab and pull the microwave with patterned top and knobs using the left arm.",
+    "Pull open the door of the gray and yellow microwave with rounded edges using the left arm.",
+    "Handle the gray and yellow microwave with rounded edges and open it with the left arm.",
+    "Grip the countertop microwave's handle and pull it open.",
+    "Pull the handle to open the microwave with knobs.",
+    "Access the inside by opening the gray and yellow microwave with rounded edges.",
+    "Pull the microwave with knobs's handle to open it.",
+    "Pull the handle to open the microwave.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Use the left arm to grab and pull the countertop microwave.",
+    "Use the handle to open the rectangular microwave.",
+    "Engage the medium microwave using the left arm to open.",
+    "Engage the left arm to open the microwave with textured top panel.",
+    "Pull the door of the gray and yellow microwave with rounded edges to open it.",
+    "Open the microwave with patterned top and knobs by grasping its handle.",
+    "Pull the handle of the gray microwave with two control knobs to open it.",
+    "Utilize the left arm to pull the gray microwave open.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Pull the the gray and yellow microwave with rounded edges's handle using the left arm."
+  ],
+  "unseen": [
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode43.json b/open_microwave/demo_clean/instructions/episode43.json
new file mode 100644
index 0000000000000000000000000000000000000000..486edce5e5f01ec3c97a9c4285a969cde57c25c7
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode43.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the door of the gray appliance with transparent glass top to open it.",
+    "Open the microwave using the left arm.",
+    "Pull to open the rectangular microwave with clear glass panel.",
+    "Open the microwave for heating food by pulling its door with the left arm.",
+    "Engage the microwave using the left arm to open.",
+    "Pull the the microwave with glass top's handle using the left arm.",
+    "Utilize the left arm to pull the gray and glass microwave for cooking open.",
+    "Grasp the microwave's handle and pull to open.",
+    "Open the microwave with glossy dark gray finish by pulling with the left arm.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Pull the handle of the microwave for heating food to open it.",
+    "Pull the handle of the microwave with glass top with the left arm.",
+    "Grab the handle and open the gray and glass microwave for cooking.",
+    "Use the left arm to pull the microwave with smooth surface open.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Get the dark gray kitchen microwave open.",
+    "Open the microwave with smooth surface by grasping its handle.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Use the left arm to pull open the door of the dark gray slanted microwave box.",
+    "Engage the left arm to open the rectangular gray microwave.",
+    "Pull the handle to open the microwave.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Open the rectangular microwave with clear glass panel by pulling on its handle.",
+    "Pull open the door of the gray and glass microwave for cooking using the left arm.",
+    "Grab and pull the microwave with glass top using the left arm.",
+    "Engage the gray and glass microwave for cooking's handle and open it.",
+    "Use the left arm to open the dark gray kitchen microwave by pulling.",
+    "Pull and open the rectangular gray microwave.",
+    "Activate the door to open the gray and glass microwave for cooking.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Access the inside by opening the microwave with glossy dark gray finish.",
+    "Use the handle to open the rectangular gray microwave.",
+    "Grab the handle and open the dark gray slanted microwave box with the left arm.",
+    "Handle the microwave for heating food and open it with the left arm.",
+    "Pull the medium microwave with slanted sides's handle to open it.",
+    "Grip the rectangular microwave with clear glass panel's handle and pull it open.",
+    "Pull the door to open the medium microwave with slanted sides.",
+    "Use the left arm to grab and open the rectangular microwave with clear glass panel.",
+    "Use the left arm to grab and pull the rectangular microwave with clear glass panel.",
+    "Pull the door of the microwave with glossy dark gray finish to open it.",
+    "Open the gray appliance with transparent glass top using the left arm.",
+    "Pull to open the microwave.",
+    "Open the medium microwave with slanted sides by pulling its door with the left arm.",
+    "Engage the rectangular gray microwave using the left arm to open.",
+    "Pull the the rectangular gray microwave's handle using the left arm.",
+    "Utilize the left arm to pull the medium microwave with slanted sides open.",
+    "Grasp the dark gray slanted microwave box's handle and pull to open.",
+    "Open the microwave by pulling with the left arm.",
+    "Pull the handle to open the microwave for heating food.",
+    "Pull the handle of the microwave with smooth surface to open it.",
+    "Pull the handle of the microwave for heating food with the left arm.",
+    "Grab the handle and open the microwave with glass top.",
+    "Use the left arm to pull the rectangular gray microwave open.",
+    "Use the left arm to engage the rectangular gray microwave's opening mechanism.",
+    "Get the microwave with glossy dark gray finish open.",
+    "Open the microwave by grasping its handle.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Use the left arm to pull open the door of the microwave.",
+    "Engage the left arm to open the microwave for heating food.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Pull the handle to open the microwave with glass top.",
+    "Open the gray appliance with transparent glass top by pulling on its handle.",
+    "Pull open the door of the rectangular microwave with clear glass panel using the left arm.",
+    "Grab and pull the microwave with glossy dark gray finish using the left arm.",
+    "Engage the gray and glass microwave for cooking's handle and open it.",
+    "Use the left arm to open the medium microwave with slanted sides by pulling.",
+    "Pull and open the microwave with glass top.",
+    "Activate the door to open the microwave with glossy dark gray finish.",
+    "Open the microwave with glass top by pulling its handle.",
+    "Access the inside by opening the dark gray kitchen microwave.",
+    "Use the handle to open the medium microwave with slanted sides.",
+    "Grab the handle and open the dark gray slanted microwave box with the left arm.",
+    "Handle the microwave with glossy dark gray finish and open it with the left arm.",
+    "Pull the rectangular microwave with clear glass panel's handle to open it.",
+    "Grip the gray appliance with transparent glass top's handle and pull it open.",
+    "Pull the door to open the microwave for heating food.",
+    "Use the left arm to grab and open the gray appliance with transparent glass top.",
+    "Use the left arm to grab and pull the gray and glass microwave for cooking.",
+    "Pull the door of the microwave to open it.",
+    "Open the microwave using the left arm.",
+    "Pull to open the dark gray kitchen microwave.",
+    "Open the gray and glass microwave for cooking by pulling its door with the left arm.",
+    "Engage the rectangular gray microwave using the left arm to open.",
+    "Pull the the microwave with smooth surface's handle using the left arm.",
+    "Utilize the left arm to pull the microwave with glass top open.",
+    "Grasp the gray appliance with transparent glass top's handle and pull to open.",
+    "Open the gray appliance with transparent glass top by pulling with the left arm.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Pull the handle of the rectangular gray microwave to open it.",
+    "Pull the handle of the microwave with smooth surface with the left arm.",
+    "Grab the handle and open the gray and glass microwave for cooking.",
+    "Use the left arm to pull the microwave with glossy dark gray finish open.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Get the rectangular gray microwave open.",
+    "Open the microwave with glossy dark gray finish by grasping its handle.",
+    "Open the gray and glass microwave for cooking by pulling its handle.",
+    "Use the left arm to pull open the door of the gray and glass microwave for cooking.",
+    "Engage the left arm to open the gray and glass microwave for cooking.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Pull the handle to open the microwave with glossy dark gray finish."
+  ],
+  "unseen": [
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode44.json b/open_microwave/demo_clean/instructions/episode44.json
new file mode 100644
index 0000000000000000000000000000000000000000..19dd4b160e49c0cbf6f66d62413c55886e63ee08
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode44.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the door to open the microwave with patterned top and knobs.",
+    "Access the inside by opening the microwave with textured top panel.",
+    "Use the left arm to grab and pull the microwave with textured top panel.",
+    "Pull the handle of the gray and yellow microwave with rounded edges to open it.",
+    "Open the gray microwave with two control knobs by pulling with the left arm.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Grab the handle and open the countertop microwave with the left arm.",
+    "Pull open the door of the gray and yellow microwave with rounded edges using the left arm.",
+    "Engage the gray microwave with two control knobs's handle and open it.",
+    "Grab and pull the gray microwave using the left arm.",
+    "Use the left arm to grab and open the gray microwave.",
+    "Engage the gray microwave using the left arm to open.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Handle the yellow-sided microwave and open it with the left arm.",
+    "Pull the the gray and yellow microwave with rounded edges's handle using the left arm.",
+    "Use the left arm to pull open the door of the microwave.",
+    "Pull the handle to open the medium microwave.",
+    "Pull the microwave with knobs's handle to open it.",
+    "Engage the left arm to open the medium microwave.",
+    "Use the left arm to open the microwave with textured top panel by pulling.",
+    "Open the medium microwave by pulling its door with the left arm.",
+    "Get the medium microwave open.",
+    "Utilize the left arm to pull the rectangular microwave open.",
+    "Use the left arm to pull the yellow-sided microwave open.",
+    "Open the countertop microwave using the left arm.",
+    "Pull the handle of the microwave with textured top panel with the left arm.",
+    "Open the medium microwave by pulling its handle.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Use the handle to open the rectangular microwave.",
+    "Open the gray and yellow microwave with rounded edges by pulling on its handle.",
+    "Open the microwave by grasping its handle.",
+    "Grab the handle and open the medium microwave.",
+    "Pull and open the yellow-sided microwave.",
+    "Pull the door of the medium microwave to open it.",
+    "Grasp the microwave's handle and pull to open.",
+    "Pull to open the gray microwave.",
+    "Pull the door to open the microwave with textured top panel.",
+    "Grip the gray and yellow microwave with rounded edges's handle and pull it open.",
+    "Use the left arm to engage the gray microwave's opening mechanism.",
+    "Activate the door to open the rectangular microwave.",
+    "Access the inside by opening the yellow-sided microwave.",
+    "Use the left arm to grab and pull the microwave with knobs.",
+    "Pull the handle of the microwave with textured top panel to open it.",
+    "Open the countertop microwave by pulling with the left arm.",
+    "Pull the handle to open the microwave with knobs.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides with the left arm.",
+    "Pull open the door of the countertop microwave using the left arm.",
+    "Engage the microwave's handle and open it.",
+    "Grab and pull the microwave using the left arm.",
+    "Use the left arm to grab and open the gray microwave with two control knobs.",
+    "Engage the microwave with textured top panel using the left arm to open.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Handle the countertop microwave and open it with the left arm.",
+    "Pull the the microwave with patterned top and knobs's handle using the left arm.",
+    "Use the left arm to pull open the door of the yellow-sided microwave.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Pull the yellow-sided microwave's handle to open it.",
+    "Engage the left arm to open the gray microwave with two control knobs.",
+    "Use the left arm to open the microwave with patterned top and knobs by pulling.",
+    "Open the yellow-sided microwave by pulling its door with the left arm.",
+    "Get the microwave with knobs open.",
+    "Utilize the left arm to pull the gray microwave open.",
+    "Use the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Open the countertop microwave using the left arm.",
+    "Pull the handle of the rectangular microwave with the left arm.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Pull the handle to open the rectangular microwave.",
+    "Use the handle to open the gray microwave.",
+    "Open the microwave with knobs by pulling on its handle.",
+    "Open the microwave with textured top panel by grasping its handle.",
+    "Grab the handle and open the rectangular microwave.",
+    "Pull and open the countertop microwave.",
+    "Pull the door of the yellow-panel microwave with smooth sides to open it.",
+    "Grasp the microwave with textured top panel's handle and pull to open.",
+    "Pull to open the microwave with textured top panel.",
+    "Pull the door to open the yellow-panel microwave with smooth sides.",
+    "Grip the gray and yellow microwave with rounded edges's handle and pull it open.",
+    "Use the left arm to engage the microwave with textured top panel's opening mechanism.",
+    "Activate the door to open the rectangular microwave.",
+    "Access the inside by opening the microwave with patterned top and knobs.",
+    "Use the left arm to grab and pull the microwave with textured top panel.",
+    "Pull the handle of the medium microwave to open it.",
+    "Open the countertop microwave by pulling with the left arm.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Grab the handle and open the yellow-sided microwave with the left arm.",
+    "Pull open the door of the medium microwave using the left arm.",
+    "Engage the gray and yellow microwave with rounded edges's handle and open it.",
+    "Grab and pull the gray microwave using the left arm.",
+    "Use the left arm to grab and open the microwave.",
+    "Engage the microwave with knobs using the left arm to open.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Handle the medium microwave and open it with the left arm.",
+    "Pull the the gray microwave with two control knobs's handle using the left arm.",
+    "Use the left arm to pull open the door of the gray microwave.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Pull the microwave with textured top panel's handle to open it.",
+    "Engage the left arm to open the microwave.",
+    "Use the left arm to open the yellow-panel microwave with smooth sides by pulling.",
+    "Open the gray microwave with two control knobs by pulling its door with the left arm.",
+    "Get the countertop microwave open."
+  ],
+  "unseen": [
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode45.json b/open_microwave/demo_clean/instructions/episode45.json
new file mode 100644
index 0000000000000000000000000000000000000000..53eb4715c5d3af33b7395f684c8b7c8daef774b2
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode45.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab and pull the microwave with patterned top and knobs using the left arm.",
+    "Grasp the yellow-sided microwave's handle and pull to open.",
+    "Access the inside by opening the rectangular microwave.",
+    "Open the microwave with patterned top and knobs by pulling with the left arm.",
+    "Grab the handle and open the countertop microwave with the left arm.",
+    "Get the microwave with knobs open.",
+    "Pull open the door of the gray microwave using the left arm.",
+    "Pull the door of the gray and yellow microwave with rounded edges to open it.",
+    "Open the gray and yellow microwave with rounded edges using the left arm.",
+    "Pull the handle of the gray microwave with two control knobs with the left arm.",
+    "Use the left arm to grab and open the medium microwave.",
+    "Use the left arm to engage the rectangular microwave's opening mechanism.",
+    "Engage the left arm to open the gray microwave with two control knobs.",
+    "Pull the handle to open the gray microwave.",
+    "Activate the door to open the medium microwave.",
+    "Use the left arm to grab and pull the yellow-panel microwave with smooth sides.",
+    "Grip the yellow-panel microwave with smooth sides's handle and pull it open.",
+    "Engage the yellow-sided microwave's handle and open it.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Open the yellow-panel microwave with smooth sides by grasping its handle.",
+    "Pull and open the yellow-panel microwave with smooth sides.",
+    "Open the yellow-panel microwave with smooth sides by pulling on its handle.",
+    "Engage the gray and yellow microwave with rounded edges using the left arm to open.",
+    "Use the handle to open the yellow-panel microwave with smooth sides.",
+    "Pull the the rectangular microwave's handle using the left arm.",
+    "Utilize the left arm to pull the countertop microwave open.",
+    "Pull to open the rectangular microwave.",
+    "Use the left arm to pull the gray microwave open.",
+    "Open the countertop microwave by pulling its door with the left arm.",
+    "Use the left arm to pull open the door of the yellow-sided microwave.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Pull the door to open the microwave with textured top panel.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides.",
+    "Use the left arm to open the countertop microwave by pulling.",
+    "Handle the yellow-sided microwave and open it with the left arm.",
+    "Pull the handle of the gray microwave to open it.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Pull the yellow-panel microwave with smooth sides's handle to open it.",
+    "Pull the handle to open the rectangular microwave.",
+    "Grab and pull the gray microwave with two control knobs using the left arm.",
+    "Grasp the yellow-sided microwave's handle and pull to open.",
+    "Access the inside by opening the microwave.",
+    "Open the countertop microwave by pulling with the left arm.",
+    "Grab the handle and open the rectangular microwave with the left arm.",
+    "Get the gray and yellow microwave with rounded edges open.",
+    "Pull open the door of the gray microwave with two control knobs using the left arm.",
+    "Pull the door of the medium microwave to open it.",
+    "Open the medium microwave using the left arm.",
+    "Pull the handle of the microwave with textured top panel with the left arm.",
+    "Use the left arm to grab and open the countertop microwave.",
+    "Use the left arm to engage the gray and yellow microwave with rounded edges's opening mechanism.",
+    "Engage the left arm to open the medium microwave.",
+    "Pull the handle to open the medium microwave.",
+    "Activate the door to open the rectangular microwave.",
+    "Use the left arm to grab and pull the gray and yellow microwave with rounded edges.",
+    "Grip the yellow-sided microwave's handle and pull it open.",
+    "Engage the microwave with knobs's handle and open it.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Open the rectangular microwave by grasping its handle.",
+    "Pull and open the microwave with patterned top and knobs.",
+    "Open the gray microwave with two control knobs by pulling on its handle.",
+    "Engage the microwave with textured top panel using the left arm to open.",
+    "Use the handle to open the yellow-sided microwave.",
+    "Pull the the microwave with patterned top and knobs's handle using the left arm.",
+    "Utilize the left arm to pull the microwave with patterned top and knobs open.",
+    "Pull to open the microwave with textured top panel.",
+    "Use the left arm to pull the medium microwave open.",
+    "Open the microwave with knobs by pulling its door with the left arm.",
+    "Use the left arm to pull open the door of the countertop microwave.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Pull the door to open the microwave with knobs.",
+    "Grab the handle and open the yellow-sided microwave.",
+    "Use the left arm to open the microwave with knobs by pulling.",
+    "Handle the microwave with patterned top and knobs and open it with the left arm.",
+    "Pull the handle of the gray microwave with two control knobs to open it.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Pull the medium microwave's handle to open it.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Grab and pull the microwave with knobs using the left arm.",
+    "Grasp the microwave with knobs's handle and pull to open.",
+    "Access the inside by opening the microwave with textured top panel.",
+    "Open the countertop microwave by pulling with the left arm.",
+    "Grab the handle and open the microwave with patterned top and knobs with the left arm.",
+    "Get the microwave with knobs open.",
+    "Pull open the door of the gray microwave using the left arm.",
+    "Pull the door of the yellow-panel microwave with smooth sides to open it.",
+    "Open the gray microwave with two control knobs using the left arm.",
+    "Pull the handle of the microwave with the left arm.",
+    "Use the left arm to grab and open the gray microwave.",
+    "Use the left arm to engage the gray microwave's opening mechanism.",
+    "Engage the left arm to open the microwave with patterned top and knobs.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Activate the door to open the medium microwave.",
+    "Use the left arm to grab and pull the gray microwave with two control knobs.",
+    "Grip the countertop microwave's handle and pull it open.",
+    "Engage the microwave with textured top panel's handle and open it.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Open the microwave by grasping its handle.",
+    "Pull and open the gray microwave with two control knobs.",
+    "Open the microwave with knobs by pulling on its handle."
+  ],
+  "unseen": [
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode46.json b/open_microwave/demo_clean/instructions/episode46.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7790572ae044f672c2d29e2513c60dd0b157c5b
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode46.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Engage the rectangular microwave with clear glass panel's handle and open it.",
+    "Use the left arm to grab and pull the microwave.",
+    "Use the left arm to open the rectangular gray microwave by pulling.",
+    "Use the handle to open the gray appliance with transparent glass top.",
+    "Pull the handle of the microwave for heating food to open it.",
+    "Grip the medium microwave with slanted sides's handle and pull it open.",
+    "Use the left arm to pull the gray appliance with transparent glass top open.",
+    "Pull the the gray and glass microwave for cooking's handle using the left arm.",
+    "Pull and open the medium microwave with slanted sides.",
+    "Utilize the left arm to pull the microwave with glossy dark gray finish open.",
+    "Grab and pull the microwave with smooth surface using the left arm.",
+    "Open the dark gray slanted microwave box using the left arm.",
+    "Get the microwave with glossy dark gray finish open.",
+    "Engage the rectangular gray microwave using the left arm to open.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Pull the door to open the microwave with smooth surface.",
+    "Use the left arm to engage the microwave for heating food's opening mechanism.",
+    "Open the microwave with glass top by pulling its handle.",
+    "Open the microwave by pulling its handle.",
+    "Pull the door of the rectangular microwave with clear glass panel to open it.",
+    "Pull the microwave's handle to open it.",
+    "Grab the handle and open the microwave with glass top with the left arm.",
+    "Open the rectangular gray microwave by pulling on its handle.",
+    "Pull open the door of the gray and glass microwave for cooking using the left arm.",
+    "Activate the door to open the microwave for heating food.",
+    "Grab the handle and open the microwave.",
+    "Pull the handle of the rectangular microwave with clear glass panel with the left arm.",
+    "Use the left arm to grab and open the microwave.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Use the left arm to pull open the door of the dark gray slanted microwave box.",
+    "Engage the left arm to open the microwave with smooth surface.",
+    "Open the microwave with glossy dark gray finish by grasping its handle.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Open the microwave with smooth surface by pulling with the left arm.",
+    "Grasp the dark gray slanted microwave box's handle and pull to open.",
+    "Pull to open the gray appliance with transparent glass top.",
+    "Handle the rectangular gray microwave and open it with the left arm.",
+    "Access the inside by opening the rectangular microwave with clear glass panel.",
+    "Pull the handle to open the microwave.",
+    "Engage the dark gray slanted microwave box's handle and open it.",
+    "Use the left arm to grab and pull the microwave for heating food.",
+    "Use the left arm to open the rectangular gray microwave by pulling.",
+    "Use the handle to open the rectangular gray microwave.",
+    "Pull the handle of the rectangular microwave with clear glass panel to open it.",
+    "Grip the gray appliance with transparent glass top's handle and pull it open.",
+    "Use the left arm to pull the rectangular gray microwave open.",
+    "Pull the the microwave for heating food's handle using the left arm.",
+    "Pull and open the gray appliance with transparent glass top.",
+    "Utilize the left arm to pull the microwave with glass top open.",
+    "Grab and pull the dark gray slanted microwave box using the left arm.",
+    "Open the microwave with smooth surface using the left arm.",
+    "Get the microwave with glossy dark gray finish open.",
+    "Engage the microwave for heating food using the left arm to open.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Pull the door to open the microwave with glossy dark gray finish.",
+    "Use the left arm to engage the microwave with glass top's opening mechanism.",
+    "Open the microwave with smooth surface by pulling its handle.",
+    "Open the rectangular gray microwave by pulling its handle.",
+    "Pull the door of the medium microwave with slanted sides to open it.",
+    "Pull the gray appliance with transparent glass top's handle to open it.",
+    "Grab the handle and open the gray and glass microwave for cooking with the left arm.",
+    "Open the microwave by pulling on its handle.",
+    "Pull open the door of the medium microwave with slanted sides using the left arm.",
+    "Activate the door to open the medium microwave with slanted sides.",
+    "Grab the handle and open the dark gray slanted microwave box.",
+    "Pull the handle of the microwave with glossy dark gray finish with the left arm.",
+    "Use the left arm to grab and open the dark gray kitchen microwave.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Use the left arm to pull open the door of the rectangular microwave with clear glass panel.",
+    "Engage the left arm to open the gray and glass microwave for cooking.",
+    "Open the gray and glass microwave for cooking by grasping its handle.",
+    "Open the medium microwave with slanted sides by pulling its door with the left arm.",
+    "Open the dark gray slanted microwave box by pulling with the left arm.",
+    "Grasp the gray appliance with transparent glass top's handle and pull to open.",
+    "Pull to open the dark gray slanted microwave box.",
+    "Handle the microwave with glossy dark gray finish and open it with the left arm.",
+    "Access the inside by opening the microwave with glass top.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Engage the dark gray kitchen microwave's handle and open it.",
+    "Use the left arm to grab and pull the microwave for heating food.",
+    "Use the left arm to open the dark gray slanted microwave box by pulling.",
+    "Use the handle to open the gray and glass microwave for cooking.",
+    "Pull the handle of the dark gray kitchen microwave to open it.",
+    "Grip the rectangular gray microwave's handle and pull it open.",
+    "Use the left arm to pull the microwave with glossy dark gray finish open.",
+    "Pull the the dark gray slanted microwave box's handle using the left arm.",
+    "Pull and open the rectangular microwave with clear glass panel.",
+    "Utilize the left arm to pull the microwave with glass top open.",
+    "Grab and pull the gray appliance with transparent glass top using the left arm.",
+    "Open the microwave with glass top using the left arm.",
+    "Get the gray appliance with transparent glass top open.",
+    "Engage the gray and glass microwave for cooking using the left arm to open.",
+    "Pull the handle to open the microwave.",
+    "Pull the door to open the gray and glass microwave for cooking.",
+    "Use the left arm to engage the microwave for heating food's opening mechanism.",
+    "Open the gray appliance with transparent glass top by pulling its handle.",
+    "Open the rectangular microwave with clear glass panel by pulling its handle.",
+    "Pull the door of the dark gray kitchen microwave to open it.",
+    "Pull the dark gray slanted microwave box's handle to open it.",
+    "Grab the handle and open the microwave with glass top with the left arm."
+  ],
+  "unseen": [
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode47.json b/open_microwave/demo_clean/instructions/episode47.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a5a2644b729585f0f1431d76d6a871aff2dfde2
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode47.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Engage the yellow-panel microwave with smooth sides's handle and open it.",
+    "Engage the gray microwave using the left arm to open.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Pull the the gray microwave's handle using the left arm.",
+    "Utilize the left arm to pull the microwave with patterned top and knobs open.",
+    "Open the microwave with textured top panel by pulling with the left arm.",
+    "Pull the gray microwave's handle to open it.",
+    "Use the left arm to grab and pull the rectangular microwave.",
+    "Handle the yellow-panel microwave with smooth sides and open it with the left arm.",
+    "Use the handle to open the microwave.",
+    "Pull the handle of the rectangular microwave with the left arm.",
+    "Use the left arm to pull open the door of the microwave with patterned top and knobs.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Get the microwave open.",
+    "Pull the handle of the medium microwave to open it.",
+    "Grasp the microwave with textured top panel's handle and pull to open.",
+    "Activate the door to open the yellow-sided microwave.",
+    "Use the left arm to open the gray microwave with two control knobs by pulling.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Grip the yellow-panel microwave with smooth sides's handle and pull it open.",
+    "Grab the handle and open the gray microwave with two control knobs with the left arm.",
+    "Open the medium microwave by pulling its door with the left arm.",
+    "Use the left arm to pull the microwave with textured top panel open.",
+    "Open the gray microwave with two control knobs by grasping its handle.",
+    "Access the inside by opening the gray and yellow microwave with rounded edges.",
+    "Pull the handle to open the countertop microwave.",
+    "Pull open the door of the yellow-sided microwave using the left arm.",
+    "Pull and open the rectangular microwave.",
+    "Open the yellow-sided microwave using the left arm.",
+    "Engage the left arm to open the microwave with knobs.",
+    "Use the left arm to engage the yellow-sided microwave's opening mechanism.",
+    "Pull to open the microwave.",
+    "Pull the door of the microwave with patterned top and knobs to open it.",
+    "Grab and pull the gray microwave using the left arm.",
+    "Use the left arm to grab and open the microwave with patterned top and knobs.",
+    "Pull the door to open the gray microwave.",
+    "Grab the handle and open the microwave.",
+    "Open the yellow-panel microwave with smooth sides by pulling on its handle.",
+    "Open the gray microwave by pulling its handle.",
+    "Engage the gray microwave's handle and open it.",
+    "Engage the gray and yellow microwave with rounded edges using the left arm to open.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Pull the the microwave with patterned top and knobs's handle using the left arm.",
+    "Utilize the left arm to pull the gray microwave with two control knobs open.",
+    "Open the gray microwave with two control knobs by pulling with the left arm.",
+    "Pull the microwave's handle to open it.",
+    "Use the left arm to grab and pull the yellow-sided microwave.",
+    "Handle the microwave with patterned top and knobs and open it with the left arm.",
+    "Use the handle to open the yellow-sided microwave.",
+    "Pull the handle of the medium microwave with the left arm.",
+    "Use the left arm to pull open the door of the yellow-panel microwave with smooth sides.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Get the gray and yellow microwave with rounded edges open.",
+    "Pull the handle of the yellow-panel microwave with smooth sides to open it.",
+    "Grasp the gray microwave with two control knobs's handle and pull to open.",
+    "Activate the door to open the gray microwave with two control knobs.",
+    "Use the left arm to open the medium microwave by pulling.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Grip the gray microwave with two control knobs's handle and pull it open.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides with the left arm.",
+    "Open the gray microwave by pulling its door with the left arm.",
+    "Use the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Open the gray and yellow microwave with rounded edges by grasping its handle.",
+    "Access the inside by opening the microwave with knobs.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Pull open the door of the yellow-sided microwave using the left arm.",
+    "Pull and open the yellow-panel microwave with smooth sides.",
+    "Open the countertop microwave using the left arm.",
+    "Engage the left arm to open the microwave with knobs.",
+    "Use the left arm to engage the yellow-sided microwave's opening mechanism.",
+    "Pull to open the yellow-panel microwave with smooth sides.",
+    "Pull the door of the microwave with knobs to open it.",
+    "Grab and pull the yellow-panel microwave with smooth sides using the left arm.",
+    "Use the left arm to grab and open the yellow-sided microwave.",
+    "Pull the door to open the countertop microwave.",
+    "Grab the handle and open the microwave with patterned top and knobs.",
+    "Open the rectangular microwave by pulling on its handle.",
+    "Open the countertop microwave by pulling its handle.",
+    "Engage the yellow-panel microwave with smooth sides's handle and open it.",
+    "Engage the yellow-sided microwave using the left arm to open.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Pull the the yellow-panel microwave with smooth sides's handle using the left arm.",
+    "Utilize the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Open the microwave by pulling with the left arm.",
+    "Pull the microwave's handle to open it.",
+    "Use the left arm to grab and pull the gray microwave with two control knobs.",
+    "Handle the yellow-panel microwave with smooth sides and open it with the left arm.",
+    "Use the handle to open the medium microwave.",
+    "Pull the handle of the rectangular microwave with the left arm.",
+    "Use the left arm to pull open the door of the gray microwave with two control knobs.",
+    "Pull the handle to open the microwave.",
+    "Get the yellow-panel microwave with smooth sides open.",
+    "Pull the handle of the microwave with knobs to open it.",
+    "Grasp the yellow-panel microwave with smooth sides's handle and pull to open.",
+    "Activate the door to open the yellow-sided microwave.",
+    "Use the left arm to open the gray and yellow microwave with rounded edges by pulling.",
+    "Open the gray microwave by pulling its handle.",
+    "Grip the rectangular microwave's handle and pull it open.",
+    "Grab the handle and open the microwave with patterned top and knobs with the left arm.",
+    "Open the microwave by pulling its door with the left arm."
+  ],
+  "unseen": [
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode48.json b/open_microwave/demo_clean/instructions/episode48.json
new file mode 100644
index 0000000000000000000000000000000000000000..f656a37413d520cf2cc5084f3eb902e97b4c74a6
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode48.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the door of the microwave with textured top panel to open it.",
+    "Use the handle to open the rectangular microwave.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Use the left arm to pull open the door of the countertop microwave.",
+    "Pull the handle of the microwave with knobs with the left arm.",
+    "Open the yellow-panel microwave with smooth sides by pulling with the left arm.",
+    "Pull the handle of the microwave with knobs to open it.",
+    "Use the left arm to grab and open the gray microwave with two control knobs.",
+    "Engage the rectangular microwave using the left arm to open.",
+    "Activate the door to open the microwave with knobs.",
+    "Pull open the door of the microwave using the left arm.",
+    "Engage the gray microwave with two control knobs's handle and open it.",
+    "Pull and open the rectangular microwave.",
+    "Use the left arm to engage the gray microwave's opening mechanism.",
+    "Use the left arm to open the gray microwave by pulling.",
+    "Open the microwave with patterned top and knobs by grasping its handle.",
+    "Grab and pull the gray microwave with two control knobs using the left arm.",
+    "Access the inside by opening the microwave with knobs.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Pull the microwave with knobs's handle to open it.",
+    "Utilize the left arm to pull the microwave with textured top panel open.",
+    "Pull to open the microwave.",
+    "Use the left arm to grab and pull the gray microwave.",
+    "Pull the door to open the gray microwave.",
+    "Get the yellow-panel microwave with smooth sides open.",
+    "Grip the yellow-sided microwave's handle and pull it open.",
+    "Grab the handle and open the microwave with textured top panel.",
+    "Open the gray and yellow microwave with rounded edges by pulling on its handle.",
+    "Open the rectangular microwave by pulling its door with the left arm.",
+    "Handle the microwave with knobs and open it with the left arm.",
+    "Grasp the yellow-panel microwave with smooth sides's handle and pull to open.",
+    "Engage the left arm to open the microwave with textured top panel.",
+    "Pull the handle to open the gray microwave.",
+    "Pull the the yellow-sided microwave's handle using the left arm.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Open the microwave using the left arm.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides with the left arm.",
+    "Use the left arm to pull the gray microwave open.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Pull the door of the gray microwave with two control knobs to open it.",
+    "Use the handle to open the countertop microwave.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Use the left arm to pull open the door of the microwave.",
+    "Pull the handle of the gray microwave with the left arm.",
+    "Open the rectangular microwave by pulling with the left arm.",
+    "Pull the handle of the countertop microwave to open it.",
+    "Use the left arm to grab and open the microwave with patterned top and knobs.",
+    "Engage the microwave with patterned top and knobs using the left arm to open.",
+    "Activate the door to open the medium microwave.",
+    "Pull open the door of the microwave using the left arm.",
+    "Engage the gray microwave with two control knobs's handle and open it.",
+    "Pull and open the countertop microwave.",
+    "Use the left arm to engage the medium microwave's opening mechanism.",
+    "Use the left arm to open the rectangular microwave by pulling.",
+    "Open the gray microwave with two control knobs by grasping its handle.",
+    "Grab and pull the microwave with textured top panel using the left arm.",
+    "Access the inside by opening the microwave with knobs.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Pull the gray and yellow microwave with rounded edges's handle to open it.",
+    "Utilize the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Pull to open the microwave with textured top panel.",
+    "Use the left arm to grab and pull the gray microwave.",
+    "Pull the door to open the gray microwave with two control knobs.",
+    "Get the yellow-panel microwave with smooth sides open.",
+    "Grip the yellow-panel microwave with smooth sides's handle and pull it open.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides.",
+    "Open the gray microwave by pulling on its handle.",
+    "Open the medium microwave by pulling its door with the left arm.",
+    "Handle the microwave with textured top panel and open it with the left arm.",
+    "Grasp the countertop microwave's handle and pull to open.",
+    "Engage the left arm to open the yellow-sided microwave.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Pull the the microwave with patterned top and knobs's handle using the left arm.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Open the rectangular microwave using the left arm.",
+    "Grab the handle and open the microwave with knobs with the left arm.",
+    "Use the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Pull the door of the microwave with knobs to open it.",
+    "Use the handle to open the microwave with patterned top and knobs.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Use the left arm to pull open the door of the countertop microwave.",
+    "Pull the handle of the yellow-sided microwave with the left arm.",
+    "Open the countertop microwave by pulling with the left arm.",
+    "Pull the handle of the yellow-sided microwave to open it.",
+    "Use the left arm to grab and open the countertop microwave.",
+    "Engage the microwave with knobs using the left arm to open.",
+    "Activate the door to open the microwave with knobs.",
+    "Pull open the door of the microwave with patterned top and knobs using the left arm.",
+    "Engage the microwave with knobs's handle and open it.",
+    "Pull and open the gray and yellow microwave with rounded edges.",
+    "Use the left arm to engage the countertop microwave's opening mechanism.",
+    "Use the left arm to open the yellow-sided microwave by pulling.",
+    "Open the microwave by grasping its handle.",
+    "Grab and pull the yellow-sided microwave using the left arm.",
+    "Access the inside by opening the microwave with textured top panel.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Pull the microwave with knobs's handle to open it.",
+    "Utilize the left arm to pull the gray microwave open.",
+    "Pull to open the medium microwave."
+  ],
+  "unseen": [
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode49.json b/open_microwave/demo_clean/instructions/episode49.json
new file mode 100644
index 0000000000000000000000000000000000000000..144e6661f783c3856d69824348d7760eec18e874
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode49.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the gray and glass microwave for cooking by pulling its door with the left arm.",
+    "Open the microwave with glass top by pulling with the left arm.",
+    "Pull the handle to open the microwave.",
+    "Grab and pull the gray appliance with transparent glass top using the left arm.",
+    "Pull the the medium microwave with slanted sides's handle using the left arm.",
+    "Open the dark gray kitchen microwave by pulling on its handle.",
+    "Pull the door of the microwave with smooth surface to open it.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Grab the handle and open the medium microwave with slanted sides.",
+    "Use the left arm to pull the dark gray kitchen microwave open.",
+    "Pull open the door of the gray appliance with transparent glass top using the left arm.",
+    "Use the left arm to open the dark gray kitchen microwave by pulling.",
+    "Use the left arm to grab and pull the microwave for heating food.",
+    "Open the medium microwave with slanted sides by pulling its handle.",
+    "Use the left arm to grab and open the microwave with glass top.",
+    "Access the inside by opening the microwave with glass top.",
+    "Grab the handle and open the microwave with glossy dark gray finish with the left arm.",
+    "Open the dark gray kitchen microwave by pulling its handle.",
+    "Pull the handle of the microwave with glossy dark gray finish with the left arm.",
+    "Get the rectangular microwave with clear glass panel open.",
+    "Pull the handle of the microwave for heating food to open it.",
+    "Grip the rectangular microwave with clear glass panel's handle and pull it open.",
+    "Utilize the left arm to pull the dark gray kitchen microwave open.",
+    "Pull and open the dark gray slanted microwave box.",
+    "Engage the rectangular gray microwave's handle and open it.",
+    "Open the microwave for heating food by grasping its handle.",
+    "Use the left arm to engage the gray and glass microwave for cooking's opening mechanism.",
+    "Open the medium microwave with slanted sides using the left arm.",
+    "Engage the microwave with glossy dark gray finish using the left arm to open.",
+    "Pull the microwave for heating food's handle to open it.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Pull to open the medium microwave with slanted sides.",
+    "Engage the left arm to open the rectangular microwave with clear glass panel.",
+    "Use the handle to open the medium microwave with slanted sides.",
+    "Pull the door to open the microwave with glossy dark gray finish.",
+    "Activate the door to open the rectangular gray microwave.",
+    "Handle the microwave with smooth surface and open it with the left arm.",
+    "Use the left arm to pull open the door of the microwave with glossy dark gray finish.",
+    "Grasp the microwave with glass top's handle and pull to open.",
+    "Open the rectangular gray microwave by pulling its door with the left arm.",
+    "Open the gray appliance with transparent glass top by pulling with the left arm.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Grab and pull the microwave for heating food using the left arm.",
+    "Pull the the medium microwave with slanted sides's handle using the left arm.",
+    "Open the gray and glass microwave for cooking by pulling on its handle.",
+    "Pull the door of the rectangular microwave with clear glass panel to open it.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Grab the handle and open the microwave.",
+    "Use the left arm to pull the medium microwave with slanted sides open.",
+    "Pull open the door of the dark gray kitchen microwave using the left arm.",
+    "Use the left arm to open the gray and glass microwave for cooking by pulling.",
+    "Use the left arm to grab and pull the gray and glass microwave for cooking.",
+    "Open the gray and glass microwave for cooking by pulling its handle.",
+    "Use the left arm to grab and open the microwave for heating food.",
+    "Access the inside by opening the dark gray slanted microwave box.",
+    "Grab the handle and open the rectangular gray microwave with the left arm.",
+    "Open the rectangular gray microwave by pulling its handle.",
+    "Pull the handle of the rectangular microwave with clear glass panel with the left arm.",
+    "Get the dark gray kitchen microwave open.",
+    "Pull the handle of the microwave with smooth surface to open it.",
+    "Grip the gray and glass microwave for cooking's handle and pull it open.",
+    "Utilize the left arm to pull the rectangular microwave with clear glass panel open.",
+    "Pull and open the microwave.",
+    "Engage the medium microwave with slanted sides's handle and open it.",
+    "Open the microwave with smooth surface by grasping its handle.",
+    "Use the left arm to engage the gray and glass microwave for cooking's opening mechanism.",
+    "Open the dark gray slanted microwave box using the left arm.",
+    "Engage the microwave using the left arm to open.",
+    "Pull the rectangular microwave with clear glass panel's handle to open it.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Pull to open the rectangular gray microwave.",
+    "Engage the left arm to open the dark gray kitchen microwave.",
+    "Use the handle to open the microwave with glossy dark gray finish.",
+    "Pull the door to open the dark gray kitchen microwave.",
+    "Activate the door to open the medium microwave with slanted sides.",
+    "Handle the microwave with glass top and open it with the left arm.",
+    "Use the left arm to pull open the door of the microwave.",
+    "Grasp the dark gray slanted microwave box's handle and pull to open.",
+    "Open the microwave for heating food by pulling its door with the left arm.",
+    "Open the microwave with glossy dark gray finish by pulling with the left arm.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Grab and pull the microwave for heating food using the left arm.",
+    "Pull the the gray appliance with transparent glass top's handle using the left arm.",
+    "Open the microwave by pulling on its handle.",
+    "Pull the door of the dark gray slanted microwave box to open it.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Grab the handle and open the gray and glass microwave for cooking.",
+    "Use the left arm to pull the gray appliance with transparent glass top open.",
+    "Pull open the door of the rectangular microwave with clear glass panel using the left arm.",
+    "Use the left arm to open the rectangular microwave with clear glass panel by pulling.",
+    "Use the left arm to grab and pull the microwave for heating food.",
+    "Open the gray and glass microwave for cooking by pulling its handle.",
+    "Use the left arm to grab and open the microwave for heating food.",
+    "Access the inside by opening the microwave.",
+    "Grab the handle and open the medium microwave with slanted sides with the left arm.",
+    "Open the microwave with glass top by pulling its handle.",
+    "Pull the handle of the medium microwave with slanted sides with the left arm.",
+    "Get the microwave open.",
+    "Pull the handle of the rectangular gray microwave to open it.",
+    "Grip the rectangular microwave with clear glass panel's handle and pull it open."
+  ],
+  "unseen": [
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode5.json b/open_microwave/demo_clean/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2ac6d80e233bb224b13ff889a2c67ae81260c15
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode5.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the door to open the microwave with glossy dark gray finish.",
+    "Open the rectangular microwave with clear glass panel by pulling on its handle.",
+    "Grab the handle and open the dark gray kitchen microwave with the left arm.",
+    "Open the medium microwave with slanted sides using the left arm.",
+    "Open the gray and glass microwave for cooking by pulling with the left arm.",
+    "Use the handle to open the microwave for heating food.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Grip the gray appliance with transparent glass top's handle and pull it open.",
+    "Open the microwave with glass top by grasping its handle.",
+    "Pull open the door of the microwave for heating food using the left arm.",
+    "Grasp the microwave's handle and pull to open.",
+    "Handle the medium microwave with slanted sides and open it with the left arm.",
+    "Access the inside by opening the dark gray kitchen microwave.",
+    "Use the left arm to grab and open the rectangular microwave with clear glass panel.",
+    "Get the microwave with glass top open.",
+    "Pull the the microwave for heating food's handle using the left arm.",
+    "Pull the handle of the microwave with glossy dark gray finish with the left arm.",
+    "Use the left arm to grab and pull the medium microwave with slanted sides.",
+    "Open the gray appliance with transparent glass top by pulling its handle.",
+    "Pull the handle to open the microwave.",
+    "Open the dark gray kitchen microwave by pulling its handle.",
+    "Use the left arm to pull the medium microwave with slanted sides open.",
+    "Pull and open the rectangular gray microwave.",
+    "Engage the left arm to open the microwave for heating food.",
+    "Pull the door to open the dark gray kitchen microwave.",
+    "Engage the dark gray kitchen microwave using the left arm to open.",
+    "Pull the handle of the microwave with glass top to open it.",
+    "Open the microwave with glossy dark gray finish by pulling its door with the left arm.",
+    "Pull the microwave with smooth surface's handle to open it.",
+    "Grab the handle and open the microwave with glossy dark gray finish.",
+    "Use the left arm to pull open the door of the microwave.",
+    "Pull to open the rectangular gray microwave.",
+    "Pull the door of the medium microwave with slanted sides to open it.",
+    "Grab and pull the dark gray kitchen microwave using the left arm.",
+    "Use the left arm to open the dark gray slanted microwave box by pulling.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Use the left arm to engage the microwave for heating food's opening mechanism.",
+    "Utilize the left arm to pull the microwave open.",
+    "Engage the microwave's handle and open it.",
+    "Activate the door to open the dark gray kitchen microwave.",
+    "Open the microwave with smooth surface by pulling on its handle.",
+    "Grab the handle and open the microwave with the left arm.",
+    "Open the microwave with glossy dark gray finish using the left arm.",
+    "Open the microwave with smooth surface by pulling with the left arm.",
+    "Use the handle to open the medium microwave with slanted sides.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Grip the rectangular microwave with clear glass panel's handle and pull it open.",
+    "Open the gray appliance with transparent glass top by grasping its handle.",
+    "Pull open the door of the rectangular gray microwave using the left arm.",
+    "Grasp the gray and glass microwave for cooking's handle and pull to open.",
+    "Handle the microwave with smooth surface and open it with the left arm.",
+    "Access the inside by opening the microwave with glossy dark gray finish.",
+    "Use the left arm to grab and open the gray appliance with transparent glass top.",
+    "Get the microwave for heating food open.",
+    "Pull the the microwave for heating food's handle using the left arm.",
+    "Pull the handle of the dark gray kitchen microwave with the left arm.",
+    "Use the left arm to grab and pull the microwave for heating food.",
+    "Open the dark gray kitchen microwave by pulling its handle.",
+    "Pull the handle to open the microwave with glass top.",
+    "Open the rectangular microwave with clear glass panel by pulling its handle.",
+    "Use the left arm to pull the rectangular gray microwave open.",
+    "Pull and open the dark gray kitchen microwave.",
+    "Engage the left arm to open the dark gray kitchen microwave.",
+    "Pull the door to open the rectangular gray microwave.",
+    "Engage the rectangular microwave with clear glass panel using the left arm to open.",
+    "Pull the handle of the microwave to open it.",
+    "Open the microwave with glass top by pulling its door with the left arm.",
+    "Pull the microwave with glass top's handle to open it.",
+    "Grab the handle and open the microwave with glossy dark gray finish.",
+    "Use the left arm to pull open the door of the gray appliance with transparent glass top.",
+    "Pull to open the microwave.",
+    "Pull the door of the dark gray kitchen microwave to open it.",
+    "Grab and pull the medium microwave with slanted sides using the left arm.",
+    "Use the left arm to open the gray and glass microwave for cooking by pulling.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Utilize the left arm to pull the microwave with smooth surface open.",
+    "Engage the gray and glass microwave for cooking's handle and open it.",
+    "Activate the door to open the dark gray kitchen microwave.",
+    "Open the rectangular gray microwave by pulling on its handle.",
+    "Grab the handle and open the microwave with glossy dark gray finish with the left arm.",
+    "Open the medium microwave with slanted sides using the left arm.",
+    "Open the microwave by pulling with the left arm.",
+    "Use the handle to open the microwave with smooth surface.",
+    "Pull the handle to open the microwave with glass top.",
+    "Grip the microwave with glass top's handle and pull it open.",
+    "Open the microwave for heating food by grasping its handle.",
+    "Pull open the door of the microwave with glossy dark gray finish using the left arm.",
+    "Grasp the gray and glass microwave for cooking's handle and pull to open.",
+    "Handle the gray appliance with transparent glass top and open it with the left arm.",
+    "Access the inside by opening the gray and glass microwave for cooking.",
+    "Use the left arm to grab and open the rectangular microwave with clear glass panel.",
+    "Get the dark gray kitchen microwave open.",
+    "Pull the the microwave with smooth surface's handle using the left arm.",
+    "Pull the handle of the rectangular gray microwave with the left arm.",
+    "Use the left arm to grab and pull the rectangular microwave with clear glass panel.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Open the gray appliance with transparent glass top by pulling its handle.",
+    "Use the left arm to pull the dark gray kitchen microwave open."
+  ],
+  "unseen": [
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the dark gray microwave using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the dark gray microwave using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the dark gray microwave using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the dark gray microwave using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the dark gray microwave using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode50.json b/open_microwave/demo_clean/instructions/episode50.json
new file mode 100644
index 0000000000000000000000000000000000000000..492c6a5e6dab17c7315765b622c0a64bcafb018f
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode50.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the handle of the countertop microwave to open it.",
+    "Pull to open the yellow-panel microwave with smooth sides.",
+    "Use the left arm to engage the yellow-panel microwave with smooth sides's opening mechanism.",
+    "Pull the handle to open the countertop microwave.",
+    "Pull the the microwave with patterned top and knobs's handle using the left arm.",
+    "Access the inside by opening the yellow-sided microwave.",
+    "Utilize the left arm to pull the gray microwave open.",
+    "Use the left arm to pull the rectangular microwave open.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Grip the microwave with textured top panel's handle and pull it open.",
+    "Handle the microwave with patterned top and knobs and open it with the left arm.",
+    "Pull the door of the medium microwave to open it.",
+    "Use the left arm to grab and pull the microwave with knobs.",
+    "Open the countertop microwave by pulling its door with the left arm.",
+    "Use the handle to open the microwave with knobs.",
+    "Grab the handle and open the microwave.",
+    "Use the left arm to open the yellow-panel microwave with smooth sides by pulling.",
+    "Grab the handle and open the microwave with knobs with the left arm.",
+    "Pull the handle of the countertop microwave with the left arm.",
+    "Grab and pull the microwave with textured top panel using the left arm.",
+    "Engage the gray microwave using the left arm to open.",
+    "Open the gray and yellow microwave with rounded edges by pulling with the left arm.",
+    "Get the countertop microwave open.",
+    "Engage the left arm to open the rectangular microwave.",
+    "Pull the handle to open the medium microwave.",
+    "Engage the yellow-panel microwave with smooth sides's handle and open it.",
+    "Open the gray and yellow microwave with rounded edges by grasping its handle.",
+    "Pull the rectangular microwave's handle to open it.",
+    "Open the countertop microwave by pulling on its handle.",
+    "Grasp the microwave with textured top panel's handle and pull to open.",
+    "Use the left arm to grab and open the gray microwave.",
+    "Activate the door to open the countertop microwave.",
+    "Pull open the door of the gray microwave using the left arm.",
+    "Open the microwave using the left arm.",
+    "Pull and open the gray and yellow microwave with rounded edges.",
+    "Open the gray microwave by pulling its handle.",
+    "Pull the door to open the microwave.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Use the left arm to pull open the door of the microwave with textured top panel.",
+    "Pull the handle of the microwave to open it.",
+    "Pull to open the medium microwave.",
+    "Use the left arm to engage the yellow-sided microwave's opening mechanism.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Pull the the yellow-sided microwave's handle using the left arm.",
+    "Access the inside by opening the microwave.",
+    "Utilize the left arm to pull the countertop microwave open.",
+    "Use the left arm to pull the microwave with patterned top and knobs open.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Grip the microwave with textured top panel's handle and pull it open.",
+    "Handle the gray microwave with two control knobs and open it with the left arm.",
+    "Pull the door of the gray microwave to open it.",
+    "Use the left arm to grab and pull the microwave with textured top panel.",
+    "Open the microwave with textured top panel by pulling its door with the left arm.",
+    "Use the handle to open the countertop microwave.",
+    "Grab the handle and open the microwave with patterned top and knobs.",
+    "Use the left arm to open the gray and yellow microwave with rounded edges by pulling.",
+    "Grab the handle and open the microwave with patterned top and knobs with the left arm.",
+    "Pull the handle of the gray and yellow microwave with rounded edges with the left arm.",
+    "Grab and pull the rectangular microwave using the left arm.",
+    "Engage the microwave with textured top panel using the left arm to open.",
+    "Open the microwave by pulling with the left arm.",
+    "Get the microwave open.",
+    "Engage the left arm to open the medium microwave.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Engage the microwave with knobs's handle and open it.",
+    "Open the countertop microwave by grasping its handle.",
+    "Pull the yellow-panel microwave with smooth sides's handle to open it.",
+    "Open the gray and yellow microwave with rounded edges by pulling on its handle.",
+    "Grasp the microwave with patterned top and knobs's handle and pull to open.",
+    "Use the left arm to grab and open the yellow-sided microwave.",
+    "Activate the door to open the microwave.",
+    "Pull open the door of the yellow-sided microwave using the left arm.",
+    "Open the microwave with textured top panel using the left arm.",
+    "Pull and open the microwave with patterned top and knobs.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Pull the door to open the yellow-sided microwave.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Use the left arm to pull open the door of the gray microwave with two control knobs.",
+    "Pull the handle of the countertop microwave to open it.",
+    "Pull to open the microwave with patterned top and knobs.",
+    "Use the left arm to engage the gray and yellow microwave with rounded edges's opening mechanism.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Pull the the microwave with patterned top and knobs's handle using the left arm.",
+    "Access the inside by opening the microwave with textured top panel.",
+    "Utilize the left arm to pull the medium microwave open.",
+    "Use the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Grip the microwave with patterned top and knobs's handle and pull it open.",
+    "Handle the microwave and open it with the left arm.",
+    "Pull the door of the yellow-panel microwave with smooth sides to open it.",
+    "Use the left arm to grab and pull the gray and yellow microwave with rounded edges.",
+    "Open the microwave with patterned top and knobs by pulling its door with the left arm.",
+    "Use the handle to open the medium microwave.",
+    "Grab the handle and open the medium microwave.",
+    "Use the left arm to open the yellow-sided microwave by pulling.",
+    "Grab the handle and open the countertop microwave with the left arm.",
+    "Pull the handle of the medium microwave with the left arm.",
+    "Grab and pull the gray microwave with two control knobs using the left arm.",
+    "Engage the gray microwave using the left arm to open.",
+    "Open the gray microwave by pulling with the left arm."
+  ],
+  "unseen": [
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode51.json b/open_microwave/demo_clean/instructions/episode51.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb188f3165a52a805b0941ae9b2821499669a570
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode51.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grasp the medium microwave with slanted sides's handle and pull to open.",
+    "Grab the handle and open the microwave with smooth surface with the left arm.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Open the microwave using the left arm.",
+    "Grab the handle and open the microwave for heating food.",
+    "Use the left arm to pull the microwave open.",
+    "Pull the handle of the medium microwave with slanted sides with the left arm.",
+    "Open the medium microwave with slanted sides by pulling its handle.",
+    "Pull the handle of the gray and glass microwave for cooking to open it.",
+    "Use the left arm to open the dark gray kitchen microwave by pulling.",
+    "Pull the gray appliance with transparent glass top's handle to open it.",
+    "Open the microwave with glossy dark gray finish by pulling with the left arm.",
+    "Get the dark gray kitchen microwave open.",
+    "Engage the left arm to open the microwave with glossy dark gray finish.",
+    "Utilize the left arm to pull the microwave with glass top open.",
+    "Open the dark gray slanted microwave box by pulling on its handle.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Activate the door to open the gray and glass microwave for cooking.",
+    "Access the inside by opening the gray appliance with transparent glass top.",
+    "Pull open the door of the gray and glass microwave for cooking using the left arm.",
+    "Grip the microwave for heating food's handle and pull it open.",
+    "Use the left arm to pull open the door of the gray appliance with transparent glass top.",
+    "Use the left arm to engage the rectangular gray microwave's opening mechanism.",
+    "Engage the microwave with glossy dark gray finish's handle and open it.",
+    "Grab and pull the microwave with glass top using the left arm.",
+    "Use the handle to open the dark gray kitchen microwave.",
+    "Pull the the rectangular microwave with clear glass panel's handle using the left arm.",
+    "Handle the gray and glass microwave for cooking and open it with the left arm.",
+    "Open the rectangular microwave with clear glass panel by pulling its door with the left arm.",
+    "Use the left arm to grab and open the microwave for heating food.",
+    "Pull the door to open the microwave with smooth surface.",
+    "Pull and open the dark gray slanted microwave box.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Open the dark gray slanted microwave box by grasping its handle.",
+    "Engage the microwave with glossy dark gray finish using the left arm to open.",
+    "Use the left arm to grab and pull the gray and glass microwave for cooking.",
+    "Pull to open the gray appliance with transparent glass top.",
+    "Pull the door of the rectangular gray microwave to open it.",
+    "Grasp the rectangular gray microwave's handle and pull to open.",
+    "Grab the handle and open the microwave with glossy dark gray finish with the left arm.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Open the medium microwave with slanted sides using the left arm.",
+    "Grab the handle and open the medium microwave with slanted sides.",
+    "Use the left arm to pull the gray and glass microwave for cooking open.",
+    "Pull the handle of the medium microwave with slanted sides with the left arm.",
+    "Open the microwave for heating food by pulling its handle.",
+    "Pull the handle of the gray and glass microwave for cooking to open it.",
+    "Use the left arm to open the dark gray kitchen microwave by pulling.",
+    "Pull the microwave for heating food's handle to open it.",
+    "Open the microwave with glossy dark gray finish by pulling with the left arm.",
+    "Get the rectangular microwave with clear glass panel open.",
+    "Engage the left arm to open the rectangular microwave with clear glass panel.",
+    "Utilize the left arm to pull the microwave with glass top open.",
+    "Open the microwave with smooth surface by pulling on its handle.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Activate the door to open the gray and glass microwave for cooking.",
+    "Access the inside by opening the microwave with glossy dark gray finish.",
+    "Pull open the door of the rectangular microwave with clear glass panel using the left arm.",
+    "Grip the rectangular gray microwave's handle and pull it open.",
+    "Use the left arm to pull open the door of the rectangular gray microwave.",
+    "Use the left arm to engage the gray appliance with transparent glass top's opening mechanism.",
+    "Engage the rectangular gray microwave's handle and open it.",
+    "Grab and pull the gray and glass microwave for cooking using the left arm.",
+    "Use the handle to open the microwave.",
+    "Pull the the medium microwave with slanted sides's handle using the left arm.",
+    "Handle the rectangular gray microwave and open it with the left arm.",
+    "Open the microwave with smooth surface by pulling its door with the left arm.",
+    "Use the left arm to grab and open the gray and glass microwave for cooking.",
+    "Pull the door to open the medium microwave with slanted sides.",
+    "Pull and open the microwave.",
+    "Open the dark gray kitchen microwave by pulling its handle.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Open the dark gray kitchen microwave by grasping its handle.",
+    "Engage the dark gray kitchen microwave using the left arm to open.",
+    "Use the left arm to grab and pull the gray appliance with transparent glass top.",
+    "Pull to open the dark gray kitchen microwave.",
+    "Pull the door of the microwave to open it.",
+    "Grasp the rectangular microwave with clear glass panel's handle and pull to open.",
+    "Grab the handle and open the rectangular microwave with clear glass panel with the left arm.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Open the microwave for heating food using the left arm.",
+    "Grab the handle and open the dark gray kitchen microwave.",
+    "Use the left arm to pull the dark gray slanted microwave box open.",
+    "Pull the handle of the dark gray kitchen microwave with the left arm.",
+    "Open the microwave with glass top by pulling its handle.",
+    "Pull the handle of the microwave with glass top to open it.",
+    "Use the left arm to open the dark gray slanted microwave box by pulling.",
+    "Pull the dark gray slanted microwave box's handle to open it.",
+    "Open the gray and glass microwave for cooking by pulling with the left arm.",
+    "Get the microwave with glass top open.",
+    "Engage the left arm to open the dark gray slanted microwave box.",
+    "Utilize the left arm to pull the rectangular microwave with clear glass panel open.",
+    "Open the gray and glass microwave for cooking by pulling on its handle.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Activate the door to open the medium microwave with slanted sides.",
+    "Access the inside by opening the dark gray kitchen microwave.",
+    "Pull open the door of the microwave with smooth surface using the left arm.",
+    "Grip the gray and glass microwave for cooking's handle and pull it open.",
+    "Use the left arm to pull open the door of the gray appliance with transparent glass top."
+  ],
+  "unseen": [
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the dark gray microwave using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Open the dark gray microwave using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the dark gray microwave using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode52.json b/open_microwave/demo_clean/instructions/episode52.json
new file mode 100644
index 0000000000000000000000000000000000000000..3be086fbad9f713739a54d9292e2b60c5032459b
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode52.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the handle of the microwave with the left arm.",
+    "Activate the door to open the microwave with knobs.",
+    "Pull the door to open the microwave.",
+    "Pull the handle of the gray microwave to open it.",
+    "Pull and open the yellow-sided microwave.",
+    "Use the left arm to pull the microwave with textured top panel open.",
+    "Pull the door of the yellow-panel microwave with smooth sides to open it.",
+    "Engage the countertop microwave's handle and open it.",
+    "Open the gray microwave with two control knobs using the left arm.",
+    "Get the gray and yellow microwave with rounded edges open.",
+    "Access the inside by opening the rectangular microwave.",
+    "Use the left arm to open the yellow-panel microwave with smooth sides by pulling.",
+    "Open the medium microwave by grasping its handle.",
+    "Pull the the microwave with knobs's handle using the left arm.",
+    "Engage the left arm to open the microwave with patterned top and knobs.",
+    "Grab the handle and open the countertop microwave with the left arm.",
+    "Use the left arm to grab and open the yellow-panel microwave with smooth sides.",
+    "Grab and pull the microwave with knobs using the left arm.",
+    "Grasp the rectangular microwave's handle and pull to open.",
+    "Use the left arm to pull open the door of the gray and yellow microwave with rounded edges.",
+    "Use the handle to open the microwave with knobs.",
+    "Grip the yellow-panel microwave with smooth sides's handle and pull it open.",
+    "Open the gray microwave with two control knobs by pulling its door with the left arm.",
+    "Open the yellow-panel microwave with smooth sides by pulling on its handle.",
+    "Pull open the door of the rectangular microwave using the left arm.",
+    "Utilize the left arm to pull the microwave with textured top panel open.",
+    "Pull the handle to open the gray microwave.",
+    "Use the left arm to engage the countertop microwave's opening mechanism.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Use the left arm to grab and pull the gray and yellow microwave with rounded edges.",
+    "Engage the gray microwave with two control knobs using the left arm to open.",
+    "Open the countertop microwave by pulling its handle.",
+    "Handle the microwave with textured top panel and open it with the left arm.",
+    "Pull the gray microwave with two control knobs's handle to open it.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Open the medium microwave by pulling with the left arm.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges.",
+    "Pull to open the yellow-panel microwave with smooth sides.",
+    "Pull the handle of the microwave with the left arm.",
+    "Activate the door to open the microwave.",
+    "Pull the door to open the yellow-sided microwave.",
+    "Pull the handle of the rectangular microwave to open it.",
+    "Pull and open the gray and yellow microwave with rounded edges.",
+    "Use the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Pull the door of the yellow-panel microwave with smooth sides to open it.",
+    "Engage the microwave with knobs's handle and open it.",
+    "Open the gray microwave using the left arm.",
+    "Get the gray microwave open.",
+    "Access the inside by opening the yellow-sided microwave.",
+    "Use the left arm to open the yellow-panel microwave with smooth sides by pulling.",
+    "Open the yellow-panel microwave with smooth sides by grasping its handle.",
+    "Pull the the medium microwave's handle using the left arm.",
+    "Engage the left arm to open the yellow-panel microwave with smooth sides.",
+    "Grab the handle and open the microwave with the left arm.",
+    "Use the left arm to grab and open the yellow-sided microwave.",
+    "Grab and pull the gray microwave with two control knobs using the left arm.",
+    "Grasp the yellow-panel microwave with smooth sides's handle and pull to open.",
+    "Use the left arm to pull open the door of the yellow-sided microwave.",
+    "Use the handle to open the countertop microwave.",
+    "Grip the rectangular microwave's handle and pull it open.",
+    "Open the microwave with textured top panel by pulling its door with the left arm.",
+    "Open the rectangular microwave by pulling on its handle.",
+    "Pull open the door of the countertop microwave using the left arm.",
+    "Utilize the left arm to pull the rectangular microwave open.",
+    "Pull the handle to open the gray microwave.",
+    "Use the left arm to engage the microwave with textured top panel's opening mechanism.",
+    "Pull the handle to open the microwave.",
+    "Use the left arm to grab and pull the yellow-panel microwave with smooth sides.",
+    "Engage the yellow-sided microwave using the left arm to open.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Handle the gray microwave and open it with the left arm.",
+    "Pull the yellow-panel microwave with smooth sides's handle to open it.",
+    "Pull the handle to open the countertop microwave.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Open the countertop microwave by pulling with the left arm.",
+    "Grab the handle and open the gray microwave.",
+    "Pull to open the medium microwave.",
+    "Pull the handle of the gray microwave with two control knobs with the left arm.",
+    "Activate the door to open the countertop microwave.",
+    "Pull the door to open the yellow-panel microwave with smooth sides.",
+    "Pull the handle of the gray and yellow microwave with rounded edges to open it.",
+    "Pull and open the microwave.",
+    "Use the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Pull the door of the microwave with knobs to open it.",
+    "Engage the gray and yellow microwave with rounded edges's handle and open it.",
+    "Open the medium microwave using the left arm.",
+    "Get the yellow-sided microwave open.",
+    "Access the inside by opening the yellow-panel microwave with smooth sides.",
+    "Use the left arm to open the microwave with textured top panel by pulling.",
+    "Open the gray microwave with two control knobs by grasping its handle.",
+    "Pull the the microwave with knobs's handle using the left arm.",
+    "Engage the left arm to open the microwave with textured top panel.",
+    "Grab the handle and open the medium microwave with the left arm.",
+    "Use the left arm to grab and open the microwave.",
+    "Grab and pull the yellow-panel microwave with smooth sides using the left arm.",
+    "Grasp the medium microwave's handle and pull to open.",
+    "Use the left arm to pull open the door of the microwave with textured top panel.",
+    "Use the handle to open the gray and yellow microwave with rounded edges.",
+    "Grip the medium microwave's handle and pull it open."
+  ],
+  "unseen": [
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode53.json b/open_microwave/demo_clean/instructions/episode53.json
new file mode 100644
index 0000000000000000000000000000000000000000..78345f121240d0165ec4a740b1a79ef5afa15249
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode53.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grasp the gray microwave with two control knobs's handle and pull to open.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Use the left arm to engage the microwave with knobs's opening mechanism.",
+    "Engage the microwave with textured top panel's handle and open it.",
+    "Get the rectangular microwave open.",
+    "Engage the gray microwave using the left arm to open.",
+    "Pull to open the microwave with knobs.",
+    "Open the countertop microwave by pulling its handle.",
+    "Pull open the door of the gray microwave using the left arm.",
+    "Pull the the gray microwave's handle using the left arm.",
+    "Grab the handle and open the yellow-sided microwave with the left arm.",
+    "Activate the door to open the gray microwave with two control knobs.",
+    "Pull the handle of the rectangular microwave to open it.",
+    "Use the left arm to open the countertop microwave by pulling.",
+    "Handle the microwave and open it with the left arm.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Pull and open the yellow-sided microwave.",
+    "Grip the yellow-sided microwave's handle and pull it open.",
+    "Engage the left arm to open the yellow-sided microwave.",
+    "Open the gray microwave with two control knobs by grasping its handle.",
+    "Open the gray and yellow microwave with rounded edges by pulling with the left arm.",
+    "Pull the door of the yellow-sided microwave to open it.",
+    "Pull the handle to open the microwave.",
+    "Grab and pull the yellow-panel microwave with smooth sides using the left arm.",
+    "Open the countertop microwave by pulling its door with the left arm.",
+    "Utilize the left arm to pull the microwave with knobs open.",
+    "Pull the yellow-panel microwave with smooth sides's handle to open it.",
+    "Open the yellow-sided microwave by pulling on its handle.",
+    "Pull the door to open the gray and yellow microwave with rounded edges.",
+    "Open the medium microwave by pulling its handle.",
+    "Grab the handle and open the medium microwave.",
+    "Use the left arm to grab and open the yellow-sided microwave.",
+    "Access the inside by opening the countertop microwave.",
+    "Open the gray microwave using the left arm.",
+    "Use the left arm to pull open the door of the rectangular microwave.",
+    "Use the left arm to pull the microwave with textured top panel open.",
+    "Use the handle to open the microwave with patterned top and knobs.",
+    "Use the left arm to grab and pull the gray microwave with two control knobs.",
+    "Pull the handle of the microwave with the left arm.",
+    "Grasp the gray microwave with two control knobs's handle and pull to open.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Engage the gray microwave with two control knobs's handle and open it.",
+    "Get the yellow-sided microwave open.",
+    "Engage the gray microwave using the left arm to open.",
+    "Pull to open the gray and yellow microwave with rounded edges.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Pull open the door of the medium microwave using the left arm.",
+    "Pull the the countertop microwave's handle using the left arm.",
+    "Grab the handle and open the medium microwave with the left arm.",
+    "Activate the door to open the medium microwave.",
+    "Pull the handle of the countertop microwave to open it.",
+    "Use the left arm to open the gray microwave with two control knobs by pulling.",
+    "Handle the gray microwave and open it with the left arm.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Pull and open the medium microwave.",
+    "Grip the countertop microwave's handle and pull it open.",
+    "Engage the left arm to open the medium microwave.",
+    "Open the microwave with knobs by grasping its handle.",
+    "Open the microwave with textured top panel by pulling with the left arm.",
+    "Pull the door of the yellow-sided microwave to open it.",
+    "Pull the handle to open the countertop microwave.",
+    "Grab and pull the countertop microwave using the left arm.",
+    "Open the gray and yellow microwave with rounded edges by pulling its door with the left arm.",
+    "Utilize the left arm to pull the medium microwave open.",
+    "Pull the microwave with patterned top and knobs's handle to open it.",
+    "Open the gray microwave with two control knobs by pulling on its handle.",
+    "Pull the door to open the microwave with textured top panel.",
+    "Open the gray microwave by pulling its handle.",
+    "Grab the handle and open the microwave with textured top panel.",
+    "Use the left arm to grab and open the gray and yellow microwave with rounded edges.",
+    "Access the inside by opening the microwave with knobs.",
+    "Open the medium microwave using the left arm.",
+    "Use the left arm to pull open the door of the gray microwave with two control knobs.",
+    "Use the left arm to pull the microwave with patterned top and knobs open.",
+    "Use the handle to open the yellow-panel microwave with smooth sides.",
+    "Use the left arm to grab and pull the microwave with knobs.",
+    "Pull the handle of the gray microwave with two control knobs with the left arm.",
+    "Grasp the gray microwave's handle and pull to open.",
+    "Pull the handle to open the gray microwave.",
+    "Use the left arm to engage the microwave with textured top panel's opening mechanism.",
+    "Engage the medium microwave's handle and open it.",
+    "Get the microwave with textured top panel open.",
+    "Engage the gray microwave with two control knobs using the left arm to open.",
+    "Pull to open the yellow-panel microwave with smooth sides.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Pull open the door of the microwave with textured top panel using the left arm.",
+    "Pull the the yellow-panel microwave with smooth sides's handle using the left arm.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges with the left arm.",
+    "Activate the door to open the countertop microwave.",
+    "Pull the handle of the microwave with patterned top and knobs to open it.",
+    "Use the left arm to open the gray microwave with two control knobs by pulling.",
+    "Handle the yellow-sided microwave and open it with the left arm.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Pull and open the microwave with patterned top and knobs.",
+    "Grip the gray and yellow microwave with rounded edges's handle and pull it open.",
+    "Engage the left arm to open the yellow-sided microwave.",
+    "Open the microwave with knobs by grasping its handle.",
+    "Open the gray microwave with two control knobs by pulling with the left arm.",
+    "Pull the door of the microwave with textured top panel to open it."
+  ],
+  "unseen": [
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode54.json b/open_microwave/demo_clean/instructions/episode54.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0aa82b9263fdec9080c40e55fbaf2136c4922e0
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode54.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pull open the door of the microwave with patterned top and knobs.",
+    "Pull the medium microwave's handle to open it.",
+    "Open the yellow-panel microwave with smooth sides by pulling its door with the left arm.",
+    "Grip the microwave's handle and pull it open.",
+    "Pull the door to open the medium microwave.",
+    "Pull the handle to open the microwave.",
+    "Pull and open the gray and yellow microwave with rounded edges.",
+    "Engage the gray microwave's handle and open it.",
+    "Grab the handle and open the microwave with the left arm.",
+    "Pull open the door of the countertop microwave using the left arm.",
+    "Use the left arm to open the microwave with knobs by pulling.",
+    "Handle the microwave with knobs and open it with the left arm.",
+    "Get the microwave with patterned top and knobs open.",
+    "Engage the microwave with textured top panel using the left arm to open.",
+    "Open the gray microwave by grasping its handle.",
+    "Use the left arm to engage the microwave with textured top panel's opening mechanism.",
+    "Grab and pull the microwave with knobs using the left arm.",
+    "Engage the left arm to open the microwave with knobs.",
+    "Pull the handle to open the medium microwave.",
+    "Pull the door of the rectangular microwave to open it.",
+    "Use the left arm to grab and pull the microwave with textured top panel.",
+    "Use the handle to open the medium microwave.",
+    "Pull the handle of the medium microwave to open it.",
+    "Open the microwave by pulling with the left arm.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Pull the handle of the gray and yellow microwave with rounded edges with the left arm.",
+    "Grasp the microwave with textured top panel's handle and pull to open.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Use the left arm to grab and open the microwave with textured top panel.",
+    "Open the countertop microwave by pulling on its handle.",
+    "Pull to open the microwave with textured top panel.",
+    "Open the gray and yellow microwave with rounded edges using the left arm.",
+    "Grab the handle and open the medium microwave.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Activate the door to open the yellow-panel microwave with smooth sides.",
+    "Use the left arm to pull the microwave with knobs open.",
+    "Access the inside by opening the gray microwave with two control knobs.",
+    "Utilize the left arm to pull the yellow-sided microwave open.",
+    "Pull the the countertop microwave's handle using the left arm.",
+    "Use the left arm to pull open the door of the microwave with patterned top and knobs.",
+    "Pull the yellow-sided microwave's handle to open it.",
+    "Open the gray microwave by pulling its door with the left arm.",
+    "Grip the rectangular microwave's handle and pull it open.",
+    "Pull the door to open the medium microwave.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Pull and open the microwave with knobs.",
+    "Engage the countertop microwave's handle and open it.",
+    "Grab the handle and open the microwave with patterned top and knobs with the left arm.",
+    "Pull open the door of the gray and yellow microwave with rounded edges using the left arm.",
+    "Use the left arm to open the microwave with patterned top and knobs by pulling.",
+    "Handle the microwave with patterned top and knobs and open it with the left arm.",
+    "Get the microwave with knobs open.",
+    "Engage the yellow-panel microwave with smooth sides using the left arm to open.",
+    "Open the gray and yellow microwave with rounded edges by grasping its handle.",
+    "Use the left arm to engage the yellow-panel microwave with smooth sides's opening mechanism.",
+    "Grab and pull the microwave using the left arm.",
+    "Engage the left arm to open the yellow-sided microwave.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Pull the door of the medium microwave to open it.",
+    "Use the left arm to grab and pull the medium microwave.",
+    "Use the handle to open the gray microwave.",
+    "Pull the handle of the microwave with patterned top and knobs to open it.",
+    "Open the gray microwave with two control knobs by pulling with the left arm.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Pull the handle of the rectangular microwave with the left arm.",
+    "Grasp the yellow-sided microwave's handle and pull to open.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Use the left arm to grab and open the gray and yellow microwave with rounded edges.",
+    "Open the gray and yellow microwave with rounded edges by pulling on its handle.",
+    "Pull to open the microwave with knobs.",
+    "Open the yellow-sided microwave using the left arm.",
+    "Grab the handle and open the rectangular microwave.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Activate the door to open the yellow-panel microwave with smooth sides.",
+    "Use the left arm to pull the gray microwave with two control knobs open.",
+    "Access the inside by opening the countertop microwave.",
+    "Utilize the left arm to pull the yellow-sided microwave open.",
+    "Pull the the countertop microwave's handle using the left arm.",
+    "Use the left arm to pull open the door of the yellow-panel microwave with smooth sides.",
+    "Pull the microwave with textured top panel's handle to open it.",
+    "Open the microwave with patterned top and knobs by pulling its door with the left arm.",
+    "Grip the microwave with textured top panel's handle and pull it open.",
+    "Pull the door to open the rectangular microwave.",
+    "Pull the handle to open the microwave with knobs.",
+    "Pull and open the rectangular microwave.",
+    "Engage the yellow-sided microwave's handle and open it.",
+    "Grab the handle and open the microwave with patterned top and knobs with the left arm.",
+    "Pull open the door of the rectangular microwave using the left arm.",
+    "Use the left arm to open the microwave by pulling.",
+    "Handle the countertop microwave and open it with the left arm.",
+    "Get the microwave open.",
+    "Engage the gray microwave using the left arm to open.",
+    "Open the yellow-panel microwave with smooth sides by grasping its handle.",
+    "Use the left arm to engage the yellow-panel microwave with smooth sides's opening mechanism.",
+    "Grab and pull the rectangular microwave using the left arm.",
+    "Engage the left arm to open the gray microwave with two control knobs.",
+    "Pull the handle to open the microwave with knobs.",
+    "Pull the door of the microwave with textured top panel to open it.",
+    "Use the left arm to grab and pull the microwave with patterned top and knobs.",
+    "Use the handle to open the yellow-sided microwave."
+  ],
+  "unseen": [
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode55.json b/open_microwave/demo_clean/instructions/episode55.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8067c8a0aa86644890a831e9bf9140ef575d38e
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode55.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the handle of the dark gray slanted microwave box to open it.",
+    "Handle the microwave with glass top and open it with the left arm.",
+    "Pull the door of the dark gray slanted microwave box to open it.",
+    "Use the handle to open the gray and glass microwave for cooking.",
+    "Engage the left arm to open the microwave with glass top.",
+    "Grip the gray and glass microwave for cooking's handle and pull it open.",
+    "Pull the the rectangular gray microwave's handle using the left arm.",
+    "Utilize the left arm to pull the microwave with glossy dark gray finish open.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Open the gray and glass microwave for cooking using the left arm.",
+    "Pull to open the dark gray kitchen microwave.",
+    "Open the rectangular microwave with clear glass panel by grasping its handle.",
+    "Activate the door to open the rectangular microwave with clear glass panel.",
+    "Pull open the door of the microwave with glass top using the left arm.",
+    "Get the microwave with glossy dark gray finish open.",
+    "Use the left arm to grab and open the rectangular microwave with clear glass panel.",
+    "Access the inside by opening the medium microwave with slanted sides.",
+    "Pull the microwave with glossy dark gray finish's handle to open it.",
+    "Grab the handle and open the dark gray kitchen microwave with the left arm.",
+    "Pull the door to open the microwave with smooth surface.",
+    "Use the left arm to engage the microwave with glossy dark gray finish's opening mechanism.",
+    "Pull and open the microwave with smooth surface.",
+    "Open the medium microwave with slanted sides by pulling its door with the left arm.",
+    "Use the left arm to open the rectangular gray microwave by pulling.",
+    "Use the left arm to pull open the door of the microwave for heating food.",
+    "Open the microwave with smooth surface by pulling its handle.",
+    "Open the dark gray kitchen microwave by pulling with the left arm.",
+    "Pull the handle of the dark gray kitchen microwave with the left arm.",
+    "Use the left arm to pull the microwave open.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Open the microwave for heating food by pulling its handle.",
+    "Engage the microwave's handle and open it.",
+    "Open the microwave with glossy dark gray finish by pulling on its handle.",
+    "Grab and pull the gray appliance with transparent glass top using the left arm.",
+    "Grasp the dark gray slanted microwave box's handle and pull to open.",
+    "Use the left arm to grab and pull the gray appliance with transparent glass top.",
+    "Grab the handle and open the microwave for heating food.",
+    "Pull the handle to open the microwave for heating food.",
+    "Engage the microwave for heating food using the left arm to open.",
+    "Pull the handle of the rectangular microwave with clear glass panel to open it.",
+    "Handle the medium microwave with slanted sides and open it with the left arm.",
+    "Pull the door of the rectangular microwave with clear glass panel to open it.",
+    "Use the handle to open the rectangular microwave with clear glass panel.",
+    "Engage the left arm to open the rectangular gray microwave.",
+    "Grip the rectangular microwave with clear glass panel's handle and pull it open.",
+    "Pull the the gray and glass microwave for cooking's handle using the left arm.",
+    "Utilize the left arm to pull the gray and glass microwave for cooking open.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Open the microwave with smooth surface using the left arm.",
+    "Pull to open the microwave.",
+    "Open the microwave by grasping its handle.",
+    "Activate the door to open the rectangular microwave with clear glass panel.",
+    "Pull open the door of the microwave for heating food using the left arm.",
+    "Get the microwave with glass top open.",
+    "Use the left arm to grab and open the microwave for heating food.",
+    "Access the inside by opening the microwave.",
+    "Pull the microwave with glossy dark gray finish's handle to open it.",
+    "Grab the handle and open the microwave with the left arm.",
+    "Pull the door to open the gray and glass microwave for cooking.",
+    "Use the left arm to engage the dark gray slanted microwave box's opening mechanism.",
+    "Pull and open the dark gray slanted microwave box.",
+    "Open the gray appliance with transparent glass top by pulling its door with the left arm.",
+    "Use the left arm to open the medium microwave with slanted sides by pulling.",
+    "Use the left arm to pull open the door of the microwave for heating food.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Open the gray appliance with transparent glass top by pulling with the left arm.",
+    "Pull the handle of the gray and glass microwave for cooking with the left arm.",
+    "Use the left arm to pull the rectangular microwave with clear glass panel open.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Engage the microwave for heating food's handle and open it.",
+    "Open the dark gray kitchen microwave by pulling on its handle.",
+    "Grab and pull the microwave with glossy dark gray finish using the left arm.",
+    "Grasp the microwave's handle and pull to open.",
+    "Use the left arm to grab and pull the microwave with glossy dark gray finish.",
+    "Grab the handle and open the rectangular microwave with clear glass panel.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Engage the microwave with glossy dark gray finish using the left arm to open.",
+    "Pull the handle of the medium microwave with slanted sides to open it.",
+    "Handle the dark gray kitchen microwave and open it with the left arm.",
+    "Pull the door of the medium microwave with slanted sides to open it.",
+    "Use the handle to open the gray and glass microwave for cooking.",
+    "Engage the left arm to open the microwave.",
+    "Grip the microwave with glossy dark gray finish's handle and pull it open.",
+    "Pull the the microwave's handle using the left arm.",
+    "Utilize the left arm to pull the microwave with glossy dark gray finish open.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Open the microwave with glossy dark gray finish using the left arm.",
+    "Pull to open the microwave with glass top.",
+    "Open the dark gray slanted microwave box by grasping its handle.",
+    "Activate the door to open the gray and glass microwave for cooking.",
+    "Pull open the door of the microwave for heating food using the left arm.",
+    "Get the medium microwave with slanted sides open.",
+    "Use the left arm to grab and open the microwave for heating food.",
+    "Access the inside by opening the microwave with glossy dark gray finish.",
+    "Pull the gray appliance with transparent glass top's handle to open it.",
+    "Grab the handle and open the rectangular gray microwave with the left arm.",
+    "Pull the door to open the microwave for heating food.",
+    "Use the left arm to engage the microwave with glossy dark gray finish's opening mechanism.",
+    "Pull and open the microwave for heating food."
+  ],
+  "unseen": [
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode56.json b/open_microwave/demo_clean/instructions/episode56.json
new file mode 100644
index 0000000000000000000000000000000000000000..936277dee119408ade66baff83bc12f317fe8cb1
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode56.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the handle of the gray appliance with transparent glass top with the left arm.",
+    "Open the microwave with glossy dark gray finish by grasping its handle.",
+    "Use the left arm to grab and open the gray and glass microwave for cooking.",
+    "Use the left arm to pull open the door of the dark gray slanted microwave box.",
+    "Pull the medium microwave with slanted sides's handle to open it.",
+    "Pull the door to open the rectangular gray microwave.",
+    "Use the left arm to pull the microwave for heating food open.",
+    "Pull the door of the rectangular gray microwave to open it.",
+    "Pull the handle of the microwave for heating food to open it.",
+    "Open the rectangular gray microwave by pulling with the left arm.",
+    "Grasp the dark gray slanted microwave box's handle and pull to open.",
+    "Grab the handle and open the gray and glass microwave for cooking with the left arm.",
+    "Utilize the left arm to pull the dark gray kitchen microwave open.",
+    "Get the rectangular microwave with clear glass panel open.",
+    "Pull and open the microwave with glass top.",
+    "Grab the handle and open the microwave with glass top.",
+    "Grab and pull the gray and glass microwave for cooking using the left arm.",
+    "Access the inside by opening the medium microwave with slanted sides.",
+    "Engage the microwave with smooth surface's handle and open it.",
+    "Engage the left arm to open the rectangular gray microwave.",
+    "Pull the the rectangular microwave with clear glass panel's handle using the left arm.",
+    "Activate the door to open the microwave with smooth surface.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Pull open the door of the microwave with smooth surface using the left arm.",
+    "Open the dark gray slanted microwave box by pulling its door with the left arm.",
+    "Use the left arm to open the medium microwave with slanted sides by pulling.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Grip the microwave for heating food's handle and pull it open.",
+    "Use the left arm to grab and pull the dark gray slanted microwave box.",
+    "Engage the microwave for heating food using the left arm to open.",
+    "Open the rectangular gray microwave by pulling its handle.",
+    "Pull to open the microwave with glass top.",
+    "Use the left arm to engage the rectangular gray microwave's opening mechanism.",
+    "Open the microwave using the left arm.",
+    "Use the handle to open the gray appliance with transparent glass top.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Open the microwave by pulling on its handle.",
+    "Handle the dark gray kitchen microwave and open it with the left arm.",
+    "Pull the handle of the microwave with glossy dark gray finish with the left arm.",
+    "Open the dark gray kitchen microwave by grasping its handle.",
+    "Use the left arm to grab and open the rectangular gray microwave.",
+    "Use the left arm to pull open the door of the rectangular microwave with clear glass panel.",
+    "Pull the dark gray kitchen microwave's handle to open it.",
+    "Pull the door to open the microwave with glossy dark gray finish.",
+    "Use the left arm to pull the medium microwave with slanted sides open.",
+    "Pull the door of the microwave to open it.",
+    "Pull the handle of the dark gray slanted microwave box to open it.",
+    "Open the rectangular microwave with clear glass panel by pulling with the left arm.",
+    "Grasp the dark gray slanted microwave box's handle and pull to open.",
+    "Grab the handle and open the microwave for heating food with the left arm.",
+    "Utilize the left arm to pull the microwave for heating food open.",
+    "Get the gray and glass microwave for cooking open.",
+    "Pull and open the microwave for heating food.",
+    "Grab the handle and open the microwave with glass top.",
+    "Grab and pull the dark gray slanted microwave box using the left arm.",
+    "Access the inside by opening the rectangular gray microwave.",
+    "Engage the rectangular gray microwave's handle and open it.",
+    "Engage the left arm to open the microwave with glossy dark gray finish.",
+    "Pull the the gray appliance with transparent glass top's handle using the left arm.",
+    "Activate the door to open the dark gray slanted microwave box.",
+    "Pull the handle to open the microwave for heating food.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Pull open the door of the microwave with glass top using the left arm.",
+    "Open the microwave with glass top by pulling its door with the left arm.",
+    "Use the left arm to open the microwave with smooth surface by pulling.",
+    "Pull the handle to open the microwave for heating food.",
+    "Grip the microwave with smooth surface's handle and pull it open.",
+    "Use the left arm to grab and pull the dark gray kitchen microwave.",
+    "Engage the rectangular gray microwave using the left arm to open.",
+    "Open the microwave with smooth surface by pulling its handle.",
+    "Pull to open the rectangular microwave with clear glass panel.",
+    "Use the left arm to engage the microwave with glossy dark gray finish's opening mechanism.",
+    "Open the dark gray kitchen microwave using the left arm.",
+    "Use the handle to open the gray and glass microwave for cooking.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Open the dark gray kitchen microwave by pulling on its handle.",
+    "Handle the gray appliance with transparent glass top and open it with the left arm.",
+    "Pull the handle of the medium microwave with slanted sides with the left arm.",
+    "Open the rectangular microwave with clear glass panel by grasping its handle.",
+    "Use the left arm to grab and open the rectangular gray microwave.",
+    "Use the left arm to pull open the door of the microwave.",
+    "Pull the rectangular gray microwave's handle to open it.",
+    "Pull the door to open the medium microwave with slanted sides.",
+    "Use the left arm to pull the microwave for heating food open.",
+    "Pull the door of the medium microwave with slanted sides to open it.",
+    "Pull the handle of the medium microwave with slanted sides to open it.",
+    "Open the microwave with smooth surface by pulling with the left arm.",
+    "Grasp the microwave with glass top's handle and pull to open.",
+    "Grab the handle and open the rectangular microwave with clear glass panel with the left arm.",
+    "Utilize the left arm to pull the gray and glass microwave for cooking open.",
+    "Get the microwave for heating food open.",
+    "Pull and open the microwave.",
+    "Grab the handle and open the dark gray slanted microwave box.",
+    "Grab and pull the microwave using the left arm.",
+    "Access the inside by opening the microwave with smooth surface.",
+    "Engage the microwave for heating food's handle and open it.",
+    "Engage the left arm to open the dark gray slanted microwave box.",
+    "Pull the the microwave with smooth surface's handle using the left arm.",
+    "Activate the door to open the medium microwave with slanted sides."
+  ],
+  "unseen": [
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode57.json b/open_microwave/demo_clean/instructions/episode57.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c9f27da88bc59d1d57db3bcf6b2728858bc90b2
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode57.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Pull the the gray microwave's handle using the left arm.",
+    "Open the gray microwave by pulling its door with the left arm.",
+    "Pull to open the microwave with patterned top and knobs.",
+    "Get the microwave with knobs open.",
+    "Pull the rectangular microwave's handle to open it.",
+    "Engage the yellow-panel microwave with smooth sides using the left arm to open.",
+    "Use the left arm to open the yellow-sided microwave by pulling.",
+    "Engage the yellow-panel microwave with smooth sides's handle and open it.",
+    "Use the left arm to grab and pull the microwave with patterned top and knobs.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Use the left arm to pull open the door of the yellow-panel microwave with smooth sides.",
+    "Handle the gray microwave with two control knobs and open it with the left arm.",
+    "Grasp the yellow-sided microwave's handle and pull to open.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Use the left arm to grab and open the microwave with textured top panel.",
+    "Activate the door to open the gray microwave.",
+    "Use the left arm to engage the microwave with knobs's opening mechanism.",
+    "Engage the left arm to open the microwave.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Pull and open the yellow-panel microwave with smooth sides.",
+    "Pull the handle of the microwave with knobs with the left arm.",
+    "Open the microwave with knobs by pulling with the left arm.",
+    "Grab the handle and open the microwave with patterned top and knobs.",
+    "Open the microwave by pulling on its handle.",
+    "Pull the door to open the microwave with textured top panel.",
+    "Pull the door of the microwave with textured top panel to open it.",
+    "Pull open the door of the medium microwave using the left arm.",
+    "Pull the handle of the rectangular microwave to open it.",
+    "Access the inside by opening the medium microwave.",
+    "Grab the handle and open the medium microwave with the left arm.",
+    "Grab and pull the yellow-panel microwave with smooth sides using the left arm.",
+    "Utilize the left arm to pull the rectangular microwave open.",
+    "Use the left arm to pull the microwave with textured top panel open.",
+    "Open the yellow-panel microwave with smooth sides by grasping its handle.",
+    "Open the rectangular microwave using the left arm.",
+    "Grip the countertop microwave's handle and pull it open.",
+    "Use the handle to open the gray microwave with two control knobs.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Pull the the gray microwave with two control knobs's handle using the left arm.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Pull to open the yellow-sided microwave.",
+    "Get the medium microwave open.",
+    "Pull the medium microwave's handle to open it.",
+    "Engage the microwave using the left arm to open.",
+    "Use the left arm to open the yellow-sided microwave by pulling.",
+    "Engage the microwave with patterned top and knobs's handle and open it.",
+    "Use the left arm to grab and pull the gray and yellow microwave with rounded edges.",
+    "Open the microwave by pulling its handle.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Use the left arm to pull open the door of the gray microwave.",
+    "Handle the rectangular microwave and open it with the left arm.",
+    "Grasp the yellow-panel microwave with smooth sides's handle and pull to open.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Use the left arm to grab and open the gray microwave with two control knobs.",
+    "Activate the door to open the microwave.",
+    "Use the left arm to engage the rectangular microwave's opening mechanism.",
+    "Engage the left arm to open the microwave.",
+    "Open the countertop microwave by pulling its handle.",
+    "Pull and open the gray and yellow microwave with rounded edges.",
+    "Pull the handle of the microwave with patterned top and knobs with the left arm.",
+    "Open the gray microwave with two control knobs by pulling with the left arm.",
+    "Grab the handle and open the rectangular microwave.",
+    "Open the rectangular microwave by pulling on its handle.",
+    "Pull the door to open the yellow-sided microwave.",
+    "Pull the door of the gray microwave with two control knobs to open it.",
+    "Pull open the door of the microwave with knobs using the left arm.",
+    "Pull the handle of the yellow-panel microwave with smooth sides to open it.",
+    "Access the inside by opening the rectangular microwave.",
+    "Grab the handle and open the microwave with the left arm.",
+    "Grab and pull the medium microwave using the left arm.",
+    "Utilize the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Use the left arm to pull the gray microwave with two control knobs open.",
+    "Open the rectangular microwave by grasping its handle.",
+    "Open the microwave using the left arm.",
+    "Grip the microwave with textured top panel's handle and pull it open.",
+    "Use the handle to open the rectangular microwave.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Pull the the yellow-sided microwave's handle using the left arm.",
+    "Open the rectangular microwave by pulling its door with the left arm.",
+    "Pull to open the microwave with patterned top and knobs.",
+    "Get the yellow-panel microwave with smooth sides open.",
+    "Pull the microwave with patterned top and knobs's handle to open it.",
+    "Engage the rectangular microwave using the left arm to open.",
+    "Use the left arm to open the microwave by pulling.",
+    "Engage the gray and yellow microwave with rounded edges's handle and open it.",
+    "Use the left arm to grab and pull the microwave with textured top panel.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Use the left arm to pull open the door of the microwave with textured top panel.",
+    "Handle the microwave with textured top panel and open it with the left arm.",
+    "Grasp the yellow-sided microwave's handle and pull to open.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Use the left arm to grab and open the gray microwave.",
+    "Activate the door to open the gray microwave with two control knobs.",
+    "Use the left arm to engage the gray microwave with two control knobs's opening mechanism.",
+    "Engage the left arm to open the gray microwave with two control knobs.",
+    "Open the countertop microwave by pulling its handle.",
+    "Pull and open the microwave with textured top panel."
+  ],
+  "unseen": [
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode58.json b/open_microwave/demo_clean/instructions/episode58.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ff7c1b98daa80f44d92d1782dac7e0a8760e300
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode58.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the gray and glass microwave for cooking by pulling on its handle.",
+    "Access the inside by opening the medium microwave with slanted sides.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Pull to open the microwave with glossy dark gray finish.",
+    "Engage the rectangular microwave with clear glass panel's handle and open it.",
+    "Activate the door to open the microwave for heating food.",
+    "Use the left arm to open the microwave by pulling.",
+    "Open the gray appliance with transparent glass top by pulling its door with the left arm.",
+    "Open the rectangular gray microwave by pulling with the left arm.",
+    "Use the left arm to engage the rectangular microwave with clear glass panel's opening mechanism.",
+    "Get the microwave open.",
+    "Open the rectangular microwave with clear glass panel using the left arm.",
+    "Grab and pull the medium microwave with slanted sides using the left arm.",
+    "Use the handle to open the dark gray kitchen microwave.",
+    "Grasp the microwave for heating food's handle and pull to open.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Engage the microwave for heating food using the left arm to open.",
+    "Use the left arm to grab and pull the microwave for heating food.",
+    "Pull the microwave's handle to open it.",
+    "Pull and open the microwave.",
+    "Pull open the door of the microwave with glossy dark gray finish using the left arm.",
+    "Use the left arm to pull the dark gray slanted microwave box open.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Pull the handle of the gray appliance with transparent glass top to open it.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Pull the door of the dark gray kitchen microwave to open it.",
+    "Grab the handle and open the microwave for heating food.",
+    "Pull the the microwave with smooth surface's handle using the left arm.",
+    "Pull the door to open the gray and glass microwave for cooking.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Engage the left arm to open the dark gray slanted microwave box.",
+    "Pull the handle of the microwave with smooth surface with the left arm.",
+    "Grip the microwave for heating food's handle and pull it open.",
+    "Use the left arm to grab and open the dark gray slanted microwave box.",
+    "Handle the dark gray kitchen microwave and open it with the left arm.",
+    "Grab the handle and open the rectangular gray microwave with the left arm.",
+    "Use the left arm to pull open the door of the rectangular microwave with clear glass panel.",
+    "Open the rectangular microwave with clear glass panel by grasping its handle.",
+    "Utilize the left arm to pull the microwave for heating food open.",
+    "Open the rectangular gray microwave by pulling on its handle.",
+    "Access the inside by opening the medium microwave with slanted sides.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Pull to open the medium microwave with slanted sides.",
+    "Engage the rectangular microwave with clear glass panel's handle and open it.",
+    "Activate the door to open the gray appliance with transparent glass top.",
+    "Use the left arm to open the microwave with smooth surface by pulling.",
+    "Open the gray and glass microwave for cooking by pulling its door with the left arm.",
+    "Open the microwave with glossy dark gray finish by pulling with the left arm.",
+    "Use the left arm to engage the gray appliance with transparent glass top's opening mechanism.",
+    "Get the rectangular microwave with clear glass panel open.",
+    "Open the microwave for heating food using the left arm.",
+    "Grab and pull the medium microwave with slanted sides using the left arm.",
+    "Use the handle to open the gray appliance with transparent glass top.",
+    "Grasp the microwave with smooth surface's handle and pull to open.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Engage the microwave using the left arm to open.",
+    "Use the left arm to grab and pull the dark gray kitchen microwave.",
+    "Pull the microwave with glossy dark gray finish's handle to open it.",
+    "Pull and open the microwave with glass top.",
+    "Pull open the door of the microwave with smooth surface using the left arm.",
+    "Use the left arm to pull the rectangular microwave with clear glass panel open.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Pull the handle of the dark gray kitchen microwave to open it.",
+    "Pull the handle to open the microwave.",
+    "Pull the door of the microwave with glass top to open it.",
+    "Grab the handle and open the rectangular microwave with clear glass panel.",
+    "Pull the the gray and glass microwave for cooking's handle using the left arm.",
+    "Pull the door to open the dark gray slanted microwave box.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Engage the left arm to open the medium microwave with slanted sides.",
+    "Pull the handle of the rectangular microwave with clear glass panel with the left arm.",
+    "Grip the gray and glass microwave for cooking's handle and pull it open.",
+    "Use the left arm to grab and open the dark gray slanted microwave box.",
+    "Handle the medium microwave with slanted sides and open it with the left arm.",
+    "Grab the handle and open the microwave for heating food with the left arm.",
+    "Use the left arm to pull open the door of the dark gray kitchen microwave.",
+    "Open the microwave with glossy dark gray finish by grasping its handle.",
+    "Utilize the left arm to pull the dark gray kitchen microwave open.",
+    "Open the medium microwave with slanted sides by pulling on its handle.",
+    "Access the inside by opening the microwave with smooth surface.",
+    "Pull the handle to open the microwave with glass top.",
+    "Pull to open the microwave with glossy dark gray finish.",
+    "Engage the gray appliance with transparent glass top's handle and open it.",
+    "Activate the door to open the microwave with smooth surface.",
+    "Use the left arm to open the microwave with glossy dark gray finish by pulling.",
+    "Open the medium microwave with slanted sides by pulling its door with the left arm.",
+    "Open the microwave with glossy dark gray finish by pulling with the left arm.",
+    "Use the left arm to engage the microwave with glass top's opening mechanism.",
+    "Get the medium microwave with slanted sides open.",
+    "Open the microwave with glossy dark gray finish using the left arm.",
+    "Grab and pull the microwave with glass top using the left arm.",
+    "Use the handle to open the gray and glass microwave for cooking.",
+    "Grasp the rectangular microwave with clear glass panel's handle and pull to open.",
+    "Open the gray and glass microwave for cooking by pulling its handle.",
+    "Engage the rectangular gray microwave using the left arm to open.",
+    "Use the left arm to grab and pull the rectangular gray microwave.",
+    "Pull the rectangular microwave with clear glass panel's handle to open it.",
+    "Pull and open the gray appliance with transparent glass top.",
+    "Pull open the door of the microwave for heating food using the left arm.",
+    "Use the left arm to pull the gray and glass microwave for cooking open."
+  ],
+  "unseen": [
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the dark gray microwave using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode59.json b/open_microwave/demo_clean/instructions/episode59.json
new file mode 100644
index 0000000000000000000000000000000000000000..09a49dfd649070b48bed5de2e3943fd253104cfa
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode59.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the door to open the microwave.",
+    "Use the left arm to pull open the door of the yellow-sided microwave.",
+    "Engage the microwave using the left arm to open.",
+    "Use the left arm to grab and pull the gray and yellow microwave with rounded edges.",
+    "Use the handle to open the microwave with textured top panel.",
+    "Utilize the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Pull to open the microwave with patterned top and knobs.",
+    "Use the left arm to grab and open the countertop microwave.",
+    "Open the countertop microwave using the left arm.",
+    "Use the left arm to open the yellow-panel microwave with smooth sides by pulling.",
+    "Pull the countertop microwave's handle to open it.",
+    "Open the yellow-panel microwave with smooth sides by pulling with the left arm.",
+    "Grab and pull the gray microwave using the left arm.",
+    "Pull the door of the medium microwave to open it.",
+    "Grab the handle and open the yellow-sided microwave.",
+    "Engage the left arm to open the gray microwave with two control knobs.",
+    "Use the left arm to engage the countertop microwave's opening mechanism.",
+    "Grasp the yellow-panel microwave with smooth sides's handle and pull to open.",
+    "Grab the handle and open the rectangular microwave with the left arm.",
+    "Pull the handle of the gray microwave with the left arm.",
+    "Use the left arm to pull the microwave with knobs open.",
+    "Handle the gray microwave and open it with the left arm.",
+    "Pull open the door of the rectangular microwave using the left arm.",
+    "Open the microwave with knobs by grasping its handle.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Engage the microwave's handle and open it.",
+    "Pull the handle of the gray microwave with two control knobs to open it.",
+    "Pull the the microwave with textured top panel's handle using the left arm.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Pull and open the gray microwave.",
+    "Open the microwave with textured top panel by pulling its door with the left arm.",
+    "Grip the gray microwave's handle and pull it open.",
+    "Open the rectangular microwave by pulling on its handle.",
+    "Pull the handle to open the microwave.",
+    "Access the inside by opening the countertop microwave.",
+    "Pull the handle to open the rectangular microwave.",
+    "Activate the door to open the gray microwave with two control knobs.",
+    "Get the microwave with patterned top and knobs open.",
+    "Pull the door to open the rectangular microwave.",
+    "Use the left arm to pull open the door of the microwave with textured top panel.",
+    "Engage the microwave using the left arm to open.",
+    "Use the left arm to grab and pull the countertop microwave.",
+    "Use the handle to open the microwave with knobs.",
+    "Utilize the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Pull to open the countertop microwave.",
+    "Use the left arm to grab and open the yellow-panel microwave with smooth sides.",
+    "Open the yellow-panel microwave with smooth sides using the left arm.",
+    "Use the left arm to open the medium microwave by pulling.",
+    "Pull the microwave with textured top panel's handle to open it.",
+    "Open the microwave with knobs by pulling with the left arm.",
+    "Grab and pull the gray microwave using the left arm.",
+    "Pull the door of the countertop microwave to open it.",
+    "Grab the handle and open the gray microwave.",
+    "Engage the left arm to open the microwave with knobs.",
+    "Use the left arm to engage the yellow-panel microwave with smooth sides's opening mechanism.",
+    "Grasp the countertop microwave's handle and pull to open.",
+    "Grab the handle and open the microwave with patterned top and knobs with the left arm.",
+    "Pull the handle of the countertop microwave with the left arm.",
+    "Use the left arm to pull the medium microwave open.",
+    "Handle the microwave with knobs and open it with the left arm.",
+    "Pull open the door of the gray microwave with two control knobs using the left arm.",
+    "Open the gray microwave with two control knobs by grasping its handle.",
+    "Pull the handle to open the microwave with knobs.",
+    "Engage the gray and yellow microwave with rounded edges's handle and open it.",
+    "Pull the handle of the yellow-panel microwave with smooth sides to open it.",
+    "Pull the the yellow-sided microwave's handle using the left arm.",
+    "Open the gray microwave by pulling its handle.",
+    "Pull and open the medium microwave.",
+    "Open the yellow-sided microwave by pulling its door with the left arm.",
+    "Grip the yellow-panel microwave with smooth sides's handle and pull it open.",
+    "Open the gray and yellow microwave with rounded edges by pulling on its handle.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Access the inside by opening the gray and yellow microwave with rounded edges.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Activate the door to open the countertop microwave.",
+    "Get the gray and yellow microwave with rounded edges open.",
+    "Pull the door to open the microwave with patterned top and knobs.",
+    "Use the left arm to pull open the door of the gray and yellow microwave with rounded edges.",
+    "Engage the yellow-sided microwave using the left arm to open.",
+    "Use the left arm to grab and pull the microwave with textured top panel.",
+    "Use the handle to open the gray microwave with two control knobs.",
+    "Utilize the left arm to pull the countertop microwave open.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Pull to open the gray microwave.",
+    "Use the left arm to grab and open the microwave with textured top panel.",
+    "Open the yellow-sided microwave using the left arm.",
+    "Use the left arm to open the gray microwave by pulling.",
+    "Pull the microwave with knobs's handle to open it.",
+    "Open the gray microwave by pulling with the left arm.",
+    "Grab and pull the microwave with textured top panel using the left arm.",
+    "Pull the door of the yellow-sided microwave to open it.",
+    "Grab the handle and open the rectangular microwave.",
+    "Engage the left arm to open the gray microwave.",
+    "Use the left arm to engage the countertop microwave's opening mechanism.",
+    "Grasp the medium microwave's handle and pull to open.",
+    "Grab the handle and open the medium microwave with the left arm.",
+    "Pull the handle of the gray microwave with the left arm.",
+    "Use the left arm to pull the yellow-sided microwave open."
+  ],
+  "unseen": [
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode6.json b/open_microwave/demo_clean/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..39a635087aca411181f4ae4b3ce71d572f4890c3
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode6.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull to open the medium microwave.",
+    "Grasp the microwave with knobs's handle and pull to open.",
+    "Use the left arm to pull open the door of the microwave with patterned top and knobs.",
+    "Utilize the left arm to pull the gray microwave with two control knobs open.",
+    "Pull the handle to open the medium microwave.",
+    "Pull open the door of the microwave with patterned top and knobs using the left arm.",
+    "Activate the door to open the yellow-sided microwave.",
+    "Open the microwave with patterned top and knobs by pulling its door with the left arm.",
+    "Pull the handle of the medium microwave to open it.",
+    "Open the medium microwave by pulling on its handle.",
+    "Access the inside by opening the gray and yellow microwave with rounded edges.",
+    "Grip the gray microwave's handle and pull it open.",
+    "Pull the handle of the rectangular microwave with the left arm.",
+    "Pull the door to open the microwave.",
+    "Engage the microwave with textured top panel using the left arm to open.",
+    "Pull and open the yellow-sided microwave.",
+    "Get the countertop microwave open.",
+    "Open the rectangular microwave by grasping its handle.",
+    "Engage the yellow-panel microwave with smooth sides's handle and open it.",
+    "Use the left arm to grab and pull the rectangular microwave.",
+    "Engage the left arm to open the yellow-sided microwave.",
+    "Use the handle to open the microwave with textured top panel.",
+    "Use the left arm to grab and open the yellow-sided microwave.",
+    "Handle the microwave with knobs and open it with the left arm.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Pull the yellow-panel microwave with smooth sides's handle to open it.",
+    "Use the left arm to pull the gray microwave with two control knobs open.",
+    "Grab and pull the gray microwave with two control knobs using the left arm.",
+    "Use the left arm to open the microwave with textured top panel by pulling.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Pull the door of the yellow-panel microwave with smooth sides to open it.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Grab the handle and open the microwave with patterned top and knobs with the left arm.",
+    "Pull the handle to open the countertop microwave.",
+    "Use the left arm to engage the gray microwave with two control knobs's opening mechanism.",
+    "Pull the the countertop microwave's handle using the left arm.",
+    "Open the microwave with textured top panel using the left arm.",
+    "Open the gray microwave with two control knobs by pulling with the left arm.",
+    "Grab the handle and open the yellow-sided microwave.",
+    "Pull to open the yellow-sided microwave.",
+    "Grasp the rectangular microwave's handle and pull to open.",
+    "Use the left arm to pull open the door of the yellow-panel microwave with smooth sides.",
+    "Utilize the left arm to pull the microwave with textured top panel open.",
+    "Pull the handle to open the rectangular microwave.",
+    "Pull open the door of the rectangular microwave using the left arm.",
+    "Activate the door to open the rectangular microwave.",
+    "Open the gray microwave by pulling its door with the left arm.",
+    "Pull the handle of the gray microwave with two control knobs to open it.",
+    "Open the microwave with knobs by pulling on its handle.",
+    "Access the inside by opening the microwave.",
+    "Grip the medium microwave's handle and pull it open.",
+    "Pull the handle of the gray microwave with two control knobs with the left arm.",
+    "Pull the door to open the countertop microwave.",
+    "Engage the yellow-panel microwave with smooth sides using the left arm to open.",
+    "Pull and open the gray microwave with two control knobs.",
+    "Get the gray microwave open.",
+    "Open the yellow-sided microwave by grasping its handle.",
+    "Engage the microwave's handle and open it.",
+    "Use the left arm to grab and pull the yellow-sided microwave.",
+    "Engage the left arm to open the microwave with knobs.",
+    "Use the handle to open the gray microwave with two control knobs.",
+    "Use the left arm to grab and open the microwave with knobs.",
+    "Handle the gray microwave with two control knobs and open it with the left arm.",
+    "Pull the handle to open the rectangular microwave.",
+    "Pull the yellow-panel microwave with smooth sides's handle to open it.",
+    "Use the left arm to pull the microwave with textured top panel open.",
+    "Grab and pull the medium microwave using the left arm.",
+    "Use the left arm to open the gray microwave by pulling.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Pull the door of the medium microwave to open it.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Grab the handle and open the medium microwave with the left arm.",
+    "Pull the handle to open the gray microwave.",
+    "Use the left arm to engage the gray microwave's opening mechanism.",
+    "Pull the the gray microwave's handle using the left arm.",
+    "Open the gray microwave with two control knobs using the left arm.",
+    "Open the microwave with knobs by pulling with the left arm.",
+    "Grab the handle and open the gray microwave.",
+    "Pull to open the microwave.",
+    "Grasp the rectangular microwave's handle and pull to open.",
+    "Use the left arm to pull open the door of the gray microwave with two control knobs.",
+    "Utilize the left arm to pull the microwave open.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Pull open the door of the rectangular microwave using the left arm.",
+    "Activate the door to open the medium microwave.",
+    "Open the countertop microwave by pulling its door with the left arm.",
+    "Pull the handle of the medium microwave to open it.",
+    "Open the countertop microwave by pulling on its handle.",
+    "Access the inside by opening the microwave with patterned top and knobs.",
+    "Grip the medium microwave's handle and pull it open.",
+    "Pull the handle of the microwave with patterned top and knobs with the left arm.",
+    "Pull the door to open the yellow-sided microwave.",
+    "Engage the microwave using the left arm to open.",
+    "Pull and open the rectangular microwave.",
+    "Get the yellow-panel microwave with smooth sides open.",
+    "Open the microwave with patterned top and knobs by grasping its handle.",
+    "Engage the microwave with patterned top and knobs's handle and open it.",
+    "Use the left arm to grab and pull the rectangular microwave.",
+    "Engage the left arm to open the countertop microwave.",
+    "Use the handle to open the microwave with textured top panel."
+  ],
+  "unseen": [
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode60.json b/open_microwave/demo_clean/instructions/episode60.json
new file mode 100644
index 0000000000000000000000000000000000000000..9046cae3aeb5038d96fcc69662d37b798eb650d8
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode60.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the handle and open the microwave with smooth surface with the left arm.",
+    "Pull the the microwave for heating food's handle using the left arm.",
+    "Engage the rectangular gray microwave's handle and open it.",
+    "Pull the handle of the dark gray slanted microwave box with the left arm.",
+    "Pull the door to open the microwave with glass top.",
+    "Pull the handle of the microwave to open it.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Pull the microwave for heating food's handle to open it.",
+    "Open the microwave with glass top by pulling with the left arm.",
+    "Open the medium microwave with slanted sides by pulling its door with the left arm.",
+    "Use the handle to open the microwave with glass top.",
+    "Get the medium microwave with slanted sides open.",
+    "Engage the left arm to open the microwave with glossy dark gray finish.",
+    "Grab the handle and open the medium microwave with slanted sides.",
+    "Open the microwave with glass top by pulling its handle.",
+    "Pull the door of the gray appliance with transparent glass top to open it.",
+    "Pull the handle to open the microwave with glass top.",
+    "Use the left arm to engage the microwave with glass top's opening mechanism.",
+    "Use the left arm to pull the microwave with glossy dark gray finish open.",
+    "Pull and open the microwave for heating food.",
+    "Activate the door to open the microwave with glossy dark gray finish.",
+    "Pull open the door of the microwave with smooth surface using the left arm.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Use the left arm to pull open the door of the dark gray kitchen microwave.",
+    "Use the left arm to grab and pull the rectangular gray microwave.",
+    "Engage the dark gray slanted microwave box using the left arm to open.",
+    "Pull to open the microwave with glossy dark gray finish.",
+    "Grab and pull the microwave with smooth surface using the left arm.",
+    "Utilize the left arm to pull the microwave for heating food open.",
+    "Use the left arm to grab and open the dark gray kitchen microwave.",
+    "Use the left arm to open the microwave for heating food by pulling.",
+    "Grip the microwave with smooth surface's handle and pull it open.",
+    "Access the inside by opening the medium microwave with slanted sides.",
+    "Open the medium microwave with slanted sides by grasping its handle.",
+    "Open the microwave for heating food using the left arm.",
+    "Grasp the dark gray kitchen microwave's handle and pull to open.",
+    "Handle the microwave and open it with the left arm.",
+    "Open the microwave with glass top by pulling its handle.",
+    "Open the gray appliance with transparent glass top by pulling on its handle.",
+    "Grab the handle and open the microwave with glass top with the left arm.",
+    "Pull the the microwave for heating food's handle using the left arm.",
+    "Engage the rectangular microwave with clear glass panel's handle and open it.",
+    "Pull the handle of the dark gray slanted microwave box with the left arm.",
+    "Pull the door to open the microwave with glass top.",
+    "Pull the handle of the medium microwave with slanted sides to open it.",
+    "Pull the handle to open the microwave for heating food.",
+    "Pull the rectangular microwave with clear glass panel's handle to open it.",
+    "Open the microwave by pulling with the left arm.",
+    "Open the microwave with glass top by pulling its door with the left arm.",
+    "Use the handle to open the microwave for heating food.",
+    "Get the microwave with smooth surface open.",
+    "Engage the left arm to open the microwave with glass top.",
+    "Grab the handle and open the microwave with glass top.",
+    "Open the rectangular microwave with clear glass panel by pulling its handle.",
+    "Pull the door of the rectangular gray microwave to open it.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Use the left arm to engage the rectangular microwave with clear glass panel's opening mechanism.",
+    "Use the left arm to pull the gray and glass microwave for cooking open.",
+    "Pull and open the dark gray slanted microwave box.",
+    "Activate the door to open the gray appliance with transparent glass top.",
+    "Pull open the door of the microwave using the left arm.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Use the left arm to pull open the door of the microwave for heating food.",
+    "Use the left arm to grab and pull the microwave with smooth surface.",
+    "Engage the microwave with smooth surface using the left arm to open.",
+    "Pull to open the gray and glass microwave for cooking.",
+    "Grab and pull the rectangular microwave with clear glass panel using the left arm.",
+    "Utilize the left arm to pull the microwave with glossy dark gray finish open.",
+    "Use the left arm to grab and open the gray and glass microwave for cooking.",
+    "Use the left arm to open the microwave by pulling.",
+    "Grip the gray and glass microwave for cooking's handle and pull it open.",
+    "Access the inside by opening the microwave with glossy dark gray finish.",
+    "Open the dark gray kitchen microwave by grasping its handle.",
+    "Open the microwave using the left arm.",
+    "Grasp the microwave's handle and pull to open.",
+    "Handle the microwave for heating food and open it with the left arm.",
+    "Open the microwave with glass top by pulling its handle.",
+    "Open the rectangular microwave with clear glass panel by pulling on its handle.",
+    "Grab the handle and open the medium microwave with slanted sides with the left arm.",
+    "Pull the the microwave's handle using the left arm.",
+    "Engage the microwave with glass top's handle and open it.",
+    "Pull the handle of the medium microwave with slanted sides with the left arm.",
+    "Pull the door to open the rectangular gray microwave.",
+    "Pull the handle of the dark gray kitchen microwave to open it.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Pull the rectangular gray microwave's handle to open it.",
+    "Open the rectangular gray microwave by pulling with the left arm.",
+    "Open the microwave with glass top by pulling its door with the left arm.",
+    "Use the handle to open the microwave with glass top.",
+    "Get the rectangular gray microwave open.",
+    "Engage the left arm to open the dark gray kitchen microwave.",
+    "Grab the handle and open the medium microwave with slanted sides.",
+    "Open the microwave by pulling its handle.",
+    "Pull the door of the microwave with glossy dark gray finish to open it.",
+    "Pull the handle to open the microwave for heating food.",
+    "Use the left arm to engage the microwave with glossy dark gray finish's opening mechanism.",
+    "Use the left arm to pull the microwave with glass top open.",
+    "Pull and open the medium microwave with slanted sides.",
+    "Activate the door to open the gray and glass microwave for cooking.",
+    "Pull open the door of the dark gray kitchen microwave using the left arm."
+  ],
+  "unseen": [
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode61.json b/open_microwave/demo_clean/instructions/episode61.json
new file mode 100644
index 0000000000000000000000000000000000000000..19a37cd9c671e5722a9cf4ea8ba17ccf91e9def2
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode61.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the handle of the gray and yellow microwave with rounded edges with the left arm.",
+    "Use the left arm to pull the gray microwave with two control knobs open.",
+    "Use the left arm to grab and open the gray and yellow microwave with rounded edges.",
+    "Pull the handle of the microwave with knobs to open it.",
+    "Pull the door to open the microwave.",
+    "Activate the door to open the microwave.",
+    "Pull and open the countertop microwave.",
+    "Use the left arm to engage the microwave with textured top panel's opening mechanism.",
+    "Utilize the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides with the left arm.",
+    "Grasp the countertop microwave's handle and pull to open.",
+    "Use the left arm to pull open the door of the yellow-panel microwave with smooth sides.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Access the inside by opening the rectangular microwave.",
+    "Pull the door of the countertop microwave to open it.",
+    "Open the countertop microwave by pulling with the left arm.",
+    "Use the left arm to open the microwave by pulling.",
+    "Pull the medium microwave's handle to open it.",
+    "Pull the the microwave with knobs's handle using the left arm.",
+    "Grab the handle and open the gray microwave.",
+    "Engage the rectangular microwave using the left arm to open.",
+    "Grip the gray and yellow microwave with rounded edges's handle and pull it open.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Pull open the door of the microwave with knobs using the left arm.",
+    "Open the countertop microwave using the left arm.",
+    "Pull to open the microwave with patterned top and knobs.",
+    "Use the left arm to grab and pull the gray and yellow microwave with rounded edges.",
+    "Engage the left arm to open the microwave.",
+    "Grab and pull the countertop microwave using the left arm.",
+    "Open the medium microwave by pulling on its handle.",
+    "Handle the gray microwave and open it with the left arm.",
+    "Engage the microwave with patterned top and knobs's handle and open it.",
+    "Use the handle to open the microwave with knobs.",
+    "Open the yellow-sided microwave by grasping its handle.",
+    "Pull the handle to open the countertop microwave.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Get the microwave with textured top panel open.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Open the countertop microwave by pulling its door with the left arm.",
+    "Pull the handle of the yellow-panel microwave with smooth sides with the left arm.",
+    "Use the left arm to pull the microwave with textured top panel open.",
+    "Use the left arm to grab and open the microwave.",
+    "Pull the handle of the countertop microwave to open it.",
+    "Pull the door to open the gray and yellow microwave with rounded edges.",
+    "Activate the door to open the medium microwave.",
+    "Pull and open the microwave with patterned top and knobs.",
+    "Use the left arm to engage the microwave with knobs's opening mechanism.",
+    "Utilize the left arm to pull the microwave with knobs open.",
+    "Grab the handle and open the microwave with patterned top and knobs with the left arm.",
+    "Grasp the rectangular microwave's handle and pull to open.",
+    "Use the left arm to pull open the door of the microwave with knobs.",
+    "Pull the handle to open the microwave.",
+    "Access the inside by opening the medium microwave.",
+    "Pull the door of the yellow-panel microwave with smooth sides to open it.",
+    "Open the microwave with patterned top and knobs by pulling with the left arm.",
+    "Use the left arm to open the yellow-sided microwave by pulling.",
+    "Pull the microwave with patterned top and knobs's handle to open it.",
+    "Pull the the countertop microwave's handle using the left arm.",
+    "Grab the handle and open the yellow-sided microwave.",
+    "Engage the gray microwave with two control knobs using the left arm to open.",
+    "Grip the gray and yellow microwave with rounded edges's handle and pull it open.",
+    "Pull the handle to open the countertop microwave.",
+    "Pull open the door of the yellow-sided microwave using the left arm.",
+    "Open the gray microwave using the left arm.",
+    "Pull to open the countertop microwave.",
+    "Use the left arm to grab and pull the microwave with patterned top and knobs.",
+    "Engage the left arm to open the gray microwave.",
+    "Grab and pull the microwave using the left arm.",
+    "Open the microwave with knobs by pulling on its handle.",
+    "Handle the microwave with textured top panel and open it with the left arm.",
+    "Engage the microwave's handle and open it.",
+    "Use the handle to open the gray microwave with two control knobs.",
+    "Open the yellow-sided microwave by grasping its handle.",
+    "Pull the handle to open the medium microwave.",
+    "Open the countertop microwave by pulling its handle.",
+    "Get the gray microwave open.",
+    "Open the countertop microwave by pulling its handle.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Pull the handle of the gray microwave with two control knobs with the left arm.",
+    "Use the left arm to pull the countertop microwave open.",
+    "Use the left arm to grab and open the medium microwave.",
+    "Pull the handle of the yellow-sided microwave to open it.",
+    "Pull the door to open the gray microwave.",
+    "Activate the door to open the medium microwave.",
+    "Pull and open the yellow-sided microwave.",
+    "Use the left arm to engage the gray and yellow microwave with rounded edges's opening mechanism.",
+    "Utilize the left arm to pull the yellow-sided microwave open.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges with the left arm.",
+    "Grasp the medium microwave's handle and pull to open.",
+    "Use the left arm to pull open the door of the gray microwave.",
+    "Pull the handle to open the rectangular microwave.",
+    "Access the inside by opening the rectangular microwave.",
+    "Pull the door of the microwave to open it.",
+    "Open the microwave with knobs by pulling with the left arm.",
+    "Use the left arm to open the microwave with textured top panel by pulling.",
+    "Pull the rectangular microwave's handle to open it.",
+    "Pull the the microwave with patterned top and knobs's handle using the left arm.",
+    "Grab the handle and open the gray microwave with two control knobs.",
+    "Engage the microwave with patterned top and knobs using the left arm to open.",
+    "Grip the yellow-panel microwave with smooth sides's handle and pull it open."
+  ],
+  "unseen": [
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode62.json b/open_microwave/demo_clean/instructions/episode62.json
new file mode 100644
index 0000000000000000000000000000000000000000..891f3fccc6e28e616ba8fd630edd2a21d906ca5a
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode62.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the handle of the microwave with the left arm.",
+    "Pull open the door of the microwave using the left arm.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Use the left arm to open the microwave with glossy dark gray finish by pulling.",
+    "Utilize the left arm to pull the medium microwave with slanted sides open.",
+    "Access the inside by opening the microwave with smooth surface.",
+    "Open the dark gray kitchen microwave by pulling with the left arm.",
+    "Pull the door to open the rectangular microwave with clear glass panel.",
+    "Pull the door of the microwave with glass top to open it.",
+    "Grip the rectangular gray microwave's handle and pull it open.",
+    "Activate the door to open the dark gray slanted microwave box.",
+    "Get the microwave with glass top open.",
+    "Pull the the microwave for heating food's handle using the left arm.",
+    "Use the left arm to engage the medium microwave with slanted sides's opening mechanism.",
+    "Open the dark gray slanted microwave box by pulling its door with the left arm.",
+    "Open the dark gray kitchen microwave by grasping its handle.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Pull and open the microwave with smooth surface.",
+    "Engage the microwave with glass top's handle and open it.",
+    "Pull to open the rectangular gray microwave.",
+    "Use the left arm to grab and open the dark gray kitchen microwave.",
+    "Grab and pull the microwave with glass top using the left arm.",
+    "Grab the handle and open the medium microwave with slanted sides.",
+    "Engage the left arm to open the microwave with glossy dark gray finish.",
+    "Open the medium microwave with slanted sides by pulling its handle.",
+    "Use the handle to open the microwave with smooth surface.",
+    "Handle the microwave for heating food and open it with the left arm.",
+    "Pull the dark gray slanted microwave box's handle to open it.",
+    "Use the left arm to grab and pull the rectangular microwave with clear glass panel.",
+    "Use the left arm to pull open the door of the microwave with glossy dark gray finish.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Pull the handle of the dark gray kitchen microwave to open it.",
+    "Open the dark gray slanted microwave box using the left arm.",
+    "Open the gray appliance with transparent glass top by pulling on its handle.",
+    "Grab the handle and open the dark gray kitchen microwave with the left arm.",
+    "Grasp the rectangular gray microwave's handle and pull to open.",
+    "Use the left arm to pull the rectangular microwave with clear glass panel open.",
+    "Engage the rectangular gray microwave using the left arm to open.",
+    "Open the microwave by pulling its handle.",
+    "Pull the handle of the gray and glass microwave for cooking with the left arm.",
+    "Pull open the door of the dark gray slanted microwave box using the left arm.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Use the left arm to open the microwave by pulling.",
+    "Utilize the left arm to pull the microwave open.",
+    "Access the inside by opening the dark gray slanted microwave box.",
+    "Open the gray appliance with transparent glass top by pulling with the left arm.",
+    "Pull the door to open the rectangular gray microwave.",
+    "Pull the door of the gray appliance with transparent glass top to open it.",
+    "Grip the microwave with glass top's handle and pull it open.",
+    "Activate the door to open the rectangular gray microwave.",
+    "Get the medium microwave with slanted sides open.",
+    "Pull the the microwave with smooth surface's handle using the left arm.",
+    "Use the left arm to engage the rectangular microwave with clear glass panel's opening mechanism.",
+    "Open the microwave with smooth surface by pulling its door with the left arm.",
+    "Open the gray appliance with transparent glass top by grasping its handle.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Pull and open the gray appliance with transparent glass top.",
+    "Engage the gray appliance with transparent glass top's handle and open it.",
+    "Pull to open the microwave.",
+    "Use the left arm to grab and open the medium microwave with slanted sides.",
+    "Grab and pull the dark gray slanted microwave box using the left arm.",
+    "Grab the handle and open the microwave with glossy dark gray finish.",
+    "Engage the left arm to open the microwave with smooth surface.",
+    "Open the dark gray kitchen microwave by pulling its handle.",
+    "Use the handle to open the microwave.",
+    "Handle the rectangular gray microwave and open it with the left arm.",
+    "Pull the gray and glass microwave for cooking's handle to open it.",
+    "Use the left arm to grab and pull the medium microwave with slanted sides.",
+    "Use the left arm to pull open the door of the dark gray slanted microwave box.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Pull the handle of the medium microwave with slanted sides to open it.",
+    "Open the dark gray slanted microwave box using the left arm.",
+    "Open the gray appliance with transparent glass top by pulling on its handle.",
+    "Grab the handle and open the gray appliance with transparent glass top with the left arm.",
+    "Grasp the gray and glass microwave for cooking's handle and pull to open.",
+    "Use the left arm to pull the dark gray kitchen microwave open.",
+    "Engage the gray and glass microwave for cooking using the left arm to open.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Pull the handle of the microwave with glass top with the left arm.",
+    "Pull open the door of the rectangular gray microwave using the left arm.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Use the left arm to open the gray appliance with transparent glass top by pulling.",
+    "Utilize the left arm to pull the microwave open.",
+    "Access the inside by opening the dark gray kitchen microwave.",
+    "Open the gray and glass microwave for cooking by pulling with the left arm.",
+    "Pull the door to open the dark gray kitchen microwave.",
+    "Pull the door of the medium microwave with slanted sides to open it.",
+    "Grip the gray and glass microwave for cooking's handle and pull it open.",
+    "Activate the door to open the dark gray kitchen microwave.",
+    "Get the microwave with glass top open.",
+    "Pull the the microwave's handle using the left arm.",
+    "Use the left arm to engage the gray and glass microwave for cooking's opening mechanism.",
+    "Open the microwave with glass top by pulling its door with the left arm.",
+    "Open the microwave by grasping its handle.",
+    "Pull the handle to open the microwave for heating food.",
+    "Pull and open the microwave with glossy dark gray finish.",
+    "Engage the microwave with glossy dark gray finish's handle and open it.",
+    "Pull to open the microwave with smooth surface.",
+    "Use the left arm to grab and open the dark gray kitchen microwave.",
+    "Grab and pull the dark gray slanted microwave box using the left arm."
+  ],
+  "unseen": [
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode63.json b/open_microwave/demo_clean/instructions/episode63.json
new file mode 100644
index 0000000000000000000000000000000000000000..5439e92a98887524f7e9b569b90fd95101266533
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode63.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the the microwave with knobs's handle using the left arm.",
+    "Pull open the door of the yellow-sided microwave using the left arm.",
+    "Grip the microwave with textured top panel's handle and pull it open.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Open the gray and yellow microwave with rounded edges using the left arm.",
+    "Pull and open the gray microwave.",
+    "Grab the handle and open the countertop microwave with the left arm.",
+    "Open the countertop microwave by pulling with the left arm.",
+    "Open the gray and yellow microwave with rounded edges by pulling on its handle.",
+    "Pull the door to open the microwave with patterned top and knobs.",
+    "Pull the handle to open the countertop microwave.",
+    "Grab the handle and open the microwave.",
+    "Pull the microwave with textured top panel's handle to open it.",
+    "Engage the countertop microwave using the left arm to open.",
+    "Access the inside by opening the microwave with knobs.",
+    "Pull the handle of the microwave with knobs with the left arm.",
+    "Use the left arm to grab and open the rectangular microwave.",
+    "Pull the handle of the gray microwave to open it.",
+    "Use the left arm to pull open the door of the medium microwave.",
+    "Grab and pull the yellow-sided microwave using the left arm.",
+    "Engage the left arm to open the yellow-panel microwave with smooth sides.",
+    "Pull to open the medium microwave.",
+    "Use the left arm to grab and pull the yellow-panel microwave with smooth sides.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Engage the medium microwave's handle and open it.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Activate the door to open the microwave with patterned top and knobs.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Use the left arm to pull the microwave with knobs open.",
+    "Handle the countertop microwave and open it with the left arm.",
+    "Utilize the left arm to pull the microwave open.",
+    "Use the left arm to open the microwave with patterned top and knobs by pulling.",
+    "Pull the door of the rectangular microwave to open it.",
+    "Open the microwave with patterned top and knobs by pulling its door with the left arm.",
+    "Use the left arm to engage the countertop microwave's opening mechanism.",
+    "Use the handle to open the yellow-panel microwave with smooth sides.",
+    "Open the gray and yellow microwave with rounded edges by grasping its handle.",
+    "Get the yellow-panel microwave with smooth sides open.",
+    "Grasp the countertop microwave's handle and pull to open.",
+    "Pull the the microwave with knobs's handle using the left arm.",
+    "Pull open the door of the microwave with knobs using the left arm.",
+    "Grip the yellow-panel microwave with smooth sides's handle and pull it open.",
+    "Pull the handle to open the countertop microwave.",
+    "Open the microwave with knobs using the left arm.",
+    "Pull and open the microwave with textured top panel.",
+    "Grab the handle and open the medium microwave with the left arm.",
+    "Open the microwave with knobs by pulling with the left arm.",
+    "Open the rectangular microwave by pulling on its handle.",
+    "Pull the door to open the yellow-panel microwave with smooth sides.",
+    "Pull the handle to open the medium microwave.",
+    "Grab the handle and open the countertop microwave.",
+    "Pull the microwave with knobs's handle to open it.",
+    "Engage the yellow-panel microwave with smooth sides using the left arm to open.",
+    "Access the inside by opening the yellow-panel microwave with smooth sides.",
+    "Pull the handle of the gray microwave with two control knobs with the left arm.",
+    "Use the left arm to grab and open the microwave with knobs.",
+    "Pull the handle of the gray and yellow microwave with rounded edges to open it.",
+    "Use the left arm to pull open the door of the gray and yellow microwave with rounded edges.",
+    "Grab and pull the gray and yellow microwave with rounded edges using the left arm.",
+    "Engage the left arm to open the gray microwave.",
+    "Pull to open the microwave with textured top panel.",
+    "Use the left arm to grab and pull the gray microwave with two control knobs.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Engage the microwave's handle and open it.",
+    "Pull the handle to open the countertop microwave.",
+    "Activate the door to open the gray microwave.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Use the left arm to pull the microwave with patterned top and knobs open.",
+    "Handle the microwave with textured top panel and open it with the left arm.",
+    "Utilize the left arm to pull the microwave with patterned top and knobs open.",
+    "Use the left arm to open the microwave with textured top panel by pulling.",
+    "Pull the door of the microwave with textured top panel to open it.",
+    "Open the gray microwave with two control knobs by pulling its door with the left arm.",
+    "Use the left arm to engage the yellow-sided microwave's opening mechanism.",
+    "Use the handle to open the rectangular microwave.",
+    "Open the rectangular microwave by grasping its handle.",
+    "Get the rectangular microwave open.",
+    "Grasp the microwave with knobs's handle and pull to open.",
+    "Pull the the gray and yellow microwave with rounded edges's handle using the left arm.",
+    "Pull open the door of the gray microwave with two control knobs using the left arm.",
+    "Grip the countertop microwave's handle and pull it open.",
+    "Pull the handle to open the countertop microwave.",
+    "Open the gray microwave with two control knobs using the left arm.",
+    "Pull and open the yellow-sided microwave.",
+    "Grab the handle and open the rectangular microwave with the left arm.",
+    "Open the yellow-sided microwave by pulling with the left arm.",
+    "Open the rectangular microwave by pulling on its handle.",
+    "Pull the door to open the microwave.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Grab the handle and open the rectangular microwave.",
+    "Pull the rectangular microwave's handle to open it.",
+    "Engage the rectangular microwave using the left arm to open.",
+    "Access the inside by opening the microwave with knobs.",
+    "Pull the handle of the gray and yellow microwave with rounded edges with the left arm.",
+    "Use the left arm to grab and open the yellow-panel microwave with smooth sides.",
+    "Pull the handle of the medium microwave to open it.",
+    "Use the left arm to pull open the door of the gray microwave with two control knobs.",
+    "Grab and pull the rectangular microwave using the left arm.",
+    "Engage the left arm to open the microwave with knobs.",
+    "Pull to open the yellow-sided microwave."
+  ],
+  "unseen": [
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode64.json b/open_microwave/demo_clean/instructions/episode64.json
new file mode 100644
index 0000000000000000000000000000000000000000..12e082ae373d14a57b3c7b9893a40c35f6aef367
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode64.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the the gray and glass microwave for cooking's handle using the left arm.",
+    "Open the microwave for heating food using the left arm.",
+    "Pull to open the dark gray kitchen microwave.",
+    "Engage the microwave for heating food using the left arm to open.",
+    "Pull the handle of the microwave with glossy dark gray finish to open it.",
+    "Grab the handle and open the medium microwave with slanted sides.",
+    "Pull open the door of the gray and glass microwave for cooking using the left arm.",
+    "Open the rectangular gray microwave by grasping its handle.",
+    "Utilize the left arm to pull the rectangular microwave with clear glass panel open.",
+    "Access the inside by opening the rectangular gray microwave.",
+    "Pull the door of the gray appliance with transparent glass top to open it.",
+    "Open the dark gray kitchen microwave by pulling its door with the left arm.",
+    "Handle the microwave with glossy dark gray finish and open it with the left arm.",
+    "Engage the left arm to open the microwave with smooth surface.",
+    "Open the gray and glass microwave for cooking by pulling its handle.",
+    "Get the gray and glass microwave for cooking open.",
+    "Pull and open the microwave with smooth surface.",
+    "Use the left arm to grab and open the dark gray slanted microwave box.",
+    "Use the left arm to engage the dark gray slanted microwave box's opening mechanism.",
+    "Use the left arm to open the rectangular microwave with clear glass panel by pulling.",
+    "Pull the handle of the microwave with glossy dark gray finish with the left arm.",
+    "Open the microwave for heating food by pulling with the left arm.",
+    "Pull the handle to open the microwave.",
+    "Grasp the microwave with glass top's handle and pull to open.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Use the left arm to pull open the door of the medium microwave with slanted sides.",
+    "Use the left arm to pull the rectangular microwave with clear glass panel open.",
+    "Engage the microwave with smooth surface's handle and open it.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Use the left arm to grab and pull the gray and glass microwave for cooking.",
+    "Pull the door to open the gray appliance with transparent glass top.",
+    "Grab and pull the gray appliance with transparent glass top using the left arm.",
+    "Grip the microwave with glossy dark gray finish's handle and pull it open.",
+    "Grab the handle and open the microwave for heating food with the left arm.",
+    "Open the gray and glass microwave for cooking by pulling its handle.",
+    "Activate the door to open the medium microwave with slanted sides.",
+    "Use the handle to open the medium microwave with slanted sides.",
+    "Open the rectangular gray microwave by pulling on its handle.",
+    "Pull the microwave with glossy dark gray finish's handle to open it.",
+    "Pull the the gray and glass microwave for cooking's handle using the left arm.",
+    "Open the microwave using the left arm.",
+    "Pull to open the rectangular microwave with clear glass panel.",
+    "Engage the gray appliance with transparent glass top using the left arm to open.",
+    "Pull the handle of the microwave to open it.",
+    "Grab the handle and open the rectangular gray microwave.",
+    "Pull open the door of the dark gray kitchen microwave using the left arm.",
+    "Open the medium microwave with slanted sides by grasping its handle.",
+    "Utilize the left arm to pull the microwave with glossy dark gray finish open.",
+    "Access the inside by opening the dark gray kitchen microwave.",
+    "Pull the door of the microwave with glossy dark gray finish to open it.",
+    "Open the rectangular microwave with clear glass panel by pulling its door with the left arm.",
+    "Handle the dark gray slanted microwave box and open it with the left arm.",
+    "Engage the left arm to open the microwave for heating food.",
+    "Open the medium microwave with slanted sides by pulling its handle.",
+    "Get the microwave for heating food open.",
+    "Pull and open the microwave for heating food.",
+    "Use the left arm to grab and open the dark gray slanted microwave box.",
+    "Use the left arm to engage the rectangular microwave with clear glass panel's opening mechanism.",
+    "Use the left arm to open the rectangular gray microwave by pulling.",
+    "Pull the handle of the gray and glass microwave for cooking with the left arm.",
+    "Open the gray appliance with transparent glass top by pulling with the left arm.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Grasp the dark gray kitchen microwave's handle and pull to open.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Use the left arm to pull open the door of the microwave with smooth surface.",
+    "Use the left arm to pull the dark gray kitchen microwave open.",
+    "Engage the microwave with glass top's handle and open it.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Use the left arm to grab and pull the gray and glass microwave for cooking.",
+    "Pull the door to open the gray and glass microwave for cooking.",
+    "Grab and pull the medium microwave with slanted sides using the left arm.",
+    "Grip the dark gray slanted microwave box's handle and pull it open.",
+    "Grab the handle and open the microwave for heating food with the left arm.",
+    "Open the rectangular microwave with clear glass panel by pulling its handle.",
+    "Activate the door to open the microwave.",
+    "Use the handle to open the dark gray kitchen microwave.",
+    "Open the gray and glass microwave for cooking by pulling on its handle.",
+    "Pull the rectangular gray microwave's handle to open it.",
+    "Pull the the gray and glass microwave for cooking's handle using the left arm.",
+    "Open the rectangular gray microwave using the left arm.",
+    "Pull to open the dark gray kitchen microwave.",
+    "Engage the microwave with smooth surface using the left arm to open.",
+    "Pull the handle of the microwave with glass top to open it.",
+    "Grab the handle and open the gray appliance with transparent glass top.",
+    "Pull open the door of the dark gray slanted microwave box using the left arm.",
+    "Open the microwave by grasping its handle.",
+    "Utilize the left arm to pull the microwave with glossy dark gray finish open.",
+    "Access the inside by opening the gray and glass microwave for cooking.",
+    "Pull the door of the gray and glass microwave for cooking to open it.",
+    "Open the gray and glass microwave for cooking by pulling its door with the left arm.",
+    "Handle the microwave with glossy dark gray finish and open it with the left arm.",
+    "Engage the left arm to open the microwave.",
+    "Open the rectangular gray microwave by pulling its handle.",
+    "Get the microwave for heating food open.",
+    "Pull and open the medium microwave with slanted sides.",
+    "Use the left arm to grab and open the rectangular gray microwave.",
+    "Use the left arm to engage the dark gray slanted microwave box's opening mechanism.",
+    "Use the left arm to open the microwave with glossy dark gray finish by pulling.",
+    "Pull the handle of the dark gray slanted microwave box with the left arm.",
+    "Open the microwave by pulling with the left arm."
+  ],
+  "unseen": [
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the dark gray microwave."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode65.json b/open_microwave/demo_clean/instructions/episode65.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c7f01083ff987e9c29301f132ea09631c1b2dd0
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode65.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Activate the door to open the countertop microwave.",
+    "Open the rectangular microwave by pulling its door with the left arm.",
+    "Open the microwave with knobs by grasping its handle.",
+    "Open the gray microwave by pulling on its handle.",
+    "Open the medium microwave by pulling its handle.",
+    "Use the handle to open the yellow-panel microwave with smooth sides.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides.",
+    "Grab the handle and open the microwave with patterned top and knobs with the left arm.",
+    "Open the microwave with patterned top and knobs using the left arm.",
+    "Engage the gray microwave with two control knobs using the left arm to open.",
+    "Grip the yellow-sided microwave's handle and pull it open.",
+    "Grasp the microwave with textured top panel's handle and pull to open.",
+    "Engage the left arm to open the microwave.",
+    "Engage the countertop microwave's handle and open it.",
+    "Use the left arm to grab and pull the rectangular microwave.",
+    "Access the inside by opening the microwave with patterned top and knobs.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Pull the the gray and yellow microwave with rounded edges's handle using the left arm.",
+    "Get the yellow-sided microwave open.",
+    "Pull and open the countertop microwave.",
+    "Utilize the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Pull the yellow-sided microwave's handle to open it.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Use the left arm to open the microwave with knobs by pulling.",
+    "Pull to open the microwave.",
+    "Use the left arm to grab and open the microwave with knobs.",
+    "Use the left arm to pull open the door of the yellow-panel microwave with smooth sides.",
+    "Grab and pull the rectangular microwave using the left arm.",
+    "Pull the door to open the rectangular microwave.",
+    "Handle the gray and yellow microwave with rounded edges and open it with the left arm.",
+    "Pull the door of the microwave with knobs to open it.",
+    "Use the left arm to pull the microwave with patterned top and knobs open.",
+    "Pull the handle of the yellow-sided microwave with the left arm.",
+    "Pull the handle of the yellow-sided microwave to open it.",
+    "Open the microwave by pulling its handle.",
+    "Open the microwave with knobs by pulling with the left arm.",
+    "Pull open the door of the gray and yellow microwave with rounded edges using the left arm.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Activate the door to open the rectangular microwave.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Open the yellow-panel microwave with smooth sides by grasping its handle.",
+    "Open the countertop microwave by pulling on its handle.",
+    "Open the gray microwave by pulling its handle.",
+    "Use the handle to open the yellow-panel microwave with smooth sides.",
+    "Grab the handle and open the microwave with textured top panel.",
+    "Grab the handle and open the rectangular microwave with the left arm.",
+    "Open the yellow-sided microwave using the left arm.",
+    "Engage the countertop microwave using the left arm to open.",
+    "Grip the gray and yellow microwave with rounded edges's handle and pull it open.",
+    "Grasp the countertop microwave's handle and pull to open.",
+    "Engage the left arm to open the yellow-panel microwave with smooth sides.",
+    "Engage the microwave's handle and open it.",
+    "Use the left arm to grab and pull the rectangular microwave.",
+    "Access the inside by opening the microwave with knobs.",
+    "Pull the handle to open the countertop microwave.",
+    "Pull the the microwave with patterned top and knobs's handle using the left arm.",
+    "Get the microwave with knobs open.",
+    "Pull and open the medium microwave.",
+    "Utilize the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Pull the yellow-panel microwave with smooth sides's handle to open it.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Use the left arm to open the gray microwave by pulling.",
+    "Pull to open the medium microwave.",
+    "Use the left arm to grab and open the microwave with knobs.",
+    "Use the left arm to pull open the door of the microwave with knobs.",
+    "Grab and pull the microwave with patterned top and knobs using the left arm.",
+    "Pull the door to open the rectangular microwave.",
+    "Handle the microwave with knobs and open it with the left arm.",
+    "Pull the door of the microwave to open it.",
+    "Use the left arm to pull the rectangular microwave open.",
+    "Pull the handle of the microwave with patterned top and knobs with the left arm.",
+    "Pull the handle of the microwave with patterned top and knobs to open it.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Open the microwave with knobs by pulling with the left arm.",
+    "Pull open the door of the gray microwave using the left arm.",
+    "Use the left arm to engage the gray microwave's opening mechanism.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Activate the door to open the rectangular microwave.",
+    "Open the microwave with textured top panel by pulling its door with the left arm.",
+    "Open the gray microwave by grasping its handle.",
+    "Open the yellow-panel microwave with smooth sides by pulling on its handle.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Use the handle to open the gray and yellow microwave with rounded edges.",
+    "Grab the handle and open the yellow-sided microwave.",
+    "Grab the handle and open the yellow-sided microwave with the left arm.",
+    "Open the rectangular microwave using the left arm.",
+    "Engage the gray and yellow microwave with rounded edges using the left arm to open.",
+    "Grip the gray and yellow microwave with rounded edges's handle and pull it open.",
+    "Grasp the gray microwave's handle and pull to open.",
+    "Engage the left arm to open the rectangular microwave.",
+    "Engage the gray and yellow microwave with rounded edges's handle and open it.",
+    "Use the left arm to grab and pull the yellow-panel microwave with smooth sides.",
+    "Access the inside by opening the microwave with textured top panel.",
+    "Pull the handle to open the medium microwave.",
+    "Pull the the gray microwave with two control knobs's handle using the left arm.",
+    "Get the yellow-sided microwave open.",
+    "Pull and open the yellow-sided microwave."
+  ],
+  "unseen": [
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode66.json b/open_microwave/demo_clean/instructions/episode66.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cc3f14e16345cd620c515bcb4d42503203e72cc
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode66.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pull open the door of the rectangular microwave.",
+    "Grab the handle and open the countertop microwave.",
+    "Utilize the left arm to pull the microwave with textured top panel open.",
+    "Grasp the microwave's handle and pull to open.",
+    "Pull the handle of the microwave with patterned top and knobs to open it.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Use the left arm to pull the countertop microwave open.",
+    "Get the gray and yellow microwave with rounded edges open.",
+    "Pull and open the yellow-panel microwave with smooth sides.",
+    "Grab and pull the yellow-sided microwave using the left arm.",
+    "Use the left arm to grab and pull the countertop microwave.",
+    "Use the handle to open the gray and yellow microwave with rounded edges.",
+    "Activate the door to open the gray and yellow microwave with rounded edges.",
+    "Pull the the yellow-sided microwave's handle using the left arm.",
+    "Access the inside by opening the countertop microwave.",
+    "Pull the door of the yellow-sided microwave to open it.",
+    "Handle the rectangular microwave and open it with the left arm.",
+    "Open the gray microwave with two control knobs by pulling its door with the left arm.",
+    "Open the microwave with knobs using the left arm.",
+    "Use the left arm to open the microwave with knobs by pulling.",
+    "Engage the gray microwave using the left arm to open.",
+    "Use the left arm to grab and open the gray microwave with two control knobs.",
+    "Pull the door to open the microwave with textured top panel.",
+    "Pull open the door of the microwave with textured top panel using the left arm.",
+    "Pull the countertop microwave's handle to open it.",
+    "Grip the gray and yellow microwave with rounded edges's handle and pull it open.",
+    "Engage the gray and yellow microwave with rounded edges's handle and open it.",
+    "Open the rectangular microwave by pulling on its handle.",
+    "Use the left arm to engage the gray microwave with two control knobs's opening mechanism.",
+    "Pull the handle of the gray and yellow microwave with rounded edges with the left arm.",
+    "Open the medium microwave by pulling its handle.",
+    "Grab the handle and open the medium microwave with the left arm.",
+    "Pull the handle to open the microwave.",
+    "Open the rectangular microwave by grasping its handle.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Open the microwave by pulling with the left arm.",
+    "Pull to open the microwave.",
+    "Engage the left arm to open the yellow-sided microwave.",
+    "Use the left arm to pull open the door of the gray microwave.",
+    "Grab the handle and open the countertop microwave.",
+    "Utilize the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Grasp the gray microwave's handle and pull to open.",
+    "Pull the handle of the gray microwave to open it.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Pull the handle to open the medium microwave.",
+    "Use the left arm to pull the gray microwave with two control knobs open.",
+    "Get the gray microwave open.",
+    "Pull and open the microwave with patterned top and knobs.",
+    "Grab and pull the gray and yellow microwave with rounded edges using the left arm.",
+    "Use the left arm to grab and pull the microwave with textured top panel.",
+    "Use the handle to open the microwave with patterned top and knobs.",
+    "Activate the door to open the yellow-sided microwave.",
+    "Pull the the medium microwave's handle using the left arm.",
+    "Access the inside by opening the microwave.",
+    "Pull the door of the microwave with knobs to open it.",
+    "Handle the microwave with patterned top and knobs and open it with the left arm.",
+    "Open the microwave with knobs by pulling its door with the left arm.",
+    "Open the microwave with textured top panel using the left arm.",
+    "Use the left arm to open the microwave with patterned top and knobs by pulling.",
+    "Engage the microwave using the left arm to open.",
+    "Use the left arm to grab and open the microwave with patterned top and knobs.",
+    "Pull the door to open the microwave with textured top panel.",
+    "Pull open the door of the rectangular microwave using the left arm.",
+    "Pull the countertop microwave's handle to open it.",
+    "Grip the microwave with textured top panel's handle and pull it open.",
+    "Engage the gray microwave's handle and open it.",
+    "Open the yellow-sided microwave by pulling on its handle.",
+    "Use the left arm to engage the yellow-sided microwave's opening mechanism.",
+    "Pull the handle of the yellow-panel microwave with smooth sides with the left arm.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Grab the handle and open the gray microwave with two control knobs with the left arm.",
+    "Pull the handle to open the medium microwave.",
+    "Open the microwave with textured top panel by grasping its handle.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Open the medium microwave by pulling with the left arm.",
+    "Pull to open the microwave with knobs.",
+    "Engage the left arm to open the rectangular microwave.",
+    "Use the left arm to pull open the door of the microwave with textured top panel.",
+    "Grab the handle and open the gray microwave.",
+    "Utilize the left arm to pull the gray microwave open.",
+    "Grasp the gray microwave's handle and pull to open.",
+    "Pull the handle of the countertop microwave to open it.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Pull the handle to open the medium microwave.",
+    "Use the left arm to pull the microwave with knobs open.",
+    "Get the gray and yellow microwave with rounded edges open.",
+    "Pull and open the microwave.",
+    "Grab and pull the countertop microwave using the left arm.",
+    "Use the left arm to grab and pull the microwave with patterned top and knobs.",
+    "Use the handle to open the gray microwave with two control knobs.",
+    "Activate the door to open the medium microwave.",
+    "Pull the the microwave with knobs's handle using the left arm.",
+    "Access the inside by opening the gray and yellow microwave with rounded edges.",
+    "Pull the door of the microwave with knobs to open it.",
+    "Handle the microwave with patterned top and knobs and open it with the left arm.",
+    "Open the microwave with knobs by pulling its door with the left arm.",
+    "Open the microwave with knobs using the left arm.",
+    "Use the left arm to open the microwave with textured top panel by pulling.",
+    "Engage the rectangular microwave using the left arm to open."
+  ],
+  "unseen": [
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode67.json b/open_microwave/demo_clean/instructions/episode67.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ce195442db8654c63b0b55af58a9530337a4538
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode67.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Utilize the left arm to pull the medium microwave with slanted sides open.",
+    "Pull the handle of the dark gray kitchen microwave with the left arm.",
+    "Engage the left arm to open the microwave with glass top.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Open the microwave with glass top by grasping its handle.",
+    "Use the handle to open the microwave with glossy dark gray finish.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Use the left arm to grab and pull the medium microwave with slanted sides.",
+    "Pull the the rectangular microwave with clear glass panel's handle using the left arm.",
+    "Open the gray appliance with transparent glass top using the left arm.",
+    "Access the inside by opening the microwave with glass top.",
+    "Pull the door of the gray appliance with transparent glass top to open it.",
+    "Use the left arm to pull the microwave with glass top open.",
+    "Grasp the dark gray slanted microwave box's handle and pull to open.",
+    "Pull the microwave with smooth surface's handle to open it.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Get the gray appliance with transparent glass top open.",
+    "Pull the handle of the dark gray slanted microwave box to open it.",
+    "Engage the dark gray kitchen microwave's handle and open it.",
+    "Handle the microwave with smooth surface and open it with the left arm.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Grab the handle and open the microwave with smooth surface.",
+    "Use the left arm to grab and open the rectangular microwave with clear glass panel.",
+    "Pull open the door of the gray and glass microwave for cooking using the left arm.",
+    "Open the dark gray kitchen microwave by pulling its door with the left arm.",
+    "Engage the microwave with glass top using the left arm to open.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Use the left arm to open the microwave by pulling.",
+    "Open the gray appliance with transparent glass top by pulling with the left arm.",
+    "Pull to open the rectangular microwave with clear glass panel.",
+    "Use the left arm to pull open the door of the dark gray slanted microwave box.",
+    "Activate the door to open the gray and glass microwave for cooking.",
+    "Grab and pull the medium microwave with slanted sides using the left arm.",
+    "Use the left arm to engage the microwave with smooth surface's opening mechanism.",
+    "Pull the door to open the microwave.",
+    "Grip the microwave's handle and pull it open.",
+    "Grab the handle and open the rectangular gray microwave with the left arm.",
+    "Pull and open the microwave for heating food.",
+    "Open the microwave by pulling on its handle.",
+    "Utilize the left arm to pull the microwave with glass top open.",
+    "Pull the handle of the microwave with smooth surface with the left arm.",
+    "Engage the left arm to open the microwave with glass top.",
+    "Open the microwave with smooth surface by pulling its handle.",
+    "Open the rectangular microwave with clear glass panel by grasping its handle.",
+    "Use the handle to open the rectangular microwave with clear glass panel.",
+    "Pull the handle to open the microwave.",
+    "Use the left arm to grab and pull the microwave with glossy dark gray finish.",
+    "Pull the the rectangular gray microwave's handle using the left arm.",
+    "Open the dark gray kitchen microwave using the left arm.",
+    "Access the inside by opening the microwave with glossy dark gray finish.",
+    "Pull the door of the microwave with smooth surface to open it.",
+    "Use the left arm to pull the gray and glass microwave for cooking open.",
+    "Grasp the microwave with glossy dark gray finish's handle and pull to open.",
+    "Pull the microwave with glossy dark gray finish's handle to open it.",
+    "Open the microwave for heating food by pulling its handle.",
+    "Get the gray appliance with transparent glass top open.",
+    "Pull the handle of the microwave for heating food to open it.",
+    "Engage the dark gray kitchen microwave's handle and open it.",
+    "Handle the microwave with glossy dark gray finish and open it with the left arm.",
+    "Pull the handle to open the microwave with glass top.",
+    "Grab the handle and open the microwave with glossy dark gray finish.",
+    "Use the left arm to grab and open the gray and glass microwave for cooking.",
+    "Pull open the door of the microwave using the left arm.",
+    "Open the gray and glass microwave for cooking by pulling its door with the left arm.",
+    "Engage the dark gray kitchen microwave using the left arm to open.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Use the left arm to open the dark gray kitchen microwave by pulling.",
+    "Open the microwave by pulling with the left arm.",
+    "Pull to open the rectangular microwave with clear glass panel.",
+    "Use the left arm to pull open the door of the microwave for heating food.",
+    "Activate the door to open the microwave for heating food.",
+    "Grab and pull the dark gray kitchen microwave using the left arm.",
+    "Use the left arm to engage the medium microwave with slanted sides's opening mechanism.",
+    "Pull the door to open the medium microwave with slanted sides.",
+    "Grip the dark gray slanted microwave box's handle and pull it open.",
+    "Grab the handle and open the microwave with smooth surface with the left arm.",
+    "Pull and open the gray appliance with transparent glass top.",
+    "Open the microwave for heating food by pulling on its handle.",
+    "Utilize the left arm to pull the dark gray slanted microwave box open.",
+    "Pull the handle of the medium microwave with slanted sides with the left arm.",
+    "Engage the left arm to open the dark gray kitchen microwave.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Open the microwave with glass top by grasping its handle.",
+    "Use the handle to open the rectangular microwave with clear glass panel.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Use the left arm to grab and pull the dark gray slanted microwave box.",
+    "Pull the the dark gray kitchen microwave's handle using the left arm.",
+    "Open the microwave with glossy dark gray finish using the left arm.",
+    "Access the inside by opening the gray and glass microwave for cooking.",
+    "Pull the door of the gray and glass microwave for cooking to open it.",
+    "Use the left arm to pull the microwave with glossy dark gray finish open.",
+    "Grasp the microwave with smooth surface's handle and pull to open.",
+    "Pull the rectangular microwave with clear glass panel's handle to open it.",
+    "Open the gray appliance with transparent glass top by pulling its handle.",
+    "Get the dark gray slanted microwave box open.",
+    "Pull the handle of the rectangular gray microwave to open it.",
+    "Engage the gray and glass microwave for cooking's handle and open it.",
+    "Handle the rectangular gray microwave and open it with the left arm.",
+    "Pull the handle to open the microwave with glass top.",
+    "Grab the handle and open the microwave with smooth surface."
+  ],
+  "unseen": [
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Open the dark gray microwave using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the dark gray microwave using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode68.json b/open_microwave/demo_clean/instructions/episode68.json
new file mode 100644
index 0000000000000000000000000000000000000000..914d50dab22bbfdce3698dac6324612c7f144722
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode68.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab and pull the gray microwave.",
+    "Open the yellow-panel microwave with smooth sides by pulling with the left arm.",
+    "Use the handle to open the rectangular microwave.",
+    "Engage the left arm to open the gray and yellow microwave with rounded edges.",
+    "Pull the handle of the microwave with textured top panel to open it.",
+    "Open the microwave with patterned top and knobs by pulling its door with the left arm.",
+    "Pull open the door of the medium microwave using the left arm.",
+    "Pull and open the rectangular microwave.",
+    "Open the gray microwave with two control knobs using the left arm.",
+    "Grab the handle and open the gray microwave with two control knobs with the left arm.",
+    "Access the inside by opening the gray microwave.",
+    "Use the left arm to open the microwave with textured top panel by pulling.",
+    "Use the left arm to pull the yellow-sided microwave open.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Pull the door to open the countertop microwave.",
+    "Utilize the left arm to pull the gray microwave open.",
+    "Grasp the yellow-panel microwave with smooth sides's handle and pull to open.",
+    "Use the left arm to engage the gray and yellow microwave with rounded edges's opening mechanism.",
+    "Pull to open the microwave with patterned top and knobs.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Get the gray and yellow microwave with rounded edges open.",
+    "Use the left arm to grab and open the rectangular microwave.",
+    "Engage the medium microwave using the left arm to open.",
+    "Pull the the yellow-panel microwave with smooth sides's handle using the left arm.",
+    "Pull the handle to open the rectangular microwave.",
+    "Grab and pull the microwave with patterned top and knobs using the left arm.",
+    "Open the gray microwave by pulling its handle.",
+    "Engage the yellow-panel microwave with smooth sides's handle and open it.",
+    "Pull the handle to open the microwave.",
+    "Open the yellow-panel microwave with smooth sides by grasping its handle.",
+    "Pull the door of the microwave with textured top panel to open it.",
+    "Handle the yellow-sided microwave and open it with the left arm.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges.",
+    "Pull the yellow-panel microwave with smooth sides's handle to open it.",
+    "Pull the handle of the countertop microwave with the left arm.",
+    "Activate the door to open the gray microwave with two control knobs.",
+    "Open the microwave with patterned top and knobs by pulling on its handle.",
+    "Grip the gray microwave's handle and pull it open.",
+    "Use the left arm to pull open the door of the gray and yellow microwave with rounded edges.",
+    "Use the left arm to grab and pull the yellow-sided microwave.",
+    "Open the microwave by pulling with the left arm.",
+    "Use the handle to open the rectangular microwave.",
+    "Engage the left arm to open the microwave with knobs.",
+    "Pull the handle of the medium microwave to open it.",
+    "Open the microwave with knobs by pulling its door with the left arm.",
+    "Pull open the door of the microwave with knobs using the left arm.",
+    "Pull and open the microwave with knobs.",
+    "Open the medium microwave using the left arm.",
+    "Grab the handle and open the countertop microwave with the left arm.",
+    "Access the inside by opening the microwave.",
+    "Use the left arm to open the microwave with textured top panel by pulling.",
+    "Use the left arm to pull the countertop microwave open.",
+    "Pull the handle to open the medium microwave.",
+    "Pull the door to open the microwave.",
+    "Utilize the left arm to pull the countertop microwave open.",
+    "Grasp the yellow-panel microwave with smooth sides's handle and pull to open.",
+    "Use the left arm to engage the yellow-sided microwave's opening mechanism.",
+    "Pull to open the rectangular microwave.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Get the countertop microwave open.",
+    "Use the left arm to grab and open the microwave with patterned top and knobs.",
+    "Engage the microwave with patterned top and knobs using the left arm to open.",
+    "Pull the the gray microwave's handle using the left arm.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Grab and pull the yellow-panel microwave with smooth sides using the left arm.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Engage the medium microwave's handle and open it.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Open the gray microwave with two control knobs by grasping its handle.",
+    "Pull the door of the medium microwave to open it.",
+    "Handle the gray microwave and open it with the left arm.",
+    "Grab the handle and open the microwave with patterned top and knobs.",
+    "Pull the gray microwave with two control knobs's handle to open it.",
+    "Pull the handle of the medium microwave with the left arm.",
+    "Activate the door to open the yellow-panel microwave with smooth sides.",
+    "Open the countertop microwave by pulling on its handle.",
+    "Grip the microwave with patterned top and knobs's handle and pull it open.",
+    "Use the left arm to pull open the door of the microwave with textured top panel.",
+    "Use the left arm to grab and pull the microwave with patterned top and knobs.",
+    "Open the countertop microwave by pulling with the left arm.",
+    "Use the handle to open the gray microwave with two control knobs.",
+    "Engage the left arm to open the microwave with patterned top and knobs.",
+    "Pull the handle of the microwave to open it.",
+    "Open the gray and yellow microwave with rounded edges by pulling its door with the left arm.",
+    "Pull open the door of the gray microwave using the left arm.",
+    "Pull and open the rectangular microwave.",
+    "Open the gray microwave using the left arm.",
+    "Grab the handle and open the yellow-sided microwave with the left arm.",
+    "Access the inside by opening the medium microwave.",
+    "Use the left arm to open the yellow-sided microwave by pulling.",
+    "Use the left arm to pull the rectangular microwave open.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Pull the door to open the gray and yellow microwave with rounded edges.",
+    "Utilize the left arm to pull the gray microwave open.",
+    "Grasp the microwave's handle and pull to open.",
+    "Use the left arm to engage the yellow-panel microwave with smooth sides's opening mechanism.",
+    "Pull to open the yellow-panel microwave with smooth sides.",
+    "Open the microwave by pulling its handle.",
+    "Get the medium microwave open.",
+    "Use the left arm to grab and open the countertop microwave."
+  ],
+  "unseen": [
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode69.json b/open_microwave/demo_clean/instructions/episode69.json
new file mode 100644
index 0000000000000000000000000000000000000000..a211f370a927ec5085edeeb8b96b01d182dd8c22
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode69.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the microwave using the left arm.",
+    "Pull open the door of the microwave with patterned top and knobs using the left arm.",
+    "Pull and open the yellow-panel microwave with smooth sides.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Pull the the gray and yellow microwave with rounded edges's handle using the left arm.",
+    "Pull the door to open the yellow-panel microwave with smooth sides.",
+    "Pull the handle of the gray microwave with the left arm.",
+    "Pull to open the microwave with knobs.",
+    "Grab the handle and open the microwave with patterned top and knobs.",
+    "Open the microwave with knobs by grasping its handle.",
+    "Engage the left arm to open the microwave.",
+    "Get the microwave with knobs open.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Use the left arm to pull the microwave with patterned top and knobs open.",
+    "Grasp the gray microwave with two control knobs's handle and pull to open.",
+    "Grab the handle and open the microwave with knobs with the left arm.",
+    "Use the handle to open the microwave with knobs.",
+    "Open the microwave with textured top panel by pulling with the left arm.",
+    "Use the left arm to pull open the door of the gray and yellow microwave with rounded edges.",
+    "Access the inside by opening the gray microwave.",
+    "Utilize the left arm to pull the gray microwave open.",
+    "Handle the yellow-panel microwave with smooth sides and open it with the left arm.",
+    "Pull the handle to open the microwave with knobs.",
+    "Use the left arm to grab and open the countertop microwave.",
+    "Use the left arm to open the countertop microwave by pulling.",
+    "Grab and pull the microwave with patterned top and knobs using the left arm.",
+    "Open the gray microwave by pulling its handle.",
+    "Activate the door to open the microwave with textured top panel.",
+    "Grip the gray microwave's handle and pull it open.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Open the medium microwave by pulling its door with the left arm.",
+    "Engage the medium microwave using the left arm to open.",
+    "Engage the rectangular microwave's handle and open it.",
+    "Pull the handle of the microwave to open it.",
+    "Use the left arm to engage the gray microwave's opening mechanism.",
+    "Open the yellow-panel microwave with smooth sides by pulling on its handle.",
+    "Use the left arm to grab and pull the microwave with knobs.",
+    "Pull the door of the countertop microwave to open it.",
+    "Pull the countertop microwave's handle to open it.",
+    "Open the microwave with knobs using the left arm.",
+    "Pull open the door of the yellow-sided microwave using the left arm.",
+    "Pull and open the microwave with patterned top and knobs.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Pull the the countertop microwave's handle using the left arm.",
+    "Pull the door to open the gray and yellow microwave with rounded edges.",
+    "Pull the handle of the gray microwave with two control knobs with the left arm.",
+    "Pull to open the gray and yellow microwave with rounded edges.",
+    "Grab the handle and open the gray microwave.",
+    "Open the microwave with knobs by grasping its handle.",
+    "Engage the left arm to open the countertop microwave.",
+    "Get the yellow-sided microwave open.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Use the left arm to pull the yellow-sided microwave open.",
+    "Grasp the medium microwave's handle and pull to open.",
+    "Grab the handle and open the countertop microwave with the left arm.",
+    "Use the handle to open the microwave.",
+    "Open the rectangular microwave by pulling with the left arm.",
+    "Use the left arm to pull open the door of the yellow-sided microwave.",
+    "Access the inside by opening the gray microwave.",
+    "Utilize the left arm to pull the microwave with textured top panel open.",
+    "Handle the gray microwave with two control knobs and open it with the left arm.",
+    "Pull the handle to open the medium microwave.",
+    "Use the left arm to grab and open the microwave with patterned top and knobs.",
+    "Use the left arm to open the gray and yellow microwave with rounded edges by pulling.",
+    "Grab and pull the countertop microwave using the left arm.",
+    "Open the gray microwave by pulling its handle.",
+    "Activate the door to open the gray microwave.",
+    "Grip the gray and yellow microwave with rounded edges's handle and pull it open.",
+    "Pull the handle to open the microwave with knobs.",
+    "Open the microwave with knobs by pulling its door with the left arm.",
+    "Engage the gray and yellow microwave with rounded edges using the left arm to open.",
+    "Engage the countertop microwave's handle and open it.",
+    "Pull the handle of the yellow-sided microwave to open it.",
+    "Use the left arm to engage the yellow-panel microwave with smooth sides's opening mechanism.",
+    "Open the microwave with knobs by pulling on its handle.",
+    "Use the left arm to grab and pull the gray microwave with two control knobs.",
+    "Pull the door of the medium microwave to open it.",
+    "Pull the microwave's handle to open it.",
+    "Open the countertop microwave using the left arm.",
+    "Pull open the door of the yellow-panel microwave with smooth sides using the left arm.",
+    "Pull and open the medium microwave.",
+    "Pull the handle to open the gray microwave.",
+    "Pull the the yellow-panel microwave with smooth sides's handle using the left arm.",
+    "Pull the door to open the rectangular microwave.",
+    "Pull the handle of the gray and yellow microwave with rounded edges with the left arm.",
+    "Pull to open the gray and yellow microwave with rounded edges.",
+    "Grab the handle and open the microwave with patterned top and knobs.",
+    "Open the gray microwave by grasping its handle.",
+    "Engage the left arm to open the microwave with knobs.",
+    "Get the microwave with patterned top and knobs open.",
+    "Open the microwave by pulling its handle.",
+    "Use the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Grasp the microwave with textured top panel's handle and pull to open.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides with the left arm.",
+    "Use the handle to open the rectangular microwave.",
+    "Open the rectangular microwave by pulling with the left arm.",
+    "Use the left arm to pull open the door of the countertop microwave.",
+    "Access the inside by opening the medium microwave.",
+    "Utilize the left arm to pull the countertop microwave open.",
+    "Handle the microwave and open it with the left arm."
+  ],
+  "unseen": [
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode7.json b/open_microwave/demo_clean/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..f64dec09ae5eac1a5c92b41cbd5964f4e759c54c
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode7.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab and pull the gray microwave with two control knobs using the left arm.",
+    "Open the countertop microwave by pulling its door with the left arm.",
+    "Use the left arm to grab and pull the yellow-sided microwave.",
+    "Activate the door to open the gray microwave.",
+    "Utilize the left arm to pull the rectangular microwave open.",
+    "Use the left arm to pull open the door of the microwave with knobs.",
+    "Pull the the microwave with textured top panel's handle using the left arm.",
+    "Pull the handle of the microwave with the left arm.",
+    "Engage the left arm to open the yellow-panel microwave with smooth sides.",
+    "Open the microwave with knobs using the left arm.",
+    "Use the left arm to engage the gray microwave with two control knobs's opening mechanism.",
+    "Access the inside by opening the medium microwave.",
+    "Get the gray and yellow microwave with rounded edges open.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Open the gray microwave by pulling on its handle.",
+    "Open the countertop microwave by pulling its handle.",
+    "Pull to open the rectangular microwave.",
+    "Pull the handle of the countertop microwave to open it.",
+    "Open the microwave by pulling with the left arm.",
+    "Pull the door of the microwave with knobs to open it.",
+    "Open the countertop microwave by pulling its handle.",
+    "Use the left arm to grab and open the rectangular microwave.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Engage the yellow-panel microwave with smooth sides's handle and open it.",
+    "Grip the yellow-sided microwave's handle and pull it open.",
+    "Pull and open the microwave with knobs.",
+    "Open the microwave with knobs by grasping its handle.",
+    "Handle the rectangular microwave and open it with the left arm.",
+    "Pull the door to open the gray microwave with two control knobs.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides with the left arm.",
+    "Use the left arm to open the gray microwave by pulling.",
+    "Pull the yellow-panel microwave with smooth sides's handle to open it.",
+    "Engage the rectangular microwave using the left arm to open.",
+    "Use the left arm to pull the microwave open.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Pull open the door of the microwave using the left arm.",
+    "Grab the handle and open the microwave.",
+    "Grasp the rectangular microwave's handle and pull to open.",
+    "Use the handle to open the gray microwave.",
+    "Grab and pull the gray microwave with two control knobs using the left arm.",
+    "Open the rectangular microwave by pulling its door with the left arm.",
+    "Use the left arm to grab and pull the rectangular microwave.",
+    "Activate the door to open the gray and yellow microwave with rounded edges.",
+    "Utilize the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Use the left arm to pull open the door of the microwave.",
+    "Pull the the gray microwave's handle using the left arm.",
+    "Pull the handle of the gray microwave with two control knobs with the left arm.",
+    "Engage the left arm to open the microwave with knobs.",
+    "Open the microwave using the left arm.",
+    "Use the left arm to engage the yellow-sided microwave's opening mechanism.",
+    "Access the inside by opening the yellow-sided microwave.",
+    "Get the microwave open.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Open the gray microwave with two control knobs by pulling on its handle.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Pull to open the medium microwave.",
+    "Pull the handle of the microwave to open it.",
+    "Open the microwave with patterned top and knobs by pulling with the left arm.",
+    "Pull the door of the microwave with textured top panel to open it.",
+    "Open the medium microwave by pulling its handle.",
+    "Use the left arm to grab and open the rectangular microwave.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Engage the microwave with knobs's handle and open it.",
+    "Grip the gray and yellow microwave with rounded edges's handle and pull it open.",
+    "Pull and open the medium microwave.",
+    "Open the yellow-panel microwave with smooth sides by grasping its handle.",
+    "Handle the microwave with knobs and open it with the left arm.",
+    "Pull the door to open the rectangular microwave.",
+    "Grab the handle and open the microwave with knobs with the left arm.",
+    "Use the left arm to open the countertop microwave by pulling.",
+    "Pull the microwave with knobs's handle to open it.",
+    "Engage the gray microwave with two control knobs using the left arm to open.",
+    "Use the left arm to pull the yellow-sided microwave open.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Pull open the door of the yellow-panel microwave with smooth sides using the left arm.",
+    "Grab the handle and open the microwave with textured top panel.",
+    "Grasp the gray and yellow microwave with rounded edges's handle and pull to open.",
+    "Use the handle to open the yellow-sided microwave.",
+    "Grab and pull the microwave with textured top panel using the left arm.",
+    "Open the medium microwave by pulling its door with the left arm.",
+    "Use the left arm to grab and pull the microwave with patterned top and knobs.",
+    "Activate the door to open the medium microwave.",
+    "Utilize the left arm to pull the gray microwave with two control knobs open.",
+    "Use the left arm to pull open the door of the rectangular microwave.",
+    "Pull the the microwave with textured top panel's handle using the left arm.",
+    "Pull the handle of the countertop microwave with the left arm.",
+    "Engage the left arm to open the microwave with patterned top and knobs.",
+    "Open the microwave with textured top panel using the left arm.",
+    "Use the left arm to engage the microwave with textured top panel's opening mechanism.",
+    "Access the inside by opening the yellow-sided microwave.",
+    "Get the gray microwave with two control knobs open.",
+    "Pull the handle to open the rectangular microwave.",
+    "Open the rectangular microwave by pulling on its handle.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Pull to open the medium microwave.",
+    "Pull the handle of the microwave with patterned top and knobs to open it.",
+    "Open the medium microwave by pulling with the left arm.",
+    "Pull the door of the gray and yellow microwave with rounded edges to open it.",
+    "Open the countertop microwave by pulling its handle.",
+    "Use the left arm to grab and open the gray microwave with two control knobs."
+  ],
+  "unseen": [
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode70.json b/open_microwave/demo_clean/instructions/episode70.json
new file mode 100644
index 0000000000000000000000000000000000000000..403d8bd4969b761b702b7971197e4bf7c451b1e3
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode70.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Get the dark gray slanted microwave box open.",
+    "Engage the microwave with smooth surface using the left arm to open.",
+    "Pull open the door of the gray and glass microwave for cooking using the left arm.",
+    "Utilize the left arm to pull the microwave for heating food open.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Pull the medium microwave with slanted sides's handle to open it.",
+    "Activate the door to open the dark gray slanted microwave box.",
+    "Grab and pull the microwave with glass top using the left arm.",
+    "Pull the handle of the microwave with smooth surface with the left arm.",
+    "Pull the door to open the gray appliance with transparent glass top.",
+    "Engage the left arm to open the dark gray kitchen microwave.",
+    "Grab the handle and open the gray and glass microwave for cooking with the left arm.",
+    "Open the microwave with glass top by pulling its handle.",
+    "Engage the dark gray kitchen microwave's handle and open it.",
+    "Open the microwave with glass top by pulling on its handle.",
+    "Use the left arm to grab and open the microwave for heating food.",
+    "Access the inside by opening the dark gray slanted microwave box.",
+    "Pull the door of the medium microwave with slanted sides to open it.",
+    "Use the left arm to pull open the door of the gray appliance with transparent glass top.",
+    "Use the left arm to pull the dark gray slanted microwave box open.",
+    "Use the left arm to grab and pull the microwave with smooth surface.",
+    "Pull and open the medium microwave with slanted sides.",
+    "Open the dark gray kitchen microwave by pulling its handle.",
+    "Grip the microwave with glass top's handle and pull it open.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Pull the handle of the microwave with smooth surface to open it.",
+    "Use the left arm to open the microwave for heating food by pulling.",
+    "Use the handle to open the rectangular microwave with clear glass panel.",
+    "Grasp the microwave's handle and pull to open.",
+    "Open the microwave with glossy dark gray finish by pulling with the left arm.",
+    "Open the dark gray kitchen microwave by pulling its door with the left arm.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Pull the the gray and glass microwave for cooking's handle using the left arm.",
+    "Open the microwave with glass top using the left arm.",
+    "Handle the rectangular microwave with clear glass panel and open it with the left arm.",
+    "Pull to open the microwave with glossy dark gray finish.",
+    "Grab the handle and open the microwave with glass top.",
+    "Open the gray appliance with transparent glass top by grasping its handle.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Get the rectangular gray microwave open.",
+    "Engage the microwave with smooth surface using the left arm to open.",
+    "Pull open the door of the microwave with glossy dark gray finish using the left arm.",
+    "Utilize the left arm to pull the gray and glass microwave for cooking open.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Pull the gray and glass microwave for cooking's handle to open it.",
+    "Activate the door to open the gray appliance with transparent glass top.",
+    "Grab and pull the microwave using the left arm.",
+    "Pull the handle of the microwave with glass top with the left arm.",
+    "Pull the door to open the microwave.",
+    "Engage the left arm to open the dark gray slanted microwave box.",
+    "Grab the handle and open the microwave for heating food with the left arm.",
+    "Open the gray and glass microwave for cooking by pulling its handle.",
+    "Engage the microwave with glossy dark gray finish's handle and open it.",
+    "Open the medium microwave with slanted sides by pulling on its handle.",
+    "Use the left arm to grab and open the microwave with glossy dark gray finish.",
+    "Access the inside by opening the microwave with glass top.",
+    "Pull the door of the microwave to open it.",
+    "Use the left arm to pull open the door of the rectangular microwave with clear glass panel.",
+    "Use the left arm to pull the microwave with smooth surface open.",
+    "Use the left arm to grab and pull the rectangular gray microwave.",
+    "Pull and open the microwave with glossy dark gray finish.",
+    "Open the rectangular microwave with clear glass panel by pulling its handle.",
+    "Grip the dark gray slanted microwave box's handle and pull it open.",
+    "Use the left arm to engage the medium microwave with slanted sides's opening mechanism.",
+    "Pull the handle of the microwave for heating food to open it.",
+    "Use the left arm to open the gray appliance with transparent glass top by pulling.",
+    "Use the handle to open the rectangular microwave with clear glass panel.",
+    "Grasp the microwave with glossy dark gray finish's handle and pull to open.",
+    "Open the gray appliance with transparent glass top by pulling with the left arm.",
+    "Open the gray appliance with transparent glass top by pulling its door with the left arm.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Pull the the dark gray kitchen microwave's handle using the left arm.",
+    "Open the dark gray slanted microwave box using the left arm.",
+    "Handle the gray appliance with transparent glass top and open it with the left arm.",
+    "Pull to open the gray appliance with transparent glass top.",
+    "Grab the handle and open the dark gray kitchen microwave.",
+    "Open the medium microwave with slanted sides by grasping its handle.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Get the microwave open.",
+    "Engage the dark gray slanted microwave box using the left arm to open.",
+    "Pull open the door of the gray and glass microwave for cooking using the left arm.",
+    "Utilize the left arm to pull the microwave with glossy dark gray finish open.",
+    "Pull the handle to open the microwave for heating food.",
+    "Pull the medium microwave with slanted sides's handle to open it.",
+    "Activate the door to open the gray and glass microwave for cooking.",
+    "Grab and pull the dark gray kitchen microwave using the left arm.",
+    "Pull the handle of the gray and glass microwave for cooking with the left arm.",
+    "Pull the door to open the rectangular gray microwave.",
+    "Engage the left arm to open the rectangular gray microwave.",
+    "Grab the handle and open the rectangular gray microwave with the left arm.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Engage the gray appliance with transparent glass top's handle and open it.",
+    "Open the dark gray slanted microwave box by pulling on its handle.",
+    "Use the left arm to grab and open the rectangular gray microwave.",
+    "Access the inside by opening the microwave with glass top.",
+    "Pull the door of the microwave with smooth surface to open it.",
+    "Use the left arm to pull open the door of the dark gray slanted microwave box.",
+    "Use the left arm to pull the microwave with smooth surface open.",
+    "Use the left arm to grab and pull the medium microwave with slanted sides.",
+    "Pull and open the dark gray kitchen microwave."
+  ],
+  "unseen": [
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode71.json b/open_microwave/demo_clean/instructions/episode71.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed2203a87cf2e4315955194167f7eaaf8fbde37d
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode71.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the handle to open the microwave with textured top panel.",
+    "Utilize the left arm to pull the gray microwave with two control knobs open.",
+    "Use the left arm to grab and open the microwave with knobs.",
+    "Pull the handle of the microwave with patterned top and knobs to open it.",
+    "Pull the door of the microwave with textured top panel to open it.",
+    "Pull the handle of the rectangular microwave with the left arm.",
+    "Pull to open the gray and yellow microwave with rounded edges.",
+    "Pull the countertop microwave's handle to open it.",
+    "Use the left arm to grab and pull the microwave with patterned top and knobs.",
+    "Handle the gray microwave with two control knobs and open it with the left arm.",
+    "Grab the handle and open the rectangular microwave with the left arm.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Open the countertop microwave by grasping its handle.",
+    "Pull and open the gray microwave.",
+    "Grab the handle and open the gray microwave.",
+    "Engage the left arm to open the gray microwave.",
+    "Activate the door to open the rectangular microwave.",
+    "Pull the door to open the gray microwave with two control knobs.",
+    "Grip the yellow-sided microwave's handle and pull it open.",
+    "Get the microwave with textured top panel open.",
+    "Use the left arm to open the yellow-panel microwave with smooth sides by pulling.",
+    "Open the gray microwave with two control knobs by pulling on its handle.",
+    "Engage the microwave with textured top panel using the left arm to open.",
+    "Grasp the yellow-sided microwave's handle and pull to open.",
+    "Pull open the door of the rectangular microwave using the left arm.",
+    "Use the left arm to pull the yellow-sided microwave open.",
+    "Use the left arm to pull open the door of the yellow-sided microwave.",
+    "Engage the gray microwave's handle and open it.",
+    "Open the countertop microwave by pulling its door with the left arm.",
+    "Open the microwave by pulling its handle.",
+    "Open the gray microwave using the left arm.",
+    "Grab and pull the microwave using the left arm.",
+    "Access the inside by opening the gray microwave with two control knobs.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Use the left arm to engage the countertop microwave's opening mechanism.",
+    "Use the handle to open the countertop microwave.",
+    "Pull the the gray microwave's handle using the left arm.",
+    "Pull the handle to open the medium microwave.",
+    "Open the yellow-sided microwave by pulling with the left arm.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Utilize the left arm to pull the yellow-sided microwave open.",
+    "Use the left arm to grab and open the yellow-sided microwave.",
+    "Pull the handle of the yellow-sided microwave to open it.",
+    "Pull the door of the yellow-panel microwave with smooth sides to open it.",
+    "Pull the handle of the medium microwave with the left arm.",
+    "Pull to open the microwave.",
+    "Pull the rectangular microwave's handle to open it.",
+    "Use the left arm to grab and pull the medium microwave.",
+    "Handle the gray and yellow microwave with rounded edges and open it with the left arm.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges with the left arm.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Open the microwave with patterned top and knobs by grasping its handle.",
+    "Pull and open the microwave with knobs.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides.",
+    "Engage the left arm to open the gray microwave.",
+    "Activate the door to open the microwave with patterned top and knobs.",
+    "Pull the door to open the yellow-panel microwave with smooth sides.",
+    "Grip the rectangular microwave's handle and pull it open.",
+    "Get the countertop microwave open.",
+    "Use the left arm to open the microwave with knobs by pulling.",
+    "Open the medium microwave by pulling on its handle.",
+    "Engage the rectangular microwave using the left arm to open.",
+    "Grasp the gray microwave with two control knobs's handle and pull to open.",
+    "Pull open the door of the yellow-panel microwave with smooth sides using the left arm.",
+    "Use the left arm to pull the gray microwave with two control knobs open.",
+    "Use the left arm to pull open the door of the gray microwave with two control knobs.",
+    "Engage the rectangular microwave's handle and open it.",
+    "Open the gray microwave with two control knobs by pulling its door with the left arm.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Open the microwave with knobs using the left arm.",
+    "Grab and pull the microwave with knobs using the left arm.",
+    "Access the inside by opening the microwave with knobs.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Use the left arm to engage the microwave with knobs's opening mechanism.",
+    "Use the handle to open the yellow-sided microwave.",
+    "Pull the the yellow-panel microwave with smooth sides's handle using the left arm.",
+    "Pull the handle to open the countertop microwave.",
+    "Open the gray microwave with two control knobs by pulling with the left arm.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Utilize the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Use the left arm to grab and open the countertop microwave.",
+    "Pull the handle of the gray microwave with two control knobs to open it.",
+    "Pull the door of the medium microwave to open it.",
+    "Pull the handle of the rectangular microwave with the left arm.",
+    "Pull to open the medium microwave.",
+    "Pull the gray microwave with two control knobs's handle to open it.",
+    "Use the left arm to grab and pull the microwave.",
+    "Handle the microwave with patterned top and knobs and open it with the left arm.",
+    "Grab the handle and open the gray microwave with two control knobs with the left arm.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Open the gray microwave with two control knobs by grasping its handle.",
+    "Pull and open the microwave with patterned top and knobs.",
+    "Grab the handle and open the medium microwave.",
+    "Engage the left arm to open the microwave with knobs.",
+    "Activate the door to open the medium microwave.",
+    "Pull the door to open the microwave with textured top panel.",
+    "Grip the rectangular microwave's handle and pull it open.",
+    "Get the yellow-sided microwave open.",
+    "Use the left arm to open the medium microwave by pulling.",
+    "Open the microwave with patterned top and knobs by pulling on its handle."
+  ],
+  "unseen": [
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode72.json b/open_microwave/demo_clean/instructions/episode72.json
new file mode 100644
index 0000000000000000000000000000000000000000..398f401415ddec8e07fbcc3bc9beb30d235a0c0e
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode72.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab and open the microwave with glass top.",
+    "Open the microwave by pulling its handle.",
+    "Open the microwave with glass top by pulling with the left arm.",
+    "Pull the handle of the rectangular microwave with clear glass panel with the left arm.",
+    "Use the left arm to pull the microwave with glass top open.",
+    "Pull the microwave with glossy dark gray finish's handle to open it.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Pull and open the dark gray slanted microwave box.",
+    "Engage the microwave with smooth surface's handle and open it.",
+    "Use the handle to open the dark gray slanted microwave box.",
+    "Pull to open the rectangular microwave with clear glass panel.",
+    "Use the left arm to open the microwave for heating food by pulling.",
+    "Open the microwave with glossy dark gray finish by pulling its door with the left arm.",
+    "Engage the left arm to open the dark gray slanted microwave box.",
+    "Pull the door to open the gray and glass microwave for cooking.",
+    "Handle the microwave with smooth surface and open it with the left arm.",
+    "Engage the rectangular microwave with clear glass panel using the left arm to open.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Grab the handle and open the rectangular gray microwave with the left arm.",
+    "Use the left arm to grab and pull the microwave with smooth surface.",
+    "Pull the handle of the microwave for heating food to open it.",
+    "Grip the dark gray slanted microwave box's handle and pull it open.",
+    "Utilize the left arm to pull the microwave with glass top open.",
+    "Grasp the rectangular microwave with clear glass panel's handle and pull to open.",
+    "Activate the door to open the microwave with glossy dark gray finish.",
+    "Use the left arm to pull open the door of the gray and glass microwave for cooking.",
+    "Pull the the medium microwave with slanted sides's handle using the left arm.",
+    "Grab and pull the microwave with smooth surface using the left arm.",
+    "Get the microwave with smooth surface open.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Open the rectangular microwave with clear glass panel using the left arm.",
+    "Access the inside by opening the dark gray kitchen microwave.",
+    "Open the microwave with smooth surface by pulling its handle.",
+    "Grab the handle and open the dark gray kitchen microwave.",
+    "Pull the door of the microwave for heating food to open it.",
+    "Pull open the door of the microwave with glossy dark gray finish using the left arm.",
+    "Open the microwave with glass top by grasping its handle.",
+    "Use the left arm to engage the gray appliance with transparent glass top's opening mechanism.",
+    "Open the dark gray kitchen microwave by pulling on its handle.",
+    "Use the left arm to grab and open the gray appliance with transparent glass top.",
+    "Open the microwave with glass top by pulling its handle.",
+    "Open the microwave with glass top by pulling with the left arm.",
+    "Pull the handle of the dark gray kitchen microwave with the left arm.",
+    "Use the left arm to pull the microwave for heating food open.",
+    "Pull the medium microwave with slanted sides's handle to open it.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Pull and open the microwave with glass top.",
+    "Engage the medium microwave with slanted sides's handle and open it.",
+    "Use the handle to open the microwave with glass top.",
+    "Pull to open the medium microwave with slanted sides.",
+    "Use the left arm to open the microwave with glossy dark gray finish by pulling.",
+    "Open the microwave for heating food by pulling its door with the left arm.",
+    "Engage the left arm to open the gray appliance with transparent glass top.",
+    "Pull the door to open the microwave with glass top.",
+    "Handle the dark gray slanted microwave box and open it with the left arm.",
+    "Engage the dark gray slanted microwave box using the left arm to open.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Grab the handle and open the rectangular microwave with clear glass panel with the left arm.",
+    "Use the left arm to grab and pull the dark gray slanted microwave box.",
+    "Pull the handle of the rectangular microwave with clear glass panel to open it.",
+    "Grip the dark gray kitchen microwave's handle and pull it open.",
+    "Utilize the left arm to pull the microwave with smooth surface open.",
+    "Grasp the gray appliance with transparent glass top's handle and pull to open.",
+    "Activate the door to open the gray appliance with transparent glass top.",
+    "Use the left arm to pull open the door of the medium microwave with slanted sides.",
+    "Pull the the gray appliance with transparent glass top's handle using the left arm.",
+    "Grab and pull the gray and glass microwave for cooking using the left arm.",
+    "Get the rectangular microwave with clear glass panel open.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Open the microwave using the left arm.",
+    "Access the inside by opening the microwave for heating food.",
+    "Open the dark gray kitchen microwave by pulling its handle.",
+    "Grab the handle and open the microwave with glossy dark gray finish.",
+    "Pull the door of the dark gray slanted microwave box to open it.",
+    "Pull open the door of the microwave with smooth surface using the left arm.",
+    "Open the microwave for heating food by grasping its handle.",
+    "Use the left arm to engage the microwave with glass top's opening mechanism.",
+    "Open the microwave with glass top by pulling on its handle.",
+    "Use the left arm to grab and open the rectangular gray microwave.",
+    "Open the microwave for heating food by pulling its handle.",
+    "Open the microwave for heating food by pulling with the left arm.",
+    "Pull the handle of the microwave for heating food with the left arm.",
+    "Use the left arm to pull the microwave with smooth surface open.",
+    "Pull the microwave with smooth surface's handle to open it.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Pull and open the gray and glass microwave for cooking.",
+    "Engage the dark gray kitchen microwave's handle and open it.",
+    "Use the handle to open the rectangular microwave with clear glass panel.",
+    "Pull to open the rectangular microwave with clear glass panel.",
+    "Use the left arm to open the gray and glass microwave for cooking by pulling.",
+    "Open the microwave for heating food by pulling its door with the left arm.",
+    "Engage the left arm to open the microwave with glass top.",
+    "Pull the door to open the rectangular gray microwave.",
+    "Handle the dark gray slanted microwave box and open it with the left arm.",
+    "Engage the microwave with smooth surface using the left arm to open.",
+    "Pull the handle to open the microwave with glass top.",
+    "Grab the handle and open the medium microwave with slanted sides with the left arm.",
+    "Use the left arm to grab and pull the rectangular microwave with clear glass panel.",
+    "Pull the handle of the microwave with glass top to open it.",
+    "Grip the rectangular gray microwave's handle and pull it open."
+  ],
+  "unseen": [
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode73.json b/open_microwave/demo_clean/instructions/episode73.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba3852c5be653a1a4238c4cb4f73e93cd1d3cf88
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode73.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the handle and open the microwave with the left arm.",
+    "Grab the handle and open the microwave with glossy dark gray finish.",
+    "Pull the handle of the medium microwave with slanted sides with the left arm.",
+    "Engage the microwave with glossy dark gray finish using the left arm to open.",
+    "Use the left arm to pull open the door of the microwave for heating food.",
+    "Pull the handle to open the microwave with glass top.",
+    "Engage the left arm to open the rectangular microwave with clear glass panel.",
+    "Use the left arm to grab and pull the microwave for heating food.",
+    "Use the left arm to open the microwave for heating food by pulling.",
+    "Open the microwave for heating food by grasping its handle.",
+    "Pull open the door of the gray appliance with transparent glass top using the left arm.",
+    "Pull the handle of the microwave with glossy dark gray finish to open it.",
+    "Pull and open the microwave for heating food.",
+    "Engage the gray appliance with transparent glass top's handle and open it.",
+    "Pull the the dark gray kitchen microwave's handle using the left arm.",
+    "Handle the dark gray kitchen microwave and open it with the left arm.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Access the inside by opening the microwave for heating food.",
+    "Pull the door of the microwave to open it.",
+    "Open the gray appliance with transparent glass top by pulling its door with the left arm.",
+    "Open the microwave using the left arm.",
+    "Use the left arm to grab and open the microwave with glass top.",
+    "Open the rectangular gray microwave by pulling on its handle.",
+    "Grip the microwave for heating food's handle and pull it open.",
+    "Pull to open the rectangular gray microwave.",
+    "Use the handle to open the dark gray slanted microwave box.",
+    "Utilize the left arm to pull the microwave with glossy dark gray finish open.",
+    "Open the microwave with smooth surface by pulling its handle.",
+    "Use the left arm to pull the rectangular gray microwave open.",
+    "Grab and pull the rectangular microwave with clear glass panel using the left arm.",
+    "Pull the door to open the microwave with glossy dark gray finish.",
+    "Grasp the gray and glass microwave for cooking's handle and pull to open.",
+    "Open the rectangular microwave with clear glass panel by pulling with the left arm.",
+    "Open the microwave with smooth surface by pulling its handle.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Pull the medium microwave with slanted sides's handle to open it.",
+    "Use the left arm to engage the rectangular microwave with clear glass panel's opening mechanism.",
+    "Get the microwave for heating food open.",
+    "Activate the door to open the microwave with smooth surface.",
+    "Grab the handle and open the dark gray kitchen microwave with the left arm.",
+    "Grab the handle and open the medium microwave with slanted sides.",
+    "Pull the handle of the microwave with smooth surface with the left arm.",
+    "Engage the gray and glass microwave for cooking using the left arm to open.",
+    "Use the left arm to pull open the door of the microwave for heating food.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Engage the left arm to open the microwave with glossy dark gray finish.",
+    "Use the left arm to grab and pull the medium microwave with slanted sides.",
+    "Use the left arm to open the gray appliance with transparent glass top by pulling.",
+    "Open the dark gray kitchen microwave by grasping its handle.",
+    "Pull open the door of the gray appliance with transparent glass top using the left arm.",
+    "Pull the handle of the rectangular microwave with clear glass panel to open it.",
+    "Pull and open the dark gray slanted microwave box.",
+    "Engage the gray and glass microwave for cooking's handle and open it.",
+    "Pull the the dark gray slanted microwave box's handle using the left arm.",
+    "Handle the rectangular microwave with clear glass panel and open it with the left arm.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Access the inside by opening the gray and glass microwave for cooking.",
+    "Pull the door of the dark gray slanted microwave box to open it.",
+    "Open the microwave with glossy dark gray finish by pulling its door with the left arm.",
+    "Open the dark gray slanted microwave box using the left arm.",
+    "Use the left arm to grab and open the microwave with glossy dark gray finish.",
+    "Open the medium microwave with slanted sides by pulling on its handle.",
+    "Grip the microwave for heating food's handle and pull it open.",
+    "Pull to open the rectangular gray microwave.",
+    "Use the handle to open the gray and glass microwave for cooking.",
+    "Utilize the left arm to pull the dark gray kitchen microwave open.",
+    "Open the microwave with glass top by pulling its handle.",
+    "Use the left arm to pull the gray and glass microwave for cooking open.",
+    "Grab and pull the microwave with smooth surface using the left arm.",
+    "Pull the door to open the microwave.",
+    "Grasp the medium microwave with slanted sides's handle and pull to open.",
+    "Open the gray appliance with transparent glass top by pulling with the left arm.",
+    "Open the gray appliance with transparent glass top by pulling its handle.",
+    "Pull the handle to open the microwave for heating food.",
+    "Pull the microwave's handle to open it.",
+    "Use the left arm to engage the dark gray kitchen microwave's opening mechanism.",
+    "Get the rectangular gray microwave open.",
+    "Activate the door to open the rectangular microwave with clear glass panel.",
+    "Grab the handle and open the rectangular gray microwave with the left arm.",
+    "Grab the handle and open the microwave with glossy dark gray finish.",
+    "Pull the handle of the rectangular microwave with clear glass panel with the left arm.",
+    "Engage the microwave for heating food using the left arm to open.",
+    "Use the left arm to pull open the door of the dark gray slanted microwave box.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Engage the left arm to open the microwave with smooth surface.",
+    "Use the left arm to grab and pull the gray and glass microwave for cooking.",
+    "Use the left arm to open the microwave for heating food by pulling.",
+    "Open the microwave for heating food by grasping its handle.",
+    "Pull open the door of the gray and glass microwave for cooking using the left arm.",
+    "Pull the handle of the microwave with glossy dark gray finish to open it.",
+    "Pull and open the gray and glass microwave for cooking.",
+    "Engage the dark gray slanted microwave box's handle and open it.",
+    "Pull the the medium microwave with slanted sides's handle using the left arm.",
+    "Handle the microwave with glossy dark gray finish and open it with the left arm.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Access the inside by opening the gray and glass microwave for cooking.",
+    "Pull the door of the gray appliance with transparent glass top to open it.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Open the microwave with glossy dark gray finish using the left arm.",
+    "Use the left arm to grab and open the dark gray kitchen microwave."
+  ],
+  "unseen": [
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode74.json b/open_microwave/demo_clean/instructions/episode74.json
new file mode 100644
index 0000000000000000000000000000000000000000..a89cc47b7bdc502a3673dbd73fc1b0ede880a5e2
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode74.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab and open the dark gray slanted microwave box.",
+    "Open the dark gray slanted microwave box by pulling its door with the left arm.",
+    "Open the rectangular gray microwave by pulling on its handle.",
+    "Pull the handle of the rectangular microwave with clear glass panel with the left arm.",
+    "Pull the door to open the microwave with smooth surface.",
+    "Open the gray and glass microwave for cooking by pulling its handle.",
+    "Use the left arm to pull open the door of the microwave with glossy dark gray finish.",
+    "Pull and open the gray and glass microwave for cooking.",
+    "Open the dark gray slanted microwave box using the left arm.",
+    "Use the left arm to engage the microwave for heating food's opening mechanism.",
+    "Pull the microwave with smooth surface's handle to open it.",
+    "Utilize the left arm to pull the medium microwave with slanted sides open.",
+    "Open the medium microwave with slanted sides by pulling its handle.",
+    "Use the left arm to open the microwave with smooth surface by pulling.",
+    "Handle the gray and glass microwave for cooking and open it with the left arm.",
+    "Use the handle to open the microwave with smooth surface.",
+    "Grab and pull the gray and glass microwave for cooking using the left arm.",
+    "Grip the microwave with glass top's handle and pull it open.",
+    "Get the microwave open.",
+    "Use the left arm to grab and pull the microwave with glass top.",
+    "Pull the the microwave with glossy dark gray finish's handle using the left arm.",
+    "Engage the microwave with glossy dark gray finish's handle and open it.",
+    "Pull the handle of the rectangular microwave with clear glass panel to open it.",
+    "Open the rectangular gray microwave by grasping its handle.",
+    "Engage the left arm to open the microwave.",
+    "Pull open the door of the gray appliance with transparent glass top using the left arm.",
+    "Pull the handle to open the microwave with glass top.",
+    "Pull the handle to open the microwave with glass top.",
+    "Use the left arm to pull the gray and glass microwave for cooking open.",
+    "Grab the handle and open the medium microwave with slanted sides with the left arm.",
+    "Pull to open the medium microwave with slanted sides.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Activate the door to open the microwave with glossy dark gray finish.",
+    "Grab the handle and open the microwave with glass top.",
+    "Grasp the medium microwave with slanted sides's handle and pull to open.",
+    "Engage the rectangular microwave with clear glass panel using the left arm to open.",
+    "Open the microwave with glass top by pulling with the left arm.",
+    "Access the inside by opening the microwave with glossy dark gray finish.",
+    "Pull the door of the microwave for heating food to open it.",
+    "Use the left arm to grab and open the gray appliance with transparent glass top.",
+    "Open the microwave with smooth surface by pulling its door with the left arm.",
+    "Open the dark gray kitchen microwave by pulling on its handle.",
+    "Pull the handle of the microwave for heating food with the left arm.",
+    "Pull the door to open the medium microwave with slanted sides.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Use the left arm to pull open the door of the dark gray kitchen microwave.",
+    "Pull and open the microwave with glass top.",
+    "Open the gray and glass microwave for cooking using the left arm.",
+    "Use the left arm to engage the microwave for heating food's opening mechanism.",
+    "Pull the medium microwave with slanted sides's handle to open it.",
+    "Utilize the left arm to pull the rectangular gray microwave open.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Use the left arm to open the rectangular gray microwave by pulling.",
+    "Handle the dark gray kitchen microwave and open it with the left arm.",
+    "Use the handle to open the microwave with smooth surface.",
+    "Grab and pull the medium microwave with slanted sides using the left arm.",
+    "Grip the microwave with smooth surface's handle and pull it open.",
+    "Get the dark gray kitchen microwave open.",
+    "Use the left arm to grab and pull the microwave with smooth surface.",
+    "Pull the the microwave with smooth surface's handle using the left arm.",
+    "Engage the microwave's handle and open it.",
+    "Pull the handle of the microwave to open it.",
+    "Open the gray and glass microwave for cooking by grasping its handle.",
+    "Engage the left arm to open the microwave.",
+    "Pull open the door of the microwave with smooth surface using the left arm.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Pull the handle to open the microwave.",
+    "Use the left arm to pull the rectangular gray microwave open.",
+    "Grab the handle and open the gray and glass microwave for cooking with the left arm.",
+    "Pull to open the gray appliance with transparent glass top.",
+    "Pull the handle to open the microwave.",
+    "Activate the door to open the rectangular gray microwave.",
+    "Grab the handle and open the microwave with smooth surface.",
+    "Grasp the rectangular microwave with clear glass panel's handle and pull to open.",
+    "Engage the gray appliance with transparent glass top using the left arm to open.",
+    "Open the microwave with glass top by pulling with the left arm.",
+    "Access the inside by opening the microwave with smooth surface.",
+    "Pull the door of the dark gray kitchen microwave to open it.",
+    "Use the left arm to grab and open the microwave with glass top.",
+    "Open the dark gray slanted microwave box by pulling its door with the left arm.",
+    "Open the gray appliance with transparent glass top by pulling on its handle.",
+    "Pull the handle of the microwave for heating food with the left arm.",
+    "Pull the door to open the rectangular gray microwave.",
+    "Open the dark gray kitchen microwave by pulling its handle.",
+    "Use the left arm to pull open the door of the microwave with smooth surface.",
+    "Pull and open the medium microwave with slanted sides.",
+    "Open the microwave using the left arm.",
+    "Use the left arm to engage the dark gray kitchen microwave's opening mechanism.",
+    "Pull the microwave with glossy dark gray finish's handle to open it.",
+    "Utilize the left arm to pull the gray appliance with transparent glass top open.",
+    "Open the gray appliance with transparent glass top by pulling its handle.",
+    "Use the left arm to open the gray and glass microwave for cooking by pulling.",
+    "Handle the rectangular microwave with clear glass panel and open it with the left arm.",
+    "Use the handle to open the dark gray slanted microwave box.",
+    "Grab and pull the rectangular gray microwave using the left arm.",
+    "Grip the microwave with glossy dark gray finish's handle and pull it open.",
+    "Get the dark gray kitchen microwave open.",
+    "Use the left arm to grab and pull the microwave with glass top.",
+    "Pull the the gray and glass microwave for cooking's handle using the left arm.",
+    "Engage the dark gray kitchen microwave's handle and open it."
+  ],
+  "unseen": [
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode75.json b/open_microwave/demo_clean/instructions/episode75.json
new file mode 100644
index 0000000000000000000000000000000000000000..e836b88c9ec05d2c7a9cf937af65f10a2459600e
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode75.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pull open the door of the microwave with glass top.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Engage the microwave with smooth surface's handle and open it.",
+    "Grip the microwave for heating food's handle and pull it open.",
+    "Grab the handle and open the gray and glass microwave for cooking with the left arm.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Pull to open the medium microwave with slanted sides.",
+    "Open the microwave using the left arm.",
+    "Open the gray appliance with transparent glass top by pulling its door with the left arm.",
+    "Use the left arm to engage the rectangular gray microwave's opening mechanism.",
+    "Pull the the dark gray slanted microwave box's handle using the left arm.",
+    "Utilize the left arm to pull the gray and glass microwave for cooking open.",
+    "Open the dark gray kitchen microwave by grasping its handle.",
+    "Use the left arm to pull the microwave for heating food open.",
+    "Open the rectangular microwave with clear glass panel by pulling on its handle.",
+    "Access the inside by opening the gray appliance with transparent glass top.",
+    "Grab the handle and open the rectangular gray microwave.",
+    "Handle the dark gray kitchen microwave and open it with the left arm.",
+    "Grab and pull the microwave for heating food using the left arm.",
+    "Get the rectangular microwave with clear glass panel open.",
+    "Open the rectangular microwave with clear glass panel by pulling its handle.",
+    "Pull and open the microwave for heating food.",
+    "Activate the door to open the medium microwave with slanted sides.",
+    "Engage the microwave with glossy dark gray finish using the left arm to open.",
+    "Pull the door of the microwave for heating food to open it.",
+    "Open the rectangular gray microwave by pulling with the left arm.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Use the left arm to open the rectangular microwave with clear glass panel by pulling.",
+    "Grasp the gray and glass microwave for cooking's handle and pull to open.",
+    "Open the rectangular gray microwave by pulling its handle.",
+    "Use the handle to open the microwave with smooth surface.",
+    "Pull open the door of the gray and glass microwave for cooking using the left arm.",
+    "Pull the handle of the rectangular gray microwave to open it.",
+    "Pull the microwave's handle to open it.",
+    "Use the left arm to grab and open the microwave with glass top.",
+    "Engage the left arm to open the rectangular microwave with clear glass panel.",
+    "Pull the handle of the dark gray kitchen microwave with the left arm.",
+    "Pull the door to open the dark gray kitchen microwave.",
+    "Use the left arm to grab and pull the microwave with glass top.",
+    "Use the left arm to pull open the door of the rectangular microwave with clear glass panel.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Engage the dark gray slanted microwave box's handle and open it.",
+    "Grip the dark gray slanted microwave box's handle and pull it open.",
+    "Grab the handle and open the gray and glass microwave for cooking with the left arm.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Pull to open the microwave with glossy dark gray finish.",
+    "Open the dark gray kitchen microwave using the left arm.",
+    "Open the dark gray kitchen microwave by pulling its door with the left arm.",
+    "Use the left arm to engage the rectangular microwave with clear glass panel's opening mechanism.",
+    "Pull the the dark gray slanted microwave box's handle using the left arm.",
+    "Utilize the left arm to pull the rectangular microwave with clear glass panel open.",
+    "Open the microwave with glossy dark gray finish by grasping its handle.",
+    "Use the left arm to pull the rectangular gray microwave open.",
+    "Open the dark gray slanted microwave box by pulling on its handle.",
+    "Access the inside by opening the dark gray kitchen microwave.",
+    "Grab the handle and open the dark gray kitchen microwave.",
+    "Handle the dark gray slanted microwave box and open it with the left arm.",
+    "Grab and pull the microwave using the left arm.",
+    "Get the gray and glass microwave for cooking open.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Pull and open the dark gray kitchen microwave.",
+    "Activate the door to open the microwave.",
+    "Engage the gray appliance with transparent glass top using the left arm to open.",
+    "Pull the door of the gray appliance with transparent glass top to open it.",
+    "Open the microwave by pulling with the left arm.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Use the left arm to open the dark gray slanted microwave box by pulling.",
+    "Grasp the microwave's handle and pull to open.",
+    "Open the microwave with smooth surface by pulling its handle.",
+    "Use the handle to open the microwave with smooth surface.",
+    "Pull open the door of the rectangular microwave with clear glass panel using the left arm.",
+    "Pull the handle of the microwave for heating food to open it.",
+    "Pull the gray appliance with transparent glass top's handle to open it.",
+    "Use the left arm to grab and open the rectangular gray microwave.",
+    "Engage the left arm to open the microwave with glass top.",
+    "Pull the handle of the medium microwave with slanted sides with the left arm.",
+    "Pull the door to open the microwave.",
+    "Use the left arm to grab and pull the microwave with glass top.",
+    "Use the left arm to pull open the door of the medium microwave with slanted sides.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Engage the microwave's handle and open it.",
+    "Grip the microwave's handle and pull it open.",
+    "Grab the handle and open the dark gray kitchen microwave with the left arm.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Pull to open the microwave with glossy dark gray finish.",
+    "Open the microwave using the left arm.",
+    "Open the rectangular microwave with clear glass panel by pulling its door with the left arm.",
+    "Use the left arm to engage the rectangular microwave with clear glass panel's opening mechanism.",
+    "Pull the the gray appliance with transparent glass top's handle using the left arm.",
+    "Utilize the left arm to pull the microwave for heating food open.",
+    "Open the microwave for heating food by grasping its handle.",
+    "Use the left arm to pull the microwave open.",
+    "Open the gray appliance with transparent glass top by pulling on its handle.",
+    "Access the inside by opening the rectangular gray microwave.",
+    "Grab the handle and open the microwave with glossy dark gray finish.",
+    "Handle the microwave for heating food and open it with the left arm.",
+    "Grab and pull the gray appliance with transparent glass top using the left arm.",
+    "Get the microwave with smooth surface open.",
+    "Open the gray and glass microwave for cooking by pulling its handle.",
+    "Pull and open the gray and glass microwave for cooking."
+  ],
+  "unseen": [
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the dark gray microwave.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the dark gray microwave using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Open the dark gray microwave using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the dark gray microwave using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the dark gray microwave using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode76.json b/open_microwave/demo_clean/instructions/episode76.json
new file mode 100644
index 0000000000000000000000000000000000000000..90e1eacf1e1d1ba7a62297e60d6c5e4a93de7b0e
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode76.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Utilize the left arm to pull the rectangular microwave open.",
+    "Grab the handle and open the gray microwave.",
+    "Open the microwave with patterned top and knobs by pulling on its handle.",
+    "Pull the countertop microwave's handle to open it.",
+    "Pull open the door of the gray microwave using the left arm.",
+    "Pull the door to open the rectangular microwave.",
+    "Open the rectangular microwave by pulling its door with the left arm.",
+    "Use the handle to open the countertop microwave.",
+    "Open the rectangular microwave using the left arm.",
+    "Pull and open the gray microwave.",
+    "Pull the the microwave's handle using the left arm.",
+    "Open the rectangular microwave by grasping its handle.",
+    "Pull the handle of the gray and yellow microwave with rounded edges to open it.",
+    "Open the microwave with knobs by pulling with the left arm.",
+    "Use the left arm to pull open the door of the medium microwave.",
+    "Access the inside by opening the yellow-panel microwave with smooth sides.",
+    "Pull the handle to open the rectangular microwave.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Pull to open the microwave with patterned top and knobs.",
+    "Engage the yellow-panel microwave with smooth sides's handle and open it.",
+    "Use the left arm to open the microwave with textured top panel by pulling.",
+    "Grip the countertop microwave's handle and pull it open.",
+    "Get the yellow-sided microwave open.",
+    "Use the left arm to grab and pull the microwave.",
+    "Use the left arm to grab and open the microwave.",
+    "Use the left arm to pull the gray microwave with two control knobs open.",
+    "Grasp the microwave with knobs's handle and pull to open.",
+    "Pull the door of the microwave with textured top panel to open it.",
+    "Handle the microwave with textured top panel and open it with the left arm.",
+    "Engage the left arm to open the microwave.",
+    "Use the left arm to engage the microwave with textured top panel's opening mechanism.",
+    "Grab and pull the microwave with patterned top and knobs using the left arm.",
+    "Grab the handle and open the microwave with textured top panel with the left arm.",
+    "Pull the handle to open the microwave.",
+    "Engage the yellow-sided microwave using the left arm to open.",
+    "Pull the handle of the countertop microwave with the left arm.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Activate the door to open the yellow-panel microwave with smooth sides.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Utilize the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges.",
+    "Open the yellow-sided microwave by pulling on its handle.",
+    "Pull the microwave's handle to open it.",
+    "Pull open the door of the countertop microwave using the left arm.",
+    "Pull the door to open the countertop microwave.",
+    "Open the microwave with textured top panel by pulling its door with the left arm.",
+    "Use the handle to open the microwave with textured top panel.",
+    "Open the countertop microwave using the left arm.",
+    "Pull and open the gray microwave with two control knobs.",
+    "Pull the the medium microwave's handle using the left arm.",
+    "Open the countertop microwave by grasping its handle.",
+    "Pull the handle of the gray microwave with two control knobs to open it.",
+    "Open the rectangular microwave by pulling with the left arm.",
+    "Use the left arm to pull open the door of the gray microwave.",
+    "Access the inside by opening the microwave with knobs.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Open the countertop microwave by pulling its handle.",
+    "Pull to open the yellow-panel microwave with smooth sides.",
+    "Engage the gray microwave's handle and open it.",
+    "Use the left arm to open the gray microwave with two control knobs by pulling.",
+    "Grip the countertop microwave's handle and pull it open.",
+    "Get the yellow-panel microwave with smooth sides open.",
+    "Use the left arm to grab and pull the microwave with textured top panel.",
+    "Use the left arm to grab and open the medium microwave.",
+    "Use the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Grasp the medium microwave's handle and pull to open.",
+    "Pull the door of the gray and yellow microwave with rounded edges to open it.",
+    "Handle the gray and yellow microwave with rounded edges and open it with the left arm.",
+    "Engage the left arm to open the gray microwave.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Grab and pull the gray and yellow microwave with rounded edges using the left arm.",
+    "Grab the handle and open the gray microwave with the left arm.",
+    "Pull the handle to open the gray microwave.",
+    "Engage the microwave with patterned top and knobs using the left arm to open.",
+    "Pull the handle of the rectangular microwave with the left arm.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Activate the door to open the gray microwave.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Utilize the left arm to pull the rectangular microwave open.",
+    "Grab the handle and open the gray microwave.",
+    "Open the microwave with patterned top and knobs by pulling on its handle.",
+    "Pull the countertop microwave's handle to open it.",
+    "Pull open the door of the gray microwave with two control knobs using the left arm.",
+    "Pull the door to open the yellow-sided microwave.",
+    "Open the rectangular microwave by pulling its door with the left arm.",
+    "Use the handle to open the gray and yellow microwave with rounded edges.",
+    "Open the yellow-panel microwave with smooth sides using the left arm.",
+    "Pull and open the countertop microwave.",
+    "Pull the the yellow-sided microwave's handle using the left arm.",
+    "Open the gray microwave by grasping its handle.",
+    "Pull the handle of the gray microwave to open it.",
+    "Open the gray and yellow microwave with rounded edges by pulling with the left arm.",
+    "Use the left arm to pull open the door of the gray microwave.",
+    "Access the inside by opening the microwave with patterned top and knobs.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Pull to open the gray and yellow microwave with rounded edges.",
+    "Engage the microwave with textured top panel's handle and open it.",
+    "Use the left arm to open the rectangular microwave by pulling."
+  ],
+  "unseen": [
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode77.json b/open_microwave/demo_clean/instructions/episode77.json
new file mode 100644
index 0000000000000000000000000000000000000000..adf5f29db3617fcc2abc22c7a5ee8de8ede40a3a
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode77.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pull the microwave with glossy dark gray finish open.",
+    "Pull the handle of the microwave for heating food with the left arm.",
+    "Pull the gray and glass microwave for cooking's handle to open it.",
+    "Pull open the door of the microwave with glass top using the left arm.",
+    "Engage the rectangular gray microwave using the left arm to open.",
+    "Grab the handle and open the rectangular gray microwave with the left arm.",
+    "Pull the the microwave with smooth surface's handle using the left arm.",
+    "Access the inside by opening the microwave.",
+    "Open the rectangular microwave with clear glass panel by pulling on its handle.",
+    "Use the left arm to grab and open the microwave with glossy dark gray finish.",
+    "Open the microwave using the left arm.",
+    "Pull and open the gray appliance with transparent glass top.",
+    "Engage the left arm to open the dark gray kitchen microwave.",
+    "Use the handle to open the dark gray slanted microwave box.",
+    "Pull the handle to open the microwave for heating food.",
+    "Utilize the left arm to pull the dark gray slanted microwave box open.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Handle the gray appliance with transparent glass top and open it with the left arm.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Engage the microwave with glossy dark gray finish's handle and open it.",
+    "Open the rectangular gray microwave by grasping its handle.",
+    "Pull to open the gray appliance with transparent glass top.",
+    "Pull the door of the microwave with smooth surface to open it.",
+    "Open the microwave with smooth surface by pulling its door with the left arm.",
+    "Use the left arm to engage the microwave with glossy dark gray finish's opening mechanism.",
+    "Grab the handle and open the microwave with smooth surface.",
+    "Activate the door to open the microwave with glossy dark gray finish.",
+    "Pull the door to open the medium microwave with slanted sides.",
+    "Open the microwave with smooth surface by pulling with the left arm.",
+    "Use the left arm to grab and pull the microwave with glass top.",
+    "Grab and pull the gray and glass microwave for cooking using the left arm.",
+    "Grasp the gray appliance with transparent glass top's handle and pull to open.",
+    "Open the dark gray kitchen microwave by pulling its handle.",
+    "Pull the handle of the rectangular microwave with clear glass panel to open it.",
+    "Use the left arm to pull open the door of the microwave for heating food.",
+    "Get the medium microwave with slanted sides open.",
+    "Grip the dark gray kitchen microwave's handle and pull it open.",
+    "Use the left arm to open the microwave for heating food by pulling.",
+    "Open the medium microwave with slanted sides by pulling its handle.",
+    "Use the left arm to pull the dark gray slanted microwave box open.",
+    "Pull the handle of the microwave with glossy dark gray finish with the left arm.",
+    "Pull the gray and glass microwave for cooking's handle to open it.",
+    "Pull open the door of the dark gray kitchen microwave using the left arm.",
+    "Engage the microwave with glass top using the left arm to open.",
+    "Grab the handle and open the gray appliance with transparent glass top with the left arm.",
+    "Pull the the microwave with glass top's handle using the left arm.",
+    "Access the inside by opening the dark gray kitchen microwave.",
+    "Open the microwave with glass top by pulling on its handle.",
+    "Use the left arm to grab and open the gray and glass microwave for cooking.",
+    "Open the microwave for heating food using the left arm.",
+    "Pull and open the microwave with glossy dark gray finish.",
+    "Engage the left arm to open the rectangular microwave with clear glass panel.",
+    "Use the handle to open the medium microwave with slanted sides.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Utilize the left arm to pull the dark gray kitchen microwave open.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Handle the microwave with glass top and open it with the left arm.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Engage the microwave's handle and open it.",
+    "Open the dark gray kitchen microwave by grasping its handle.",
+    "Pull to open the gray appliance with transparent glass top.",
+    "Pull the door of the gray appliance with transparent glass top to open it.",
+    "Open the rectangular gray microwave by pulling its door with the left arm.",
+    "Use the left arm to engage the dark gray slanted microwave box's opening mechanism.",
+    "Grab the handle and open the gray appliance with transparent glass top.",
+    "Activate the door to open the microwave for heating food.",
+    "Pull the door to open the medium microwave with slanted sides.",
+    "Open the microwave for heating food by pulling with the left arm.",
+    "Use the left arm to grab and pull the gray appliance with transparent glass top.",
+    "Grab and pull the gray appliance with transparent glass top using the left arm.",
+    "Grasp the microwave with glass top's handle and pull to open.",
+    "Open the gray appliance with transparent glass top by pulling its handle.",
+    "Pull the handle of the rectangular gray microwave to open it.",
+    "Use the left arm to pull open the door of the microwave with glossy dark gray finish.",
+    "Get the rectangular gray microwave open.",
+    "Grip the gray appliance with transparent glass top's handle and pull it open.",
+    "Use the left arm to open the rectangular microwave with clear glass panel by pulling.",
+    "Open the gray appliance with transparent glass top by pulling its handle.",
+    "Use the left arm to pull the gray appliance with transparent glass top open.",
+    "Pull the handle of the gray appliance with transparent glass top with the left arm.",
+    "Pull the microwave for heating food's handle to open it.",
+    "Pull open the door of the gray and glass microwave for cooking using the left arm.",
+    "Engage the dark gray slanted microwave box using the left arm to open.",
+    "Grab the handle and open the dark gray slanted microwave box with the left arm.",
+    "Pull the the medium microwave with slanted sides's handle using the left arm.",
+    "Access the inside by opening the microwave with glossy dark gray finish.",
+    "Open the gray and glass microwave for cooking by pulling on its handle.",
+    "Use the left arm to grab and open the microwave with glossy dark gray finish.",
+    "Open the dark gray slanted microwave box using the left arm.",
+    "Pull and open the microwave.",
+    "Engage the left arm to open the microwave with glass top.",
+    "Use the handle to open the microwave with smooth surface.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Utilize the left arm to pull the dark gray slanted microwave box open.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Handle the microwave and open it with the left arm.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Engage the microwave with glass top's handle and open it.",
+    "Open the gray and glass microwave for cooking by grasping its handle.",
+    "Pull to open the medium microwave with slanted sides."
+  ],
+  "unseen": [
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode78.json b/open_microwave/demo_clean/instructions/episode78.json
new file mode 100644
index 0000000000000000000000000000000000000000..52fae8b5ef339f3bb88bc111f45305e46156af04
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode78.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the dark gray slanted microwave box by pulling its door with the left arm.",
+    "Open the microwave for heating food by pulling its handle.",
+    "Use the left arm to engage the rectangular microwave with clear glass panel's opening mechanism.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Engage the microwave with glossy dark gray finish's handle and open it.",
+    "Access the inside by opening the rectangular gray microwave.",
+    "Open the microwave with glossy dark gray finish by grasping its handle.",
+    "Pull and open the gray and glass microwave for cooking.",
+    "Open the microwave for heating food by pulling with the left arm.",
+    "Pull the door of the microwave to open it.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Pull the handle of the medium microwave with slanted sides to open it.",
+    "Use the left arm to grab and open the medium microwave with slanted sides.",
+    "Use the handle to open the rectangular gray microwave.",
+    "Pull to open the gray appliance with transparent glass top.",
+    "Grip the microwave with smooth surface's handle and pull it open.",
+    "Use the left arm to open the microwave by pulling.",
+    "Engage the dark gray slanted microwave box using the left arm to open.",
+    "Open the dark gray slanted microwave box by pulling on its handle.",
+    "Use the left arm to pull open the door of the microwave with smooth surface.",
+    "Pull the microwave with smooth surface's handle to open it.",
+    "Use the left arm to pull the microwave for heating food open.",
+    "Use the left arm to grab and pull the microwave with glossy dark gray finish.",
+    "Open the dark gray kitchen microwave using the left arm.",
+    "Grab the handle and open the microwave with smooth surface.",
+    "Handle the medium microwave with slanted sides and open it with the left arm.",
+    "Activate the door to open the microwave with glossy dark gray finish.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Get the gray appliance with transparent glass top open.",
+    "Engage the left arm to open the microwave.",
+    "Grab and pull the gray and glass microwave for cooking using the left arm.",
+    "Pull the handle of the microwave with the left arm.",
+    "Pull open the door of the dark gray kitchen microwave using the left arm.",
+    "Pull the door to open the medium microwave with slanted sides.",
+    "Open the microwave with glass top by pulling its handle.",
+    "Utilize the left arm to pull the rectangular microwave with clear glass panel open.",
+    "Pull the the microwave's handle using the left arm.",
+    "Grab the handle and open the rectangular gray microwave with the left arm.",
+    "Grasp the gray and glass microwave for cooking's handle and pull to open.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Open the microwave with smooth surface by pulling its handle.",
+    "Use the left arm to engage the medium microwave with slanted sides's opening mechanism.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Engage the rectangular microwave with clear glass panel's handle and open it.",
+    "Access the inside by opening the rectangular microwave with clear glass panel.",
+    "Open the dark gray kitchen microwave by grasping its handle.",
+    "Pull and open the gray appliance with transparent glass top.",
+    "Open the rectangular microwave with clear glass panel by pulling with the left arm.",
+    "Pull the door of the gray appliance with transparent glass top to open it.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Pull the handle of the gray and glass microwave for cooking to open it.",
+    "Use the left arm to grab and open the microwave with glass top.",
+    "Use the handle to open the dark gray slanted microwave box.",
+    "Pull to open the rectangular gray microwave.",
+    "Grip the microwave with glossy dark gray finish's handle and pull it open.",
+    "Use the left arm to open the gray and glass microwave for cooking by pulling.",
+    "Engage the microwave with glass top using the left arm to open.",
+    "Open the microwave with smooth surface by pulling on its handle.",
+    "Use the left arm to pull open the door of the rectangular microwave with clear glass panel.",
+    "Pull the microwave for heating food's handle to open it.",
+    "Use the left arm to pull the rectangular microwave with clear glass panel open.",
+    "Use the left arm to grab and pull the gray appliance with transparent glass top.",
+    "Open the microwave for heating food using the left arm.",
+    "Grab the handle and open the microwave with glossy dark gray finish.",
+    "Handle the microwave for heating food and open it with the left arm.",
+    "Activate the door to open the rectangular gray microwave.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Get the rectangular gray microwave open.",
+    "Engage the left arm to open the rectangular gray microwave.",
+    "Grab and pull the rectangular microwave with clear glass panel using the left arm.",
+    "Pull the handle of the rectangular gray microwave with the left arm.",
+    "Pull open the door of the dark gray slanted microwave box using the left arm.",
+    "Pull the door to open the microwave.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Utilize the left arm to pull the dark gray kitchen microwave open.",
+    "Pull the the microwave with glossy dark gray finish's handle using the left arm.",
+    "Grab the handle and open the gray appliance with transparent glass top with the left arm.",
+    "Grasp the microwave with smooth surface's handle and pull to open.",
+    "Open the microwave with smooth surface by pulling its door with the left arm.",
+    "Open the rectangular gray microwave by pulling its handle.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Engage the dark gray kitchen microwave's handle and open it.",
+    "Access the inside by opening the dark gray slanted microwave box.",
+    "Open the rectangular gray microwave by grasping its handle.",
+    "Pull and open the dark gray kitchen microwave.",
+    "Open the microwave by pulling with the left arm.",
+    "Pull the door of the gray appliance with transparent glass top to open it.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Pull the handle of the microwave with glass top to open it.",
+    "Use the left arm to grab and open the microwave with glossy dark gray finish.",
+    "Use the handle to open the dark gray kitchen microwave.",
+    "Pull to open the microwave with glossy dark gray finish.",
+    "Grip the microwave for heating food's handle and pull it open.",
+    "Use the left arm to open the gray and glass microwave for cooking by pulling.",
+    "Engage the microwave using the left arm to open.",
+    "Open the gray appliance with transparent glass top by pulling on its handle.",
+    "Use the left arm to pull open the door of the medium microwave with slanted sides.",
+    "Pull the dark gray kitchen microwave's handle to open it.",
+    "Use the left arm to pull the microwave open."
+  ],
+  "unseen": [
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode79.json b/open_microwave/demo_clean/instructions/episode79.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a8c4ce73986a4c657ce3e65eb3e0fba12239bb9
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode79.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the handle of the microwave with glass top with the left arm.",
+    "Grab the handle and open the rectangular gray microwave.",
+    "Pull to open the microwave with glossy dark gray finish.",
+    "Grip the microwave's handle and pull it open.",
+    "Use the left arm to pull open the door of the microwave with glass top.",
+    "Use the left arm to grab and open the microwave with glossy dark gray finish.",
+    "Pull open the door of the gray and glass microwave for cooking using the left arm.",
+    "Grab the handle and open the microwave for heating food with the left arm.",
+    "Utilize the left arm to pull the microwave with smooth surface open.",
+    "Access the inside by opening the dark gray kitchen microwave.",
+    "Pull the door of the gray and glass microwave for cooking to open it.",
+    "Pull the door to open the microwave with glass top.",
+    "Grasp the microwave for heating food's handle and pull to open.",
+    "Open the microwave for heating food by grasping its handle.",
+    "Get the microwave open.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Pull the medium microwave with slanted sides's handle to open it.",
+    "Engage the microwave with smooth surface using the left arm to open.",
+    "Open the gray appliance with transparent glass top by pulling its door with the left arm.",
+    "Open the gray appliance with transparent glass top by pulling with the left arm.",
+    "Use the left arm to engage the microwave with glossy dark gray finish's opening mechanism.",
+    "Activate the door to open the microwave for heating food.",
+    "Pull and open the microwave for heating food.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Open the microwave with glass top using the left arm.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Use the left arm to grab and pull the medium microwave with slanted sides.",
+    "Pull the the dark gray slanted microwave box's handle using the left arm.",
+    "Open the microwave by pulling its handle.",
+    "Engage the left arm to open the dark gray kitchen microwave.",
+    "Use the handle to open the microwave for heating food.",
+    "Grab and pull the medium microwave with slanted sides using the left arm.",
+    "Engage the microwave's handle and open it.",
+    "Handle the gray appliance with transparent glass top and open it with the left arm.",
+    "Use the left arm to open the gray appliance with transparent glass top by pulling.",
+    "Use the left arm to pull the gray appliance with transparent glass top open.",
+    "Pull the handle of the rectangular microwave with clear glass panel to open it.",
+    "Open the gray and glass microwave for cooking by pulling on its handle.",
+    "Open the rectangular microwave with clear glass panel by pulling its handle.",
+    "Pull the handle of the gray appliance with transparent glass top with the left arm.",
+    "Grab the handle and open the microwave with glass top.",
+    "Pull to open the microwave with glass top.",
+    "Grip the gray appliance with transparent glass top's handle and pull it open.",
+    "Use the left arm to pull open the door of the rectangular microwave with clear glass panel.",
+    "Use the left arm to grab and open the microwave.",
+    "Pull open the door of the rectangular gray microwave using the left arm.",
+    "Grab the handle and open the microwave with glossy dark gray finish with the left arm.",
+    "Utilize the left arm to pull the gray appliance with transparent glass top open.",
+    "Access the inside by opening the microwave with glass top.",
+    "Pull the door of the microwave with glass top to open it.",
+    "Pull the door to open the gray appliance with transparent glass top.",
+    "Grasp the gray appliance with transparent glass top's handle and pull to open.",
+    "Open the rectangular gray microwave by grasping its handle.",
+    "Get the dark gray slanted microwave box open.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Pull the rectangular gray microwave's handle to open it.",
+    "Engage the dark gray slanted microwave box using the left arm to open.",
+    "Open the gray and glass microwave for cooking by pulling its door with the left arm.",
+    "Open the gray and glass microwave for cooking by pulling with the left arm.",
+    "Use the left arm to engage the rectangular microwave with clear glass panel's opening mechanism.",
+    "Activate the door to open the dark gray kitchen microwave.",
+    "Pull and open the microwave for heating food.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Open the microwave with glossy dark gray finish using the left arm.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Use the left arm to grab and pull the microwave with glass top.",
+    "Pull the the microwave's handle using the left arm.",
+    "Open the microwave by pulling its handle.",
+    "Engage the left arm to open the microwave with glossy dark gray finish.",
+    "Use the handle to open the microwave.",
+    "Grab and pull the gray appliance with transparent glass top using the left arm.",
+    "Engage the microwave for heating food's handle and open it.",
+    "Handle the medium microwave with slanted sides and open it with the left arm.",
+    "Use the left arm to open the rectangular microwave with clear glass panel by pulling.",
+    "Use the left arm to pull the rectangular gray microwave open.",
+    "Pull the handle of the medium microwave with slanted sides to open it.",
+    "Open the rectangular microwave with clear glass panel by pulling on its handle.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Pull the handle of the microwave with the left arm.",
+    "Grab the handle and open the rectangular microwave with clear glass panel.",
+    "Pull to open the rectangular microwave with clear glass panel.",
+    "Grip the microwave for heating food's handle and pull it open.",
+    "Use the left arm to pull open the door of the microwave with glass top.",
+    "Use the left arm to grab and open the microwave with glass top.",
+    "Pull open the door of the rectangular gray microwave using the left arm.",
+    "Grab the handle and open the gray and glass microwave for cooking with the left arm.",
+    "Utilize the left arm to pull the microwave with smooth surface open.",
+    "Access the inside by opening the rectangular microwave with clear glass panel.",
+    "Pull the door of the microwave with glossy dark gray finish to open it.",
+    "Pull the door to open the dark gray kitchen microwave.",
+    "Grasp the dark gray kitchen microwave's handle and pull to open.",
+    "Open the microwave with glossy dark gray finish by grasping its handle.",
+    "Get the rectangular gray microwave open.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Pull the microwave for heating food's handle to open it.",
+    "Engage the dark gray slanted microwave box using the left arm to open.",
+    "Open the rectangular gray microwave by pulling its door with the left arm.",
+    "Open the rectangular microwave with clear glass panel by pulling with the left arm.",
+    "Use the left arm to engage the dark gray slanted microwave box's opening mechanism.",
+    "Activate the door to open the dark gray slanted microwave box."
+  ],
+  "unseen": [
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode8.json b/open_microwave/demo_clean/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..747fb4d5919137f042fa8a2188cc3aab35db0ecb
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode8.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Use the left arm to pull the microwave with knobs open.",
+    "Use the left arm to open the gray microwave by pulling.",
+    "Open the microwave with knobs by pulling its door with the left arm.",
+    "Use the left arm to engage the microwave with patterned top and knobs's opening mechanism.",
+    "Engage the rectangular microwave using the left arm to open.",
+    "Access the inside by opening the medium microwave.",
+    "Activate the door to open the yellow-panel microwave with smooth sides.",
+    "Pull open the door of the microwave with textured top panel using the left arm.",
+    "Grab and pull the microwave with textured top panel using the left arm.",
+    "Get the gray microwave open.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Open the gray microwave with two control knobs by grasping its handle.",
+    "Open the yellow-panel microwave with smooth sides by pulling with the left arm.",
+    "Engage the medium microwave's handle and open it.",
+    "Pull the the gray and yellow microwave with rounded edges's handle using the left arm.",
+    "Pull the rectangular microwave's handle to open it.",
+    "Pull the handle of the rectangular microwave to open it.",
+    "Grab the handle and open the microwave with textured top panel with the left arm.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Use the handle to open the microwave.",
+    "Pull the door of the medium microwave to open it.",
+    "Utilize the left arm to pull the gray microwave open.",
+    "Pull the door to open the yellow-sided microwave.",
+    "Use the left arm to grab and open the yellow-sided microwave.",
+    "Pull to open the gray microwave with two control knobs.",
+    "Use the left arm to pull open the door of the yellow-panel microwave with smooth sides.",
+    "Pull and open the microwave with knobs.",
+    "Handle the yellow-panel microwave with smooth sides and open it with the left arm.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Open the medium microwave using the left arm.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Grip the gray microwave with two control knobs's handle and pull it open.",
+    "Grab the handle and open the microwave with patterned top and knobs.",
+    "Grasp the yellow-sided microwave's handle and pull to open.",
+    "Use the left arm to grab and pull the rectangular microwave.",
+    "Engage the left arm to open the gray microwave.",
+    "Pull the handle of the gray microwave with two control knobs with the left arm.",
+    "Open the microwave by pulling on its handle.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Use the left arm to pull the gray microwave with two control knobs open.",
+    "Use the left arm to open the microwave by pulling.",
+    "Open the gray and yellow microwave with rounded edges by pulling its door with the left arm.",
+    "Use the left arm to engage the microwave with patterned top and knobs's opening mechanism.",
+    "Engage the rectangular microwave using the left arm to open.",
+    "Access the inside by opening the yellow-panel microwave with smooth sides.",
+    "Activate the door to open the gray microwave.",
+    "Pull open the door of the gray microwave with two control knobs using the left arm.",
+    "Grab and pull the yellow-sided microwave using the left arm.",
+    "Get the gray microwave with two control knobs open.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Open the microwave with textured top panel by grasping its handle.",
+    "Open the yellow-sided microwave by pulling with the left arm.",
+    "Engage the yellow-panel microwave with smooth sides's handle and open it.",
+    "Pull the the medium microwave's handle using the left arm.",
+    "Pull the microwave's handle to open it.",
+    "Pull the handle of the microwave with textured top panel to open it.",
+    "Grab the handle and open the microwave with the left arm.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Use the handle to open the yellow-sided microwave.",
+    "Pull the door of the gray and yellow microwave with rounded edges to open it.",
+    "Utilize the left arm to pull the medium microwave open.",
+    "Pull the door to open the gray microwave.",
+    "Use the left arm to grab and open the rectangular microwave.",
+    "Pull to open the microwave with patterned top and knobs.",
+    "Use the left arm to pull open the door of the yellow-panel microwave with smooth sides.",
+    "Pull and open the gray and yellow microwave with rounded edges.",
+    "Handle the gray and yellow microwave with rounded edges and open it with the left arm.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Open the microwave with knobs using the left arm.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Grip the microwave's handle and pull it open.",
+    "Grab the handle and open the microwave with textured top panel.",
+    "Grasp the microwave with knobs's handle and pull to open.",
+    "Use the left arm to grab and pull the microwave.",
+    "Engage the left arm to open the microwave with patterned top and knobs.",
+    "Pull the handle of the microwave with knobs with the left arm.",
+    "Open the yellow-sided microwave by pulling on its handle.",
+    "Pull the handle to open the countertop microwave.",
+    "Use the left arm to pull the microwave with knobs open.",
+    "Use the left arm to open the countertop microwave by pulling.",
+    "Open the gray and yellow microwave with rounded edges by pulling its door with the left arm.",
+    "Use the left arm to engage the gray microwave with two control knobs's opening mechanism.",
+    "Engage the gray and yellow microwave with rounded edges using the left arm to open.",
+    "Access the inside by opening the yellow-panel microwave with smooth sides.",
+    "Activate the door to open the yellow-sided microwave.",
+    "Pull open the door of the gray microwave with two control knobs using the left arm.",
+    "Grab and pull the microwave using the left arm.",
+    "Get the microwave with patterned top and knobs open.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Open the microwave with patterned top and knobs by grasping its handle.",
+    "Open the microwave with textured top panel by pulling with the left arm.",
+    "Engage the rectangular microwave's handle and open it.",
+    "Pull the the microwave with textured top panel's handle using the left arm.",
+    "Pull the yellow-sided microwave's handle to open it.",
+    "Pull the handle of the microwave with textured top panel to open it.",
+    "Grab the handle and open the yellow-sided microwave with the left arm.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Use the handle to open the yellow-sided microwave.",
+    "Pull the door of the microwave with patterned top and knobs to open it."
+  ],
+  "unseen": [
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode80.json b/open_microwave/demo_clean/instructions/episode80.json
new file mode 100644
index 0000000000000000000000000000000000000000..2588713971df9853ee7cbcb3f964f35a0ded930d
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode80.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the microwave for heating food by grasping its handle.",
+    "Pull the medium microwave with slanted sides's handle to open it.",
+    "Use the handle to open the medium microwave with slanted sides.",
+    "Engage the microwave using the left arm to open.",
+    "Handle the rectangular gray microwave and open it with the left arm.",
+    "Open the gray appliance with transparent glass top using the left arm.",
+    "Pull the the microwave with glass top's handle using the left arm.",
+    "Use the left arm to engage the microwave for heating food's opening mechanism.",
+    "Use the left arm to open the microwave with smooth surface by pulling.",
+    "Pull the door to open the dark gray kitchen microwave.",
+    "Engage the microwave for heating food's handle and open it.",
+    "Open the gray appliance with transparent glass top by pulling its door with the left arm.",
+    "Open the microwave with smooth surface by pulling its handle.",
+    "Use the left arm to grab and open the gray and glass microwave for cooking.",
+    "Grasp the microwave's handle and pull to open.",
+    "Use the left arm to grab and pull the microwave with glossy dark gray finish.",
+    "Engage the left arm to open the rectangular gray microwave.",
+    "Pull to open the dark gray slanted microwave box.",
+    "Pull the handle of the medium microwave with slanted sides with the left arm.",
+    "Access the inside by opening the rectangular gray microwave.",
+    "Open the microwave with glossy dark gray finish by pulling on its handle.",
+    "Use the left arm to pull open the door of the gray appliance with transparent glass top.",
+    "Grab and pull the gray appliance with transparent glass top using the left arm.",
+    "Pull the handle to open the microwave with glass top.",
+    "Open the rectangular gray microwave by pulling its handle.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Open the dark gray slanted microwave box by pulling with the left arm.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Grab the handle and open the rectangular microwave with clear glass panel with the left arm.",
+    "Pull and open the dark gray slanted microwave box.",
+    "Pull open the door of the microwave with glass top using the left arm.",
+    "Grab the handle and open the microwave for heating food.",
+    "Activate the door to open the microwave for heating food.",
+    "Pull the door of the microwave with glass top to open it.",
+    "Use the left arm to pull the dark gray kitchen microwave open.",
+    "Utilize the left arm to pull the microwave with glossy dark gray finish open.",
+    "Get the rectangular gray microwave open.",
+    "Grip the microwave for heating food's handle and pull it open.",
+    "Pull the handle of the microwave to open it.",
+    "Open the gray and glass microwave for cooking by grasping its handle.",
+    "Pull the rectangular gray microwave's handle to open it.",
+    "Use the handle to open the microwave.",
+    "Engage the microwave with glossy dark gray finish using the left arm to open.",
+    "Handle the rectangular gray microwave and open it with the left arm.",
+    "Open the microwave with glossy dark gray finish using the left arm.",
+    "Pull the the microwave with smooth surface's handle using the left arm.",
+    "Use the left arm to engage the dark gray kitchen microwave's opening mechanism.",
+    "Use the left arm to open the microwave with smooth surface by pulling.",
+    "Pull the door to open the microwave with glossy dark gray finish.",
+    "Engage the gray appliance with transparent glass top's handle and open it.",
+    "Open the gray and glass microwave for cooking by pulling its door with the left arm.",
+    "Open the rectangular microwave with clear glass panel by pulling its handle.",
+    "Use the left arm to grab and open the microwave for heating food.",
+    "Grasp the microwave with glossy dark gray finish's handle and pull to open.",
+    "Use the left arm to grab and pull the dark gray kitchen microwave.",
+    "Engage the left arm to open the microwave with glass top.",
+    "Pull to open the dark gray slanted microwave box.",
+    "Pull the handle of the rectangular microwave with clear glass panel with the left arm.",
+    "Access the inside by opening the dark gray slanted microwave box.",
+    "Open the microwave with glass top by pulling on its handle.",
+    "Use the left arm to pull open the door of the gray and glass microwave for cooking.",
+    "Grab and pull the microwave for heating food using the left arm.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Open the dark gray kitchen microwave by pulling its handle.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Open the microwave for heating food by pulling with the left arm.",
+    "Pull the handle to open the microwave for heating food.",
+    "Grab the handle and open the rectangular microwave with clear glass panel with the left arm.",
+    "Pull and open the gray appliance with transparent glass top.",
+    "Pull open the door of the medium microwave with slanted sides using the left arm.",
+    "Grab the handle and open the microwave for heating food.",
+    "Activate the door to open the medium microwave with slanted sides.",
+    "Pull the door of the medium microwave with slanted sides to open it.",
+    "Use the left arm to pull the microwave open.",
+    "Utilize the left arm to pull the medium microwave with slanted sides open.",
+    "Get the gray appliance with transparent glass top open.",
+    "Grip the rectangular gray microwave's handle and pull it open.",
+    "Pull the handle of the dark gray kitchen microwave to open it.",
+    "Open the microwave for heating food by grasping its handle.",
+    "Pull the medium microwave with slanted sides's handle to open it.",
+    "Use the handle to open the microwave with glass top.",
+    "Engage the gray and glass microwave for cooking using the left arm to open.",
+    "Handle the microwave with glass top and open it with the left arm.",
+    "Open the gray and glass microwave for cooking using the left arm.",
+    "Pull the the gray appliance with transparent glass top's handle using the left arm.",
+    "Use the left arm to engage the rectangular gray microwave's opening mechanism.",
+    "Use the left arm to open the gray appliance with transparent glass top by pulling.",
+    "Pull the door to open the dark gray slanted microwave box.",
+    "Engage the gray and glass microwave for cooking's handle and open it.",
+    "Open the rectangular microwave with clear glass panel by pulling its door with the left arm.",
+    "Open the medium microwave with slanted sides by pulling its handle.",
+    "Use the left arm to grab and open the microwave for heating food.",
+    "Grasp the microwave's handle and pull to open.",
+    "Use the left arm to grab and pull the microwave with glass top.",
+    "Engage the left arm to open the rectangular microwave with clear glass panel.",
+    "Pull to open the microwave with glass top.",
+    "Pull the handle of the medium microwave with slanted sides with the left arm.",
+    "Access the inside by opening the dark gray slanted microwave box.",
+    "Open the dark gray kitchen microwave by pulling on its handle.",
+    "Use the left arm to pull open the door of the microwave for heating food."
+  ],
+  "unseen": [
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the dark gray microwave."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode81.json b/open_microwave/demo_clean/instructions/episode81.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff9e24ae638baabcb0c2185bc7a3dfbf81d41978
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode81.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the door to open the countertop microwave.",
+    "Use the left arm to pull open the door of the microwave with knobs.",
+    "Use the left arm to engage the rectangular microwave's opening mechanism.",
+    "Open the medium microwave by pulling its handle.",
+    "Engage the left arm to open the gray and yellow microwave with rounded edges.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Grasp the microwave with knobs's handle and pull to open.",
+    "Pull the the microwave with patterned top and knobs's handle using the left arm.",
+    "Pull and open the gray microwave with two control knobs.",
+    "Pull the handle to open the rectangular microwave.",
+    "Open the microwave with textured top panel by pulling its door with the left arm.",
+    "Open the microwave with knobs using the left arm.",
+    "Use the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Grab the handle and open the countertop microwave.",
+    "Utilize the left arm to pull the gray microwave with two control knobs open.",
+    "Grab the handle and open the rectangular microwave with the left arm.",
+    "Access the inside by opening the yellow-panel microwave with smooth sides.",
+    "Pull to open the microwave with textured top panel.",
+    "Use the left arm to grab and pull the medium microwave.",
+    "Engage the gray and yellow microwave with rounded edges's handle and open it.",
+    "Pull open the door of the microwave with patterned top and knobs using the left arm.",
+    "Pull the handle of the microwave with patterned top and knobs to open it.",
+    "Use the left arm to grab and open the microwave.",
+    "Open the microwave by pulling with the left arm.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Open the rectangular microwave by grasping its handle.",
+    "Use the left arm to open the medium microwave by pulling.",
+    "Pull the handle to open the gray microwave.",
+    "Handle the gray microwave and open it with the left arm.",
+    "Grab and pull the yellow-sided microwave using the left arm.",
+    "Open the gray and yellow microwave with rounded edges by pulling on its handle.",
+    "Get the microwave with knobs open.",
+    "Use the handle to open the microwave with textured top panel.",
+    "Grip the gray and yellow microwave with rounded edges's handle and pull it open.",
+    "Pull the door of the countertop microwave to open it.",
+    "Pull the door to open the countertop microwave.",
+    "Pull the medium microwave's handle to open it.",
+    "Pull the handle of the countertop microwave with the left arm.",
+    "Engage the rectangular microwave using the left arm to open.",
+    "Activate the door to open the microwave with knobs.",
+    "Use the left arm to pull open the door of the microwave.",
+    "Use the left arm to engage the rectangular microwave's opening mechanism.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Engage the left arm to open the countertop microwave.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Grasp the medium microwave's handle and pull to open.",
+    "Pull the the yellow-panel microwave with smooth sides's handle using the left arm.",
+    "Pull and open the microwave with patterned top and knobs.",
+    "Pull the handle to open the rectangular microwave.",
+    "Open the countertop microwave by pulling its door with the left arm.",
+    "Open the yellow-panel microwave with smooth sides using the left arm.",
+    "Use the left arm to pull the microwave open.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges.",
+    "Utilize the left arm to pull the microwave with patterned top and knobs open.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides with the left arm.",
+    "Access the inside by opening the yellow-panel microwave with smooth sides.",
+    "Pull to open the gray and yellow microwave with rounded edges.",
+    "Use the left arm to grab and pull the yellow-panel microwave with smooth sides.",
+    "Engage the microwave's handle and open it.",
+    "Pull open the door of the microwave using the left arm.",
+    "Pull the handle of the microwave to open it.",
+    "Use the left arm to grab and open the gray microwave with two control knobs.",
+    "Open the microwave by pulling with the left arm.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Open the medium microwave by grasping its handle.",
+    "Use the left arm to open the microwave with textured top panel by pulling.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Handle the gray microwave and open it with the left arm.",
+    "Grab and pull the microwave using the left arm.",
+    "Open the microwave with patterned top and knobs by pulling on its handle.",
+    "Get the microwave with textured top panel open.",
+    "Use the handle to open the gray microwave with two control knobs.",
+    "Grip the yellow-sided microwave's handle and pull it open.",
+    "Pull the door of the microwave to open it.",
+    "Pull the door to open the countertop microwave.",
+    "Pull the yellow-sided microwave's handle to open it.",
+    "Pull the handle of the microwave with knobs with the left arm.",
+    "Engage the gray microwave with two control knobs using the left arm to open.",
+    "Activate the door to open the microwave with patterned top and knobs.",
+    "Use the left arm to pull open the door of the rectangular microwave.",
+    "Use the left arm to engage the gray and yellow microwave with rounded edges's opening mechanism.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Engage the left arm to open the medium microwave.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Grasp the yellow-sided microwave's handle and pull to open.",
+    "Pull the the rectangular microwave's handle using the left arm.",
+    "Pull and open the rectangular microwave.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Open the gray and yellow microwave with rounded edges by pulling its door with the left arm.",
+    "Open the microwave using the left arm.",
+    "Use the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges.",
+    "Utilize the left arm to pull the microwave with patterned top and knobs open.",
+    "Grab the handle and open the medium microwave with the left arm.",
+    "Access the inside by opening the gray microwave with two control knobs.",
+    "Pull to open the gray microwave.",
+    "Use the left arm to grab and pull the microwave.",
+    "Engage the microwave with patterned top and knobs's handle and open it.",
+    "Pull open the door of the yellow-panel microwave with smooth sides using the left arm.",
+    "Pull the handle of the gray and yellow microwave with rounded edges to open it."
+  ],
+  "unseen": [
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode82.json b/open_microwave/demo_clean/instructions/episode82.json
new file mode 100644
index 0000000000000000000000000000000000000000..945644bac7b946fce8c660f05232709dd7a85ebc
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode82.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the microwave for heating food by grasping its handle.",
+    "Pull open the door of the medium microwave with slanted sides using the left arm.",
+    "Use the left arm to pull the microwave with smooth surface open.",
+    "Pull the handle of the microwave with smooth surface to open it.",
+    "Open the medium microwave with slanted sides by pulling its handle.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Get the medium microwave with slanted sides open.",
+    "Utilize the left arm to pull the medium microwave with slanted sides open.",
+    "Use the left arm to grab and open the microwave with glossy dark gray finish.",
+    "Pull the the microwave's handle using the left arm.",
+    "Grip the microwave with glass top's handle and pull it open.",
+    "Open the medium microwave with slanted sides by pulling its handle.",
+    "Use the handle to open the gray appliance with transparent glass top.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Open the gray and glass microwave for cooking by pulling its door with the left arm.",
+    "Pull the rectangular microwave with clear glass panel's handle to open it.",
+    "Use the left arm to grab and pull the rectangular gray microwave.",
+    "Pull the handle of the rectangular microwave with clear glass panel with the left arm.",
+    "Open the microwave with glass top by pulling with the left arm.",
+    "Pull the door of the microwave with glossy dark gray finish to open it.",
+    "Pull to open the dark gray slanted microwave box.",
+    "Pull the door to open the rectangular gray microwave.",
+    "Open the microwave with smooth surface by pulling on its handle.",
+    "Engage the gray appliance with transparent glass top's handle and open it.",
+    "Use the left arm to open the dark gray kitchen microwave by pulling.",
+    "Activate the door to open the dark gray slanted microwave box.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Open the microwave for heating food using the left arm.",
+    "Use the left arm to engage the rectangular microwave with clear glass panel's opening mechanism.",
+    "Use the left arm to pull open the door of the microwave with glossy dark gray finish.",
+    "Engage the gray and glass microwave for cooking using the left arm to open.",
+    "Pull and open the microwave for heating food.",
+    "Engage the left arm to open the dark gray slanted microwave box.",
+    "Grab the handle and open the dark gray slanted microwave box.",
+    "Grasp the microwave's handle and pull to open.",
+    "Grab the handle and open the dark gray kitchen microwave with the left arm.",
+    "Handle the gray appliance with transparent glass top and open it with the left arm.",
+    "Access the inside by opening the gray and glass microwave for cooking.",
+    "Grab and pull the rectangular gray microwave using the left arm.",
+    "Open the dark gray slanted microwave box by grasping its handle.",
+    "Pull open the door of the medium microwave with slanted sides using the left arm.",
+    "Use the left arm to pull the dark gray kitchen microwave open.",
+    "Pull the handle of the medium microwave with slanted sides to open it.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Get the microwave with glossy dark gray finish open.",
+    "Utilize the left arm to pull the gray and glass microwave for cooking open.",
+    "Use the left arm to grab and open the microwave for heating food.",
+    "Pull the the gray appliance with transparent glass top's handle using the left arm.",
+    "Grip the microwave with glossy dark gray finish's handle and pull it open.",
+    "Open the microwave for heating food by pulling its handle.",
+    "Use the handle to open the gray and glass microwave for cooking.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Open the microwave with glossy dark gray finish by pulling its door with the left arm.",
+    "Pull the gray appliance with transparent glass top's handle to open it.",
+    "Use the left arm to grab and pull the dark gray kitchen microwave.",
+    "Pull the handle of the rectangular microwave with clear glass panel with the left arm.",
+    "Open the microwave with glass top by pulling with the left arm.",
+    "Pull the door of the dark gray kitchen microwave to open it.",
+    "Pull to open the microwave with smooth surface.",
+    "Pull the door to open the gray and glass microwave for cooking.",
+    "Open the dark gray kitchen microwave by pulling on its handle.",
+    "Engage the dark gray slanted microwave box's handle and open it.",
+    "Use the left arm to open the medium microwave with slanted sides by pulling.",
+    "Activate the door to open the gray appliance with transparent glass top.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Open the rectangular gray microwave using the left arm.",
+    "Use the left arm to engage the microwave for heating food's opening mechanism.",
+    "Use the left arm to pull open the door of the medium microwave with slanted sides.",
+    "Engage the gray and glass microwave for cooking using the left arm to open.",
+    "Pull and open the microwave with glass top.",
+    "Engage the left arm to open the rectangular microwave with clear glass panel.",
+    "Grab the handle and open the microwave with smooth surface.",
+    "Grasp the microwave for heating food's handle and pull to open.",
+    "Grab the handle and open the dark gray slanted microwave box with the left arm.",
+    "Handle the microwave with smooth surface and open it with the left arm.",
+    "Access the inside by opening the microwave.",
+    "Grab and pull the gray appliance with transparent glass top using the left arm.",
+    "Open the medium microwave with slanted sides by grasping its handle.",
+    "Pull open the door of the microwave for heating food using the left arm.",
+    "Use the left arm to pull the microwave with glossy dark gray finish open.",
+    "Pull the handle of the microwave to open it.",
+    "Open the microwave by pulling its handle.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Get the microwave with glass top open.",
+    "Utilize the left arm to pull the dark gray slanted microwave box open.",
+    "Use the left arm to grab and open the gray appliance with transparent glass top.",
+    "Pull the the microwave's handle using the left arm.",
+    "Grip the microwave with glass top's handle and pull it open.",
+    "Open the rectangular gray microwave by pulling its handle.",
+    "Use the handle to open the microwave.",
+    "Pull the handle to open the microwave.",
+    "Open the microwave for heating food by pulling its door with the left arm.",
+    "Pull the microwave's handle to open it.",
+    "Use the left arm to grab and pull the dark gray kitchen microwave.",
+    "Pull the handle of the microwave for heating food with the left arm.",
+    "Open the medium microwave with slanted sides by pulling with the left arm.",
+    "Pull the door of the dark gray slanted microwave box to open it.",
+    "Pull to open the dark gray slanted microwave box.",
+    "Pull the door to open the microwave with glossy dark gray finish."
+  ],
+  "unseen": [
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode83.json b/open_microwave/demo_clean/instructions/episode83.json
new file mode 100644
index 0000000000000000000000000000000000000000..d58c78dce48c2e14700026cfb9f40919f8d6d480
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode83.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the handle of the microwave with knobs to open it.",
+    "Use the left arm to pull open the door of the medium microwave.",
+    "Handle the gray microwave and open it with the left arm.",
+    "Open the microwave using the left arm.",
+    "Grab and pull the medium microwave using the left arm.",
+    "Open the yellow-panel microwave with smooth sides by pulling with the left arm.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Open the microwave with textured top panel by grasping its handle.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Use the left arm to grab and pull the gray and yellow microwave with rounded edges.",
+    "Grasp the gray microwave with two control knobs's handle and pull to open.",
+    "Pull to open the microwave with textured top panel.",
+    "Use the left arm to open the countertop microwave by pulling.",
+    "Utilize the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Pull the handle to open the microwave with knobs.",
+    "Get the medium microwave open.",
+    "Open the microwave with textured top panel by pulling its door with the left arm.",
+    "Use the left arm to grab and open the microwave with patterned top and knobs.",
+    "Pull the handle to open the medium microwave.",
+    "Pull the the yellow-sided microwave's handle using the left arm.",
+    "Engage the yellow-sided microwave's handle and open it.",
+    "Access the inside by opening the microwave with knobs.",
+    "Use the left arm to pull the gray microwave with two control knobs open.",
+    "Use the handle to open the rectangular microwave.",
+    "Pull the door of the microwave with patterned top and knobs to open it.",
+    "Open the gray and yellow microwave with rounded edges by pulling on its handle.",
+    "Activate the door to open the gray microwave.",
+    "Pull the handle to open the microwave with knobs.",
+    "Pull the door to open the rectangular microwave.",
+    "Pull open the door of the yellow-sided microwave using the left arm.",
+    "Engage the microwave with knobs using the left arm to open.",
+    "Engage the left arm to open the microwave with textured top panel.",
+    "Pull and open the yellow-panel microwave with smooth sides.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides.",
+    "Grab the handle and open the microwave with the left arm.",
+    "Pull the handle of the microwave with knobs with the left arm.",
+    "Pull the countertop microwave's handle to open it.",
+    "Use the left arm to engage the microwave with patterned top and knobs's opening mechanism.",
+    "Grip the microwave with patterned top and knobs's handle and pull it open.",
+    "Pull the handle of the microwave with patterned top and knobs to open it.",
+    "Use the left arm to pull open the door of the gray microwave.",
+    "Handle the microwave with textured top panel and open it with the left arm.",
+    "Open the gray microwave with two control knobs using the left arm.",
+    "Grab and pull the microwave with patterned top and knobs using the left arm.",
+    "Open the countertop microwave by pulling with the left arm.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Open the medium microwave by grasping its handle.",
+    "Open the countertop microwave by pulling its handle.",
+    "Use the left arm to grab and pull the rectangular microwave.",
+    "Grasp the medium microwave's handle and pull to open.",
+    "Pull to open the microwave with textured top panel.",
+    "Use the left arm to open the gray and yellow microwave with rounded edges by pulling.",
+    "Utilize the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Pull the handle to open the microwave with knobs.",
+    "Get the microwave open.",
+    "Open the medium microwave by pulling its door with the left arm.",
+    "Use the left arm to grab and open the rectangular microwave.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Pull the the gray microwave with two control knobs's handle using the left arm.",
+    "Engage the microwave with knobs's handle and open it.",
+    "Access the inside by opening the microwave with textured top panel.",
+    "Use the left arm to pull the rectangular microwave open.",
+    "Use the handle to open the microwave.",
+    "Pull the door of the rectangular microwave to open it.",
+    "Open the microwave with textured top panel by pulling on its handle.",
+    "Activate the door to open the yellow-sided microwave.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Pull the door to open the yellow-panel microwave with smooth sides.",
+    "Pull open the door of the microwave using the left arm.",
+    "Engage the countertop microwave using the left arm to open.",
+    "Engage the left arm to open the gray microwave.",
+    "Pull and open the rectangular microwave.",
+    "Grab the handle and open the medium microwave.",
+    "Grab the handle and open the gray microwave with two control knobs with the left arm.",
+    "Pull the handle of the microwave with patterned top and knobs with the left arm.",
+    "Pull the rectangular microwave's handle to open it.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Grip the microwave with knobs's handle and pull it open.",
+    "Pull the handle of the gray microwave to open it.",
+    "Use the left arm to pull open the door of the microwave with textured top panel.",
+    "Handle the gray microwave and open it with the left arm.",
+    "Open the microwave with patterned top and knobs using the left arm.",
+    "Grab and pull the medium microwave using the left arm.",
+    "Open the microwave by pulling with the left arm.",
+    "Open the gray microwave by pulling its handle.",
+    "Open the gray microwave with two control knobs by grasping its handle.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Use the left arm to grab and pull the microwave with patterned top and knobs.",
+    "Grasp the yellow-panel microwave with smooth sides's handle and pull to open.",
+    "Pull to open the yellow-sided microwave.",
+    "Use the left arm to open the microwave with textured top panel by pulling.",
+    "Utilize the left arm to pull the rectangular microwave open.",
+    "Pull the handle to open the countertop microwave.",
+    "Get the microwave open.",
+    "Open the microwave with patterned top and knobs by pulling its door with the left arm.",
+    "Use the left arm to grab and open the countertop microwave.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Pull the the yellow-panel microwave with smooth sides's handle using the left arm.",
+    "Engage the microwave with patterned top and knobs's handle and open it.",
+    "Access the inside by opening the microwave with textured top panel."
+  ],
+  "unseen": [
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode84.json b/open_microwave/demo_clean/instructions/episode84.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e21e0c3cb51de00d9e0d3c00543dceff785afad
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode84.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the dark gray kitchen microwave by pulling with the left arm.",
+    "Use the left arm to pull open the door of the microwave with smooth surface.",
+    "Engage the microwave for heating food using the left arm to open.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Use the left arm to grab and open the gray appliance with transparent glass top.",
+    "Open the microwave with smooth surface by pulling its handle.",
+    "Pull the microwave with glossy dark gray finish's handle to open it.",
+    "Utilize the left arm to pull the microwave with glass top open.",
+    "Grab the handle and open the rectangular gray microwave with the left arm.",
+    "Open the gray appliance with transparent glass top using the left arm.",
+    "Use the left arm to pull the microwave open.",
+    "Activate the door to open the dark gray slanted microwave box.",
+    "Pull open the door of the microwave with glossy dark gray finish using the left arm.",
+    "Pull to open the dark gray kitchen microwave.",
+    "Grip the rectangular microwave with clear glass panel's handle and pull it open.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Pull the handle of the microwave with glossy dark gray finish with the left arm.",
+    "Use the handle to open the dark gray slanted microwave box.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Engage the microwave's handle and open it.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Engage the left arm to open the microwave with glossy dark gray finish.",
+    "Get the microwave for heating food open.",
+    "Open the microwave with smooth surface by grasping its handle.",
+    "Grasp the microwave with smooth surface's handle and pull to open.",
+    "Open the rectangular gray microwave by pulling on its handle.",
+    "Pull the handle of the rectangular gray microwave to open it.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Pull and open the rectangular gray microwave.",
+    "Grab and pull the microwave with glass top using the left arm.",
+    "Access the inside by opening the dark gray slanted microwave box.",
+    "Pull the door of the rectangular gray microwave to open it.",
+    "Pull the the dark gray kitchen microwave's handle using the left arm.",
+    "Grab the handle and open the gray appliance with transparent glass top.",
+    "Handle the microwave with glossy dark gray finish and open it with the left arm.",
+    "Use the left arm to open the microwave by pulling.",
+    "Use the left arm to grab and pull the gray and glass microwave for cooking.",
+    "Pull the door to open the rectangular microwave with clear glass panel.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Open the microwave with smooth surface by pulling with the left arm.",
+    "Use the left arm to pull open the door of the medium microwave with slanted sides.",
+    "Engage the microwave with smooth surface using the left arm to open.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Use the left arm to grab and open the medium microwave with slanted sides.",
+    "Open the microwave by pulling its handle.",
+    "Pull the microwave with glass top's handle to open it.",
+    "Utilize the left arm to pull the rectangular gray microwave open.",
+    "Grab the handle and open the medium microwave with slanted sides with the left arm.",
+    "Open the rectangular gray microwave using the left arm.",
+    "Use the left arm to pull the microwave open.",
+    "Activate the door to open the medium microwave with slanted sides.",
+    "Pull open the door of the gray and glass microwave for cooking using the left arm.",
+    "Pull to open the dark gray kitchen microwave.",
+    "Grip the microwave with glass top's handle and pull it open.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Pull the handle of the microwave with glass top with the left arm.",
+    "Use the handle to open the gray and glass microwave for cooking.",
+    "Use the left arm to engage the dark gray kitchen microwave's opening mechanism.",
+    "Engage the gray and glass microwave for cooking's handle and open it.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Engage the left arm to open the dark gray kitchen microwave.",
+    "Get the dark gray slanted microwave box open.",
+    "Open the dark gray kitchen microwave by grasping its handle.",
+    "Grasp the microwave with glass top's handle and pull to open.",
+    "Open the microwave with smooth surface by pulling on its handle.",
+    "Pull the handle of the dark gray kitchen microwave to open it.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Pull and open the gray appliance with transparent glass top.",
+    "Grab and pull the dark gray slanted microwave box using the left arm.",
+    "Access the inside by opening the rectangular gray microwave.",
+    "Pull the door of the rectangular microwave with clear glass panel to open it.",
+    "Pull the the microwave with smooth surface's handle using the left arm.",
+    "Grab the handle and open the microwave with glossy dark gray finish.",
+    "Handle the gray appliance with transparent glass top and open it with the left arm.",
+    "Use the left arm to open the dark gray slanted microwave box by pulling.",
+    "Use the left arm to grab and pull the microwave with glossy dark gray finish.",
+    "Pull the door to open the microwave with glossy dark gray finish.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Open the microwave for heating food by pulling with the left arm.",
+    "Use the left arm to pull open the door of the microwave.",
+    "Engage the microwave with glass top using the left arm to open.",
+    "Pull the handle to open the microwave.",
+    "Use the left arm to grab and open the dark gray kitchen microwave.",
+    "Open the microwave with smooth surface by pulling its handle.",
+    "Pull the microwave with smooth surface's handle to open it.",
+    "Utilize the left arm to pull the microwave for heating food open.",
+    "Grab the handle and open the gray and glass microwave for cooking with the left arm.",
+    "Open the dark gray slanted microwave box using the left arm.",
+    "Use the left arm to pull the dark gray slanted microwave box open.",
+    "Activate the door to open the rectangular gray microwave.",
+    "Pull open the door of the gray and glass microwave for cooking using the left arm.",
+    "Pull to open the microwave for heating food.",
+    "Grip the rectangular microwave with clear glass panel's handle and pull it open.",
+    "Open the dark gray kitchen microwave by pulling its door with the left arm.",
+    "Pull the handle of the gray and glass microwave for cooking with the left arm.",
+    "Use the handle to open the rectangular microwave with clear glass panel.",
+    "Use the left arm to engage the rectangular gray microwave's opening mechanism.",
+    "Engage the medium microwave with slanted sides's handle and open it.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Engage the left arm to open the rectangular microwave with clear glass panel."
+  ],
+  "unseen": [
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode85.json b/open_microwave/demo_clean/instructions/episode85.json
new file mode 100644
index 0000000000000000000000000000000000000000..addec298c6d9361b9cfe280ea5cb15f6ee8107f9
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode85.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Engage the gray appliance with transparent glass top's handle and open it.",
+    "Use the handle to open the gray appliance with transparent glass top.",
+    "Grip the rectangular microwave with clear glass panel's handle and pull it open.",
+    "Open the gray appliance with transparent glass top by pulling with the left arm.",
+    "Use the left arm to grab and open the rectangular gray microwave.",
+    "Engage the microwave for heating food using the left arm to open.",
+    "Open the dark gray kitchen microwave by grasping its handle.",
+    "Get the microwave for heating food open.",
+    "Grab the handle and open the medium microwave with slanted sides with the left arm.",
+    "Pull the door to open the microwave.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Use the left arm to grab and pull the rectangular gray microwave.",
+    "Access the inside by opening the microwave with glass top.",
+    "Grab and pull the gray and glass microwave for cooking using the left arm.",
+    "Handle the gray and glass microwave for cooking and open it with the left arm.",
+    "Pull the handle to open the microwave for heating food.",
+    "Use the left arm to open the microwave for heating food by pulling.",
+    "Pull the handle of the rectangular gray microwave to open it.",
+    "Pull to open the microwave with glass top.",
+    "Pull the door of the gray and glass microwave for cooking to open it.",
+    "Use the left arm to pull open the door of the dark gray kitchen microwave.",
+    "Open the microwave using the left arm.",
+    "Pull open the door of the microwave for heating food using the left arm.",
+    "Open the microwave with smooth surface by pulling its handle.",
+    "Pull and open the microwave with glossy dark gray finish.",
+    "Grasp the dark gray kitchen microwave's handle and pull to open.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Activate the door to open the dark gray slanted microwave box.",
+    "Open the gray appliance with transparent glass top by pulling on its handle.",
+    "Pull the dark gray kitchen microwave's handle to open it.",
+    "Utilize the left arm to pull the medium microwave with slanted sides open.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Use the left arm to pull the microwave with smooth surface open.",
+    "Pull the handle of the medium microwave with slanted sides with the left arm.",
+    "Grab the handle and open the microwave with glass top.",
+    "Open the gray appliance with transparent glass top by pulling its door with the left arm.",
+    "Open the rectangular gray microwave by pulling its handle.",
+    "Engage the left arm to open the microwave with smooth surface.",
+    "Pull the the microwave's handle using the left arm.",
+    "Engage the gray and glass microwave for cooking's handle and open it.",
+    "Use the handle to open the microwave with glass top.",
+    "Grip the dark gray kitchen microwave's handle and pull it open.",
+    "Open the microwave with glossy dark gray finish by pulling with the left arm.",
+    "Use the left arm to grab and open the gray and glass microwave for cooking.",
+    "Engage the gray appliance with transparent glass top using the left arm to open.",
+    "Open the dark gray slanted microwave box by grasping its handle.",
+    "Get the rectangular gray microwave open.",
+    "Grab the handle and open the microwave with glossy dark gray finish with the left arm.",
+    "Pull the door to open the microwave with glass top.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Use the left arm to grab and pull the rectangular microwave with clear glass panel.",
+    "Access the inside by opening the microwave with glass top.",
+    "Grab and pull the microwave for heating food using the left arm.",
+    "Handle the microwave with glass top and open it with the left arm.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Use the left arm to open the gray and glass microwave for cooking by pulling.",
+    "Pull the handle of the dark gray slanted microwave box to open it.",
+    "Pull to open the microwave for heating food.",
+    "Pull the door of the microwave with smooth surface to open it.",
+    "Use the left arm to pull open the door of the dark gray kitchen microwave.",
+    "Open the dark gray kitchen microwave using the left arm.",
+    "Pull open the door of the microwave with glossy dark gray finish using the left arm.",
+    "Open the gray and glass microwave for cooking by pulling its handle.",
+    "Pull and open the dark gray kitchen microwave.",
+    "Grasp the medium microwave with slanted sides's handle and pull to open.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Activate the door to open the gray and glass microwave for cooking.",
+    "Open the microwave with glass top by pulling on its handle.",
+    "Pull the microwave with smooth surface's handle to open it.",
+    "Utilize the left arm to pull the gray and glass microwave for cooking open.",
+    "Use the left arm to engage the microwave with glass top's opening mechanism.",
+    "Use the left arm to pull the dark gray kitchen microwave open.",
+    "Pull the handle of the medium microwave with slanted sides with the left arm.",
+    "Grab the handle and open the microwave.",
+    "Open the gray and glass microwave for cooking by pulling its door with the left arm.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Engage the left arm to open the gray and glass microwave for cooking.",
+    "Pull the the medium microwave with slanted sides's handle using the left arm.",
+    "Engage the dark gray kitchen microwave's handle and open it.",
+    "Use the handle to open the gray and glass microwave for cooking.",
+    "Grip the microwave with glossy dark gray finish's handle and pull it open.",
+    "Open the rectangular microwave with clear glass panel by pulling with the left arm.",
+    "Use the left arm to grab and open the dark gray slanted microwave box.",
+    "Engage the microwave for heating food using the left arm to open.",
+    "Open the gray appliance with transparent glass top by grasping its handle.",
+    "Get the rectangular gray microwave open.",
+    "Grab the handle and open the dark gray slanted microwave box with the left arm.",
+    "Pull the door to open the gray and glass microwave for cooking.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Use the left arm to grab and pull the rectangular microwave with clear glass panel.",
+    "Access the inside by opening the dark gray slanted microwave box.",
+    "Grab and pull the gray appliance with transparent glass top using the left arm.",
+    "Handle the rectangular microwave with clear glass panel and open it with the left arm.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Use the left arm to open the medium microwave with slanted sides by pulling.",
+    "Pull the handle of the dark gray kitchen microwave to open it.",
+    "Pull to open the microwave with smooth surface.",
+    "Pull the door of the rectangular microwave with clear glass panel to open it.",
+    "Use the left arm to pull open the door of the rectangular microwave with clear glass panel.",
+    "Open the microwave with glass top using the left arm."
+  ],
+  "unseen": [
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the dark gray microwave using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the dark gray microwave using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode86.json b/open_microwave/demo_clean/instructions/episode86.json
new file mode 100644
index 0000000000000000000000000000000000000000..27e734409beed48446ef6085d77936a8cc2e3aaf
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode86.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the microwave with smooth surface by grasping its handle.",
+    "Access the inside by opening the microwave.",
+    "Use the left arm to pull open the door of the rectangular gray microwave.",
+    "Grab and pull the microwave using the left arm.",
+    "Utilize the left arm to pull the microwave with glass top open.",
+    "Use the left arm to pull the rectangular gray microwave open.",
+    "Pull and open the microwave.",
+    "Pull the handle of the microwave to open it.",
+    "Use the left arm to grab and open the rectangular gray microwave.",
+    "Grab the handle and open the microwave with glass top with the left arm.",
+    "Open the gray and glass microwave for cooking by pulling on its handle.",
+    "Grip the gray appliance with transparent glass top's handle and pull it open.",
+    "Engage the gray and glass microwave for cooking's handle and open it.",
+    "Engage the microwave with glass top using the left arm to open.",
+    "Engage the left arm to open the rectangular gray microwave.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Get the rectangular microwave with clear glass panel open.",
+    "Open the microwave with smooth surface by pulling with the left arm.",
+    "Grasp the dark gray kitchen microwave's handle and pull to open.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Use the left arm to open the gray and glass microwave for cooking by pulling.",
+    "Pull the door of the medium microwave with slanted sides to open it.",
+    "Open the microwave with glossy dark gray finish by pulling its door with the left arm.",
+    "Pull the medium microwave with slanted sides's handle to open it.",
+    "Activate the door to open the rectangular microwave with clear glass panel.",
+    "Use the handle to open the rectangular gray microwave.",
+    "Use the left arm to engage the microwave with smooth surface's opening mechanism.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Pull open the door of the gray and glass microwave for cooking using the left arm.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Pull to open the gray appliance with transparent glass top.",
+    "Use the left arm to grab and pull the gray appliance with transparent glass top.",
+    "Open the gray and glass microwave for cooking using the left arm.",
+    "Grab the handle and open the medium microwave with slanted sides.",
+    "Handle the medium microwave with slanted sides and open it with the left arm.",
+    "Pull the handle of the microwave for heating food with the left arm.",
+    "Pull the door to open the dark gray slanted microwave box.",
+    "Pull the handle to open the microwave with glass top.",
+    "Pull the the microwave with smooth surface's handle using the left arm.",
+    "Open the microwave for heating food by grasping its handle.",
+    "Access the inside by opening the microwave with glass top.",
+    "Use the left arm to pull open the door of the microwave.",
+    "Grab and pull the dark gray slanted microwave box using the left arm.",
+    "Utilize the left arm to pull the gray and glass microwave for cooking open.",
+    "Use the left arm to pull the dark gray kitchen microwave open.",
+    "Pull and open the microwave.",
+    "Pull the handle of the medium microwave with slanted sides to open it.",
+    "Use the left arm to grab and open the microwave with glass top.",
+    "Grab the handle and open the rectangular microwave with clear glass panel with the left arm.",
+    "Open the microwave with glass top by pulling on its handle.",
+    "Grip the microwave with glass top's handle and pull it open.",
+    "Engage the dark gray kitchen microwave's handle and open it.",
+    "Engage the dark gray slanted microwave box using the left arm to open.",
+    "Engage the left arm to open the dark gray kitchen microwave.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Get the rectangular gray microwave open.",
+    "Open the rectangular gray microwave by pulling with the left arm.",
+    "Grasp the rectangular gray microwave's handle and pull to open.",
+    "Open the medium microwave with slanted sides by pulling its handle.",
+    "Use the left arm to open the microwave with glossy dark gray finish by pulling.",
+    "Pull the door of the rectangular microwave with clear glass panel to open it.",
+    "Open the microwave with glass top by pulling its door with the left arm.",
+    "Pull the rectangular gray microwave's handle to open it.",
+    "Activate the door to open the microwave with glossy dark gray finish.",
+    "Use the handle to open the microwave with glossy dark gray finish.",
+    "Use the left arm to engage the gray appliance with transparent glass top's opening mechanism.",
+    "Pull the handle to open the microwave for heating food.",
+    "Pull open the door of the dark gray slanted microwave box using the left arm.",
+    "Open the gray and glass microwave for cooking by pulling its handle.",
+    "Pull to open the dark gray kitchen microwave.",
+    "Use the left arm to grab and pull the dark gray slanted microwave box.",
+    "Open the gray and glass microwave for cooking using the left arm.",
+    "Grab the handle and open the microwave with glass top.",
+    "Handle the microwave with glass top and open it with the left arm.",
+    "Pull the handle of the gray and glass microwave for cooking with the left arm.",
+    "Pull the door to open the gray appliance with transparent glass top.",
+    "Pull the handle to open the microwave for heating food.",
+    "Pull the the gray appliance with transparent glass top's handle using the left arm.",
+    "Open the gray appliance with transparent glass top by grasping its handle.",
+    "Access the inside by opening the microwave with glossy dark gray finish.",
+    "Use the left arm to pull open the door of the gray and glass microwave for cooking.",
+    "Grab and pull the microwave with glass top using the left arm.",
+    "Utilize the left arm to pull the rectangular microwave with clear glass panel open.",
+    "Use the left arm to pull the gray and glass microwave for cooking open.",
+    "Pull and open the gray and glass microwave for cooking.",
+    "Pull the handle of the microwave with glossy dark gray finish to open it.",
+    "Use the left arm to grab and open the microwave for heating food.",
+    "Grab the handle and open the rectangular gray microwave with the left arm.",
+    "Open the gray appliance with transparent glass top by pulling on its handle.",
+    "Grip the microwave with glossy dark gray finish's handle and pull it open.",
+    "Engage the dark gray slanted microwave box's handle and open it.",
+    "Engage the microwave with smooth surface using the left arm to open.",
+    "Engage the left arm to open the gray and glass microwave for cooking.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Get the microwave with glass top open.",
+    "Open the microwave for heating food by pulling with the left arm.",
+    "Grasp the rectangular gray microwave's handle and pull to open.",
+    "Open the medium microwave with slanted sides by pulling its handle.",
+    "Use the left arm to open the medium microwave with slanted sides by pulling.",
+    "Pull the door of the dark gray slanted microwave box to open it."
+  ],
+  "unseen": [
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode87.json b/open_microwave/demo_clean/instructions/episode87.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ef3e040cd7067b3a9336997abd7ccd1ed21ac5c
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode87.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the handle to open the medium microwave.",
+    "Engage the left arm to open the yellow-sided microwave.",
+    "Use the left arm to engage the yellow-panel microwave with smooth sides's opening mechanism.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides with the left arm.",
+    "Grasp the microwave with patterned top and knobs's handle and pull to open.",
+    "Get the medium microwave open.",
+    "Access the inside by opening the gray and yellow microwave with rounded edges.",
+    "Engage the yellow-sided microwave using the left arm to open.",
+    "Pull the handle of the microwave with knobs with the left arm.",
+    "Use the left arm to grab and pull the gray microwave with two control knobs.",
+    "Use the left arm to open the gray microwave with two control knobs by pulling.",
+    "Grip the gray microwave with two control knobs's handle and pull it open.",
+    "Use the left arm to pull open the door of the medium microwave.",
+    "Open the microwave by pulling with the left arm.",
+    "Pull the the yellow-panel microwave with smooth sides's handle using the left arm.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Pull open the door of the medium microwave using the left arm.",
+    "Activate the door to open the rectangular microwave.",
+    "Pull the door to open the yellow-panel microwave with smooth sides.",
+    "Pull the handle of the yellow-sided microwave to open it.",
+    "Pull the door of the rectangular microwave to open it.",
+    "Handle the medium microwave and open it with the left arm.",
+    "Grab and pull the gray microwave using the left arm.",
+    "Engage the microwave with textured top panel's handle and open it.",
+    "Open the yellow-panel microwave with smooth sides by pulling its door with the left arm.",
+    "Open the countertop microwave using the left arm.",
+    "Grab the handle and open the microwave with knobs.",
+    "Pull the countertop microwave's handle to open it.",
+    "Use the handle to open the countertop microwave.",
+    "Pull and open the countertop microwave.",
+    "Open the rectangular microwave by grasping its handle.",
+    "Use the left arm to grab and open the gray microwave with two control knobs.",
+    "Open the gray microwave with two control knobs by pulling on its handle.",
+    "Pull to open the yellow-sided microwave.",
+    "Utilize the left arm to pull the microwave with knobs open.",
+    "Use the left arm to pull the microwave with textured top panel open.",
+    "Pull the handle to open the microwave.",
+    "Open the gray microwave by pulling its handle.",
+    "Pull the handle to open the medium microwave.",
+    "Engage the left arm to open the yellow-sided microwave.",
+    "Use the left arm to engage the microwave with textured top panel's opening mechanism.",
+    "Open the medium microwave by pulling its handle.",
+    "Grab the handle and open the yellow-sided microwave with the left arm.",
+    "Grasp the microwave with patterned top and knobs's handle and pull to open.",
+    "Get the microwave with knobs open.",
+    "Access the inside by opening the microwave with patterned top and knobs.",
+    "Engage the microwave with knobs using the left arm to open.",
+    "Pull the handle of the countertop microwave with the left arm.",
+    "Use the left arm to grab and pull the microwave with patterned top and knobs.",
+    "Use the left arm to open the gray microwave by pulling.",
+    "Grip the gray microwave's handle and pull it open.",
+    "Use the left arm to pull open the door of the microwave with patterned top and knobs.",
+    "Open the microwave by pulling with the left arm.",
+    "Pull the the yellow-panel microwave with smooth sides's handle using the left arm.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Pull open the door of the microwave with patterned top and knobs using the left arm.",
+    "Activate the door to open the countertop microwave.",
+    "Pull the door to open the countertop microwave.",
+    "Pull the handle of the microwave with knobs to open it.",
+    "Pull the door of the microwave with patterned top and knobs to open it.",
+    "Handle the countertop microwave and open it with the left arm.",
+    "Grab and pull the gray and yellow microwave with rounded edges using the left arm.",
+    "Engage the gray and yellow microwave with rounded edges's handle and open it.",
+    "Open the microwave with textured top panel by pulling its door with the left arm.",
+    "Open the microwave with knobs using the left arm.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides.",
+    "Pull the microwave with patterned top and knobs's handle to open it.",
+    "Use the handle to open the medium microwave.",
+    "Pull and open the gray microwave.",
+    "Open the microwave with textured top panel by grasping its handle.",
+    "Use the left arm to grab and open the rectangular microwave.",
+    "Open the gray and yellow microwave with rounded edges by pulling on its handle.",
+    "Pull to open the medium microwave.",
+    "Utilize the left arm to pull the gray microwave open.",
+    "Use the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Pull the handle to open the microwave with knobs.",
+    "Engage the left arm to open the microwave with knobs.",
+    "Use the left arm to engage the gray microwave with two control knobs's opening mechanism.",
+    "Open the microwave by pulling its handle.",
+    "Grab the handle and open the yellow-sided microwave with the left arm.",
+    "Grasp the yellow-sided microwave's handle and pull to open.",
+    "Get the medium microwave open.",
+    "Access the inside by opening the gray microwave with two control knobs.",
+    "Engage the microwave with textured top panel using the left arm to open.",
+    "Pull the handle of the gray and yellow microwave with rounded edges with the left arm.",
+    "Use the left arm to grab and pull the countertop microwave.",
+    "Use the left arm to open the microwave with knobs by pulling.",
+    "Grip the gray microwave's handle and pull it open.",
+    "Use the left arm to pull open the door of the gray microwave.",
+    "Open the gray microwave by pulling with the left arm.",
+    "Pull the the rectangular microwave's handle using the left arm.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Pull open the door of the medium microwave using the left arm.",
+    "Activate the door to open the medium microwave.",
+    "Pull the door to open the rectangular microwave.",
+    "Pull the handle of the countertop microwave to open it.",
+    "Pull the door of the yellow-panel microwave with smooth sides to open it."
+  ],
+  "unseen": [
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode88.json b/open_microwave/demo_clean/instructions/episode88.json
new file mode 100644
index 0000000000000000000000000000000000000000..d25dd87df4f81cfa1c9708a935b04340b211f6f5
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode88.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab and pull the medium microwave with slanted sides.",
+    "Pull the the rectangular gray microwave's handle using the left arm.",
+    "Open the microwave for heating food by pulling its door with the left arm.",
+    "Use the left arm to pull the rectangular gray microwave open.",
+    "Utilize the left arm to pull the rectangular gray microwave open.",
+    "Engage the microwave with smooth surface using the left arm to open.",
+    "Open the microwave with glossy dark gray finish by pulling on its handle.",
+    "Use the left arm to open the dark gray slanted microwave box by pulling.",
+    "Open the microwave by grasping its handle.",
+    "Use the left arm to pull open the door of the gray and glass microwave for cooking.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Pull to open the microwave with glossy dark gray finish.",
+    "Grab the handle and open the microwave with glass top.",
+    "Pull the medium microwave with slanted sides's handle to open it.",
+    "Pull and open the rectangular microwave with clear glass panel.",
+    "Engage the microwave with glossy dark gray finish's handle and open it.",
+    "Engage the left arm to open the microwave for heating food.",
+    "Grasp the microwave with glass top's handle and pull to open.",
+    "Use the handle to open the rectangular microwave with clear glass panel.",
+    "Get the dark gray kitchen microwave open.",
+    "Use the left arm to engage the gray appliance with transparent glass top's opening mechanism.",
+    "Open the gray appliance with transparent glass top by pulling with the left arm.",
+    "Grab and pull the rectangular microwave with clear glass panel using the left arm.",
+    "Handle the rectangular microwave with clear glass panel and open it with the left arm.",
+    "Pull open the door of the gray and glass microwave for cooking using the left arm.",
+    "Open the microwave using the left arm.",
+    "Open the rectangular gray microwave by pulling its handle.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Activate the door to open the microwave for heating food.",
+    "Access the inside by opening the gray appliance with transparent glass top.",
+    "Grip the rectangular gray microwave's handle and pull it open.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Pull the handle of the gray appliance with transparent glass top to open it.",
+    "Grab the handle and open the rectangular gray microwave with the left arm.",
+    "Use the left arm to grab and open the microwave with glass top.",
+    "Pull the door of the dark gray slanted microwave box to open it.",
+    "Pull the door to open the rectangular gray microwave.",
+    "Pull the handle of the gray appliance with transparent glass top with the left arm.",
+    "Use the left arm to grab and pull the rectangular gray microwave.",
+    "Pull the the dark gray slanted microwave box's handle using the left arm.",
+    "Open the rectangular microwave with clear glass panel by pulling its door with the left arm.",
+    "Use the left arm to pull the microwave for heating food open.",
+    "Utilize the left arm to pull the medium microwave with slanted sides open.",
+    "Engage the microwave with glossy dark gray finish using the left arm to open.",
+    "Open the gray appliance with transparent glass top by pulling on its handle.",
+    "Use the left arm to open the gray appliance with transparent glass top by pulling.",
+    "Open the gray and glass microwave for cooking by grasping its handle.",
+    "Use the left arm to pull open the door of the rectangular microwave with clear glass panel.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Pull to open the dark gray slanted microwave box.",
+    "Grab the handle and open the microwave with glass top.",
+    "Pull the microwave for heating food's handle to open it.",
+    "Pull and open the microwave for heating food.",
+    "Engage the dark gray slanted microwave box's handle and open it.",
+    "Engage the left arm to open the medium microwave with slanted sides.",
+    "Grasp the microwave with glossy dark gray finish's handle and pull to open.",
+    "Use the handle to open the microwave.",
+    "Get the gray and glass microwave for cooking open.",
+    "Use the left arm to engage the microwave with glass top's opening mechanism.",
+    "Open the rectangular microwave with clear glass panel by pulling with the left arm.",
+    "Grab and pull the rectangular microwave with clear glass panel using the left arm.",
+    "Handle the rectangular gray microwave and open it with the left arm.",
+    "Pull open the door of the dark gray kitchen microwave using the left arm.",
+    "Open the microwave with glossy dark gray finish using the left arm.",
+    "Open the gray appliance with transparent glass top by pulling its handle.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Activate the door to open the microwave with glossy dark gray finish.",
+    "Access the inside by opening the dark gray slanted microwave box.",
+    "Grip the rectangular microwave with clear glass panel's handle and pull it open.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Pull the handle of the microwave with smooth surface to open it.",
+    "Grab the handle and open the gray and glass microwave for cooking with the left arm.",
+    "Use the left arm to grab and open the medium microwave with slanted sides.",
+    "Pull the door of the gray and glass microwave for cooking to open it.",
+    "Pull the door to open the gray appliance with transparent glass top.",
+    "Pull the handle of the microwave for heating food with the left arm.",
+    "Use the left arm to grab and pull the gray and glass microwave for cooking.",
+    "Pull the the dark gray kitchen microwave's handle using the left arm.",
+    "Open the medium microwave with slanted sides by pulling its door with the left arm.",
+    "Use the left arm to pull the gray and glass microwave for cooking open.",
+    "Utilize the left arm to pull the dark gray slanted microwave box open.",
+    "Engage the rectangular microwave with clear glass panel using the left arm to open.",
+    "Open the microwave by pulling on its handle.",
+    "Use the left arm to open the microwave with smooth surface by pulling.",
+    "Open the microwave with smooth surface by grasping its handle.",
+    "Use the left arm to pull open the door of the rectangular gray microwave.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Pull the handle to open the microwave for heating food.",
+    "Pull to open the microwave with smooth surface.",
+    "Grab the handle and open the microwave.",
+    "Pull the dark gray kitchen microwave's handle to open it.",
+    "Pull and open the dark gray kitchen microwave.",
+    "Engage the medium microwave with slanted sides's handle and open it.",
+    "Engage the left arm to open the medium microwave with slanted sides.",
+    "Grasp the rectangular microwave with clear glass panel's handle and pull to open.",
+    "Use the handle to open the gray and glass microwave for cooking.",
+    "Get the dark gray kitchen microwave open.",
+    "Use the left arm to engage the microwave with smooth surface's opening mechanism."
+  ],
+  "unseen": [
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode89.json b/open_microwave/demo_clean/instructions/episode89.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d037a3502cecdab999608edd094ca3c9335f3f9
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode89.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Use the left arm to pull open the door of the microwave with textured top panel.",
+    "Activate the door to open the microwave with patterned top and knobs.",
+    "Grab and pull the rectangular microwave using the left arm.",
+    "Pull the the gray and yellow microwave with rounded edges's handle using the left arm.",
+    "Open the gray and yellow microwave with rounded edges using the left arm.",
+    "Pull the door of the microwave with textured top panel to open it.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Pull to open the microwave with patterned top and knobs.",
+    "Pull the handle to open the medium microwave.",
+    "Open the yellow-panel microwave with smooth sides by pulling on its handle.",
+    "Pull the handle of the microwave with knobs to open it.",
+    "Grip the medium microwave's handle and pull it open.",
+    "Open the yellow-panel microwave with smooth sides by pulling with the left arm.",
+    "Open the countertop microwave by grasping its handle.",
+    "Engage the left arm to open the rectangular microwave.",
+    "Pull the handle of the medium microwave with the left arm.",
+    "Handle the gray and yellow microwave with rounded edges and open it with the left arm.",
+    "Use the left arm to grab and pull the microwave.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides.",
+    "Get the countertop microwave open.",
+    "Grasp the gray and yellow microwave with rounded edges's handle and pull to open.",
+    "Grab the handle and open the microwave with knobs with the left arm.",
+    "Open the microwave with textured top panel by pulling its door with the left arm.",
+    "Pull open the door of the gray microwave with two control knobs using the left arm.",
+    "Pull the handle to open the microwave.",
+    "Pull the microwave with patterned top and knobs's handle to open it.",
+    "Use the left arm to grab and open the yellow-sided microwave.",
+    "Use the left arm to engage the microwave with patterned top and knobs's opening mechanism.",
+    "Use the handle to open the rectangular microwave.",
+    "Engage the yellow-panel microwave with smooth sides using the left arm to open.",
+    "Utilize the left arm to pull the countertop microwave open.",
+    "Open the gray microwave by pulling its handle.",
+    "Pull and open the microwave with knobs.",
+    "Access the inside by opening the gray microwave.",
+    "Use the left arm to pull the yellow-sided microwave open.",
+    "Engage the gray microwave with two control knobs's handle and open it.",
+    "Use the left arm to open the countertop microwave by pulling.",
+    "Pull the door to open the rectangular microwave.",
+    "Open the gray microwave by pulling its handle.",
+    "Use the left arm to pull open the door of the rectangular microwave.",
+    "Activate the door to open the countertop microwave.",
+    "Grab and pull the gray microwave with two control knobs using the left arm.",
+    "Pull the the gray microwave's handle using the left arm.",
+    "Open the yellow-sided microwave using the left arm.",
+    "Pull the door of the microwave with textured top panel to open it.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Pull to open the yellow-panel microwave with smooth sides.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Open the gray microwave by pulling on its handle.",
+    "Pull the handle of the microwave with patterned top and knobs to open it.",
+    "Grip the microwave with knobs's handle and pull it open.",
+    "Open the gray and yellow microwave with rounded edges by pulling with the left arm.",
+    "Open the yellow-panel microwave with smooth sides by grasping its handle.",
+    "Engage the left arm to open the gray and yellow microwave with rounded edges.",
+    "Pull the handle of the microwave with patterned top and knobs with the left arm.",
+    "Handle the yellow-panel microwave with smooth sides and open it with the left arm.",
+    "Use the left arm to grab and pull the yellow-panel microwave with smooth sides.",
+    "Grab the handle and open the countertop microwave.",
+    "Get the countertop microwave open.",
+    "Grasp the gray and yellow microwave with rounded edges's handle and pull to open.",
+    "Grab the handle and open the gray microwave with two control knobs with the left arm.",
+    "Open the microwave with knobs by pulling its door with the left arm.",
+    "Pull open the door of the gray and yellow microwave with rounded edges using the left arm.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Pull the rectangular microwave's handle to open it.",
+    "Use the left arm to grab and open the microwave with patterned top and knobs.",
+    "Use the left arm to engage the microwave with knobs's opening mechanism.",
+    "Use the handle to open the gray microwave with two control knobs.",
+    "Engage the yellow-sided microwave using the left arm to open.",
+    "Utilize the left arm to pull the microwave with patterned top and knobs open.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Pull and open the gray microwave with two control knobs.",
+    "Access the inside by opening the yellow-sided microwave.",
+    "Use the left arm to pull the microwave with patterned top and knobs open.",
+    "Engage the countertop microwave's handle and open it.",
+    "Use the left arm to open the gray microwave with two control knobs by pulling.",
+    "Pull the door to open the rectangular microwave.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Use the left arm to pull open the door of the yellow-panel microwave with smooth sides.",
+    "Activate the door to open the yellow-panel microwave with smooth sides.",
+    "Grab and pull the microwave with textured top panel using the left arm.",
+    "Pull the the gray microwave's handle using the left arm.",
+    "Open the microwave with knobs using the left arm.",
+    "Pull the door of the rectangular microwave to open it.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Pull to open the microwave with textured top panel.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Open the microwave with textured top panel by pulling on its handle.",
+    "Pull the handle of the countertop microwave to open it.",
+    "Grip the yellow-sided microwave's handle and pull it open.",
+    "Open the microwave by pulling with the left arm.",
+    "Open the microwave with patterned top and knobs by grasping its handle.",
+    "Engage the left arm to open the countertop microwave.",
+    "Pull the handle of the yellow-sided microwave with the left arm.",
+    "Handle the microwave and open it with the left arm.",
+    "Use the left arm to grab and pull the gray microwave.",
+    "Grab the handle and open the yellow-sided microwave.",
+    "Get the gray microwave open.",
+    "Grasp the yellow-panel microwave with smooth sides's handle and pull to open."
+  ],
+  "unseen": [
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode9.json b/open_microwave/demo_clean/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..8201f7b7bb68e908f672dfe0d8b4bc53425c17e4
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode9.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to engage the microwave with smooth surface's opening mechanism.",
+    "Engage the microwave for heating food's handle and open it.",
+    "Pull the door to open the microwave with glass top.",
+    "Access the inside by opening the dark gray kitchen microwave.",
+    "Use the left arm to grab and open the gray appliance with transparent glass top.",
+    "Use the left arm to open the dark gray kitchen microwave by pulling.",
+    "Open the rectangular gray microwave using the left arm.",
+    "Use the handle to open the microwave with smooth surface.",
+    "Open the gray and glass microwave for cooking by pulling its door with the left arm.",
+    "Utilize the left arm to pull the rectangular gray microwave open.",
+    "Open the dark gray slanted microwave box by pulling on its handle.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Engage the microwave with smooth surface using the left arm to open.",
+    "Open the gray appliance with transparent glass top by pulling with the left arm.",
+    "Open the gray and glass microwave for cooking by pulling its handle.",
+    "Grab and pull the gray and glass microwave for cooking using the left arm.",
+    "Use the left arm to pull the microwave for heating food open.",
+    "Grab the handle and open the microwave with glass top.",
+    "Pull to open the microwave.",
+    "Grip the microwave with smooth surface's handle and pull it open.",
+    "Handle the rectangular microwave with clear glass panel and open it with the left arm.",
+    "Grasp the dark gray kitchen microwave's handle and pull to open.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Get the rectangular microwave with clear glass panel open.",
+    "Use the left arm to pull open the door of the medium microwave with slanted sides.",
+    "Engage the left arm to open the medium microwave with slanted sides.",
+    "Pull and open the microwave.",
+    "Activate the door to open the dark gray slanted microwave box.",
+    "Pull the handle of the dark gray kitchen microwave with the left arm.",
+    "Use the left arm to grab and pull the microwave with glossy dark gray finish.",
+    "Grab the handle and open the gray and glass microwave for cooking with the left arm.",
+    "Pull the the rectangular gray microwave's handle using the left arm.",
+    "Open the rectangular microwave with clear glass panel by grasping its handle.",
+    "Open the rectangular gray microwave by pulling its handle.",
+    "Pull open the door of the microwave with glossy dark gray finish using the left arm.",
+    "Pull the door of the microwave with glass top to open it.",
+    "Pull the gray and glass microwave for cooking's handle to open it.",
+    "Pull the handle of the rectangular microwave with clear glass panel to open it.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Use the left arm to engage the dark gray slanted microwave box's opening mechanism.",
+    "Engage the rectangular gray microwave's handle and open it.",
+    "Pull the door to open the dark gray kitchen microwave.",
+    "Access the inside by opening the microwave with glass top.",
+    "Use the left arm to grab and open the dark gray kitchen microwave.",
+    "Use the left arm to open the microwave with glass top by pulling.",
+    "Open the microwave with glass top using the left arm.",
+    "Use the handle to open the gray appliance with transparent glass top.",
+    "Open the rectangular microwave with clear glass panel by pulling its door with the left arm.",
+    "Utilize the left arm to pull the dark gray slanted microwave box open.",
+    "Open the microwave by pulling on its handle.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Engage the microwave for heating food using the left arm to open.",
+    "Open the rectangular gray microwave by pulling with the left arm.",
+    "Open the microwave for heating food by pulling its handle.",
+    "Grab and pull the microwave with glass top using the left arm.",
+    "Use the left arm to pull the gray and glass microwave for cooking open.",
+    "Grab the handle and open the microwave for heating food.",
+    "Pull to open the microwave with smooth surface.",
+    "Grip the microwave's handle and pull it open.",
+    "Handle the gray appliance with transparent glass top and open it with the left arm.",
+    "Grasp the microwave with smooth surface's handle and pull to open.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Get the microwave with smooth surface open.",
+    "Use the left arm to pull open the door of the dark gray slanted microwave box.",
+    "Engage the left arm to open the gray appliance with transparent glass top.",
+    "Pull and open the rectangular microwave with clear glass panel.",
+    "Activate the door to open the microwave with smooth surface.",
+    "Pull the handle of the medium microwave with slanted sides with the left arm.",
+    "Use the left arm to grab and pull the gray appliance with transparent glass top.",
+    "Grab the handle and open the rectangular microwave with clear glass panel with the left arm.",
+    "Pull the the dark gray kitchen microwave's handle using the left arm.",
+    "Open the microwave with glossy dark gray finish by grasping its handle.",
+    "Open the medium microwave with slanted sides by pulling its handle.",
+    "Pull open the door of the medium microwave with slanted sides using the left arm.",
+    "Pull the door of the medium microwave with slanted sides to open it.",
+    "Pull the microwave for heating food's handle to open it.",
+    "Pull the handle of the rectangular microwave with clear glass panel to open it.",
+    "Pull the handle to open the microwave.",
+    "Use the left arm to engage the dark gray kitchen microwave's opening mechanism.",
+    "Engage the rectangular microwave with clear glass panel's handle and open it.",
+    "Pull the door to open the rectangular microwave with clear glass panel.",
+    "Access the inside by opening the microwave.",
+    "Use the left arm to grab and open the medium microwave with slanted sides.",
+    "Use the left arm to open the microwave with smooth surface by pulling.",
+    "Open the gray appliance with transparent glass top using the left arm.",
+    "Use the handle to open the gray appliance with transparent glass top.",
+    "Open the medium microwave with slanted sides by pulling its door with the left arm.",
+    "Utilize the left arm to pull the microwave with glossy dark gray finish open.",
+    "Open the rectangular microwave with clear glass panel by pulling on its handle.",
+    "Pull the handle to open the microwave.",
+    "Engage the rectangular microwave with clear glass panel using the left arm to open.",
+    "Open the rectangular gray microwave by pulling with the left arm.",
+    "Open the microwave with glass top by pulling its handle.",
+    "Grab and pull the gray appliance with transparent glass top using the left arm.",
+    "Use the left arm to pull the microwave with glossy dark gray finish open.",
+    "Grab the handle and open the rectangular gray microwave.",
+    "Pull to open the gray and glass microwave for cooking.",
+    "Grip the microwave's handle and pull it open.",
+    "Handle the microwave with smooth surface and open it with the left arm.",
+    "Grasp the rectangular microwave with clear glass panel's handle and pull to open."
+  ],
+  "unseen": [
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the dark gray microwave using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the dark gray microwave using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the dark gray microwave using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode90.json b/open_microwave/demo_clean/instructions/episode90.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1286ad36443513af64b07826dabf115d2c42b4e
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode90.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the handle and open the gray and yellow microwave with rounded edges.",
+    "Use the handle to open the yellow-sided microwave.",
+    "Pull the handle of the yellow-sided microwave with the left arm.",
+    "Use the left arm to pull open the door of the gray microwave.",
+    "Open the countertop microwave by grasping its handle.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Open the gray microwave by pulling its door with the left arm.",
+    "Pull the yellow-sided microwave's handle to open it.",
+    "Pull the door to open the rectangular microwave.",
+    "Pull the handle of the microwave with knobs to open it.",
+    "Pull open the door of the countertop microwave using the left arm.",
+    "Grasp the medium microwave's handle and pull to open.",
+    "Use the left arm to pull the microwave with textured top panel open.",
+    "Open the microwave with knobs by pulling on its handle.",
+    "Pull and open the microwave.",
+    "Open the gray and yellow microwave with rounded edges using the left arm.",
+    "Use the left arm to grab and pull the yellow-panel microwave with smooth sides.",
+    "Pull the handle to open the countertop microwave.",
+    "Activate the door to open the countertop microwave.",
+    "Access the inside by opening the countertop microwave.",
+    "Pull the door of the gray and yellow microwave with rounded edges to open it.",
+    "Utilize the left arm to pull the microwave with patterned top and knobs open.",
+    "Open the gray microwave with two control knobs by pulling with the left arm.",
+    "Use the left arm to open the gray microwave by pulling.",
+    "Open the gray microwave by pulling its handle.",
+    "Pull the the gray microwave's handle using the left arm.",
+    "Get the yellow-panel microwave with smooth sides open.",
+    "Pull the handle to open the medium microwave.",
+    "Engage the microwave's handle and open it.",
+    "Engage the gray microwave using the left arm to open.",
+    "Handle the gray and yellow microwave with rounded edges and open it with the left arm.",
+    "Pull to open the yellow-panel microwave with smooth sides.",
+    "Engage the left arm to open the microwave.",
+    "Grab and pull the gray microwave with two control knobs using the left arm.",
+    "Use the left arm to grab and open the gray microwave.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Grip the medium microwave's handle and pull it open.",
+    "Grab the handle and open the medium microwave with the left arm.",
+    "Use the left arm to engage the countertop microwave's opening mechanism.",
+    "Grab the handle and open the microwave.",
+    "Use the handle to open the microwave.",
+    "Pull the handle of the microwave with knobs with the left arm.",
+    "Use the left arm to pull open the door of the rectangular microwave.",
+    "Open the medium microwave by grasping its handle.",
+    "Pull the handle to open the countertop microwave.",
+    "Open the gray microwave by pulling its door with the left arm.",
+    "Pull the microwave with textured top panel's handle to open it.",
+    "Pull the door to open the microwave with textured top panel.",
+    "Pull the handle of the microwave with patterned top and knobs to open it.",
+    "Pull open the door of the yellow-sided microwave using the left arm.",
+    "Grasp the rectangular microwave's handle and pull to open.",
+    "Use the left arm to pull the medium microwave open.",
+    "Open the microwave with knobs by pulling on its handle.",
+    "Pull and open the countertop microwave.",
+    "Open the microwave with patterned top and knobs using the left arm.",
+    "Use the left arm to grab and pull the countertop microwave.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Activate the door to open the gray and yellow microwave with rounded edges.",
+    "Access the inside by opening the gray and yellow microwave with rounded edges.",
+    "Pull the door of the rectangular microwave to open it.",
+    "Utilize the left arm to pull the yellow-sided microwave open.",
+    "Open the countertop microwave by pulling with the left arm.",
+    "Use the left arm to open the gray microwave by pulling.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Pull the the yellow-panel microwave with smooth sides's handle using the left arm.",
+    "Get the microwave open.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Engage the microwave with patterned top and knobs's handle and open it.",
+    "Engage the medium microwave using the left arm to open.",
+    "Handle the microwave with textured top panel and open it with the left arm.",
+    "Pull to open the yellow-sided microwave.",
+    "Engage the left arm to open the yellow-sided microwave.",
+    "Grab and pull the yellow-panel microwave with smooth sides using the left arm.",
+    "Use the left arm to grab and open the microwave.",
+    "Open the gray microwave by pulling its handle.",
+    "Grip the gray and yellow microwave with rounded edges's handle and pull it open.",
+    "Grab the handle and open the medium microwave with the left arm.",
+    "Use the left arm to engage the microwave with knobs's opening mechanism.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides.",
+    "Use the handle to open the yellow-sided microwave.",
+    "Pull the handle of the medium microwave with the left arm.",
+    "Use the left arm to pull open the door of the medium microwave.",
+    "Open the microwave with knobs by grasping its handle.",
+    "Pull the handle to open the microwave.",
+    "Open the yellow-panel microwave with smooth sides by pulling its door with the left arm.",
+    "Pull the microwave with knobs's handle to open it.",
+    "Pull the door to open the medium microwave.",
+    "Pull the handle of the gray and yellow microwave with rounded edges to open it.",
+    "Pull open the door of the yellow-panel microwave with smooth sides using the left arm.",
+    "Grasp the yellow-sided microwave's handle and pull to open.",
+    "Use the left arm to pull the medium microwave open.",
+    "Open the microwave with knobs by pulling on its handle.",
+    "Pull and open the microwave.",
+    "Open the gray microwave using the left arm.",
+    "Use the left arm to grab and pull the countertop microwave.",
+    "Pull the handle to open the microwave with knobs.",
+    "Activate the door to open the medium microwave.",
+    "Access the inside by opening the microwave.",
+    "Pull the door of the rectangular microwave to open it.",
+    "Utilize the left arm to pull the microwave open."
+  ],
+  "unseen": [
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode91.json b/open_microwave/demo_clean/instructions/episode91.json
new file mode 100644
index 0000000000000000000000000000000000000000..25cb0eb66ca106d370ebc05f17ee299c58947fdc
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode91.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the microwave by pulling on its handle.",
+    "Grab the handle and open the microwave with textured top panel.",
+    "Use the left arm to pull open the door of the microwave.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Pull the handle to open the gray microwave.",
+    "Use the left arm to open the gray microwave with two control knobs by pulling.",
+    "Pull the door to open the medium microwave.",
+    "Grasp the countertop microwave's handle and pull to open.",
+    "Use the left arm to grab and pull the gray and yellow microwave with rounded edges.",
+    "Use the left arm to pull the medium microwave open.",
+    "Engage the left arm to open the yellow-panel microwave with smooth sides.",
+    "Grip the yellow-panel microwave with smooth sides's handle and pull it open.",
+    "Engage the microwave using the left arm to open.",
+    "Grab the handle and open the microwave with patterned top and knobs with the left arm.",
+    "Pull the handle of the medium microwave with the left arm.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Use the handle to open the microwave.",
+    "Pull the handle to open the microwave with knobs.",
+    "Access the inside by opening the medium microwave.",
+    "Pull open the door of the medium microwave using the left arm.",
+    "Open the countertop microwave by pulling its handle.",
+    "Pull to open the microwave with patterned top and knobs.",
+    "Pull the yellow-sided microwave's handle to open it.",
+    "Get the countertop microwave open.",
+    "Pull and open the microwave.",
+    "Pull the handle of the microwave with knobs to open it.",
+    "Grab and pull the gray microwave using the left arm.",
+    "Activate the door to open the gray microwave with two control knobs.",
+    "Open the medium microwave using the left arm.",
+    "Pull the the gray microwave's handle using the left arm.",
+    "Open the microwave by grasping its handle.",
+    "Use the left arm to grab and open the countertop microwave.",
+    "Use the left arm to engage the microwave with knobs's opening mechanism.",
+    "Engage the medium microwave's handle and open it.",
+    "Pull the handle to open the medium microwave.",
+    "Open the microwave with knobs by pulling with the left arm.",
+    "Utilize the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Pull the door of the gray microwave with two control knobs to open it.",
+    "Handle the countertop microwave and open it with the left arm.",
+    "Open the microwave with patterned top and knobs by pulling on its handle.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges.",
+    "Use the left arm to pull open the door of the countertop microwave.",
+    "Open the countertop microwave by pulling its handle.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Use the left arm to open the microwave with patterned top and knobs by pulling.",
+    "Pull the door to open the microwave with textured top panel.",
+    "Grasp the countertop microwave's handle and pull to open.",
+    "Use the left arm to grab and pull the countertop microwave.",
+    "Use the left arm to pull the microwave with patterned top and knobs open.",
+    "Engage the left arm to open the gray microwave.",
+    "Grip the microwave with patterned top and knobs's handle and pull it open.",
+    "Engage the countertop microwave using the left arm to open.",
+    "Grab the handle and open the rectangular microwave with the left arm.",
+    "Pull the handle of the countertop microwave with the left arm.",
+    "Open the microwave with textured top panel by pulling its door with the left arm.",
+    "Use the handle to open the microwave.",
+    "Pull the handle to open the countertop microwave.",
+    "Access the inside by opening the medium microwave.",
+    "Pull open the door of the gray microwave with two control knobs using the left arm.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Pull to open the microwave with patterned top and knobs.",
+    "Pull the gray and yellow microwave with rounded edges's handle to open it.",
+    "Get the countertop microwave open.",
+    "Pull and open the medium microwave.",
+    "Pull the handle of the countertop microwave to open it.",
+    "Grab and pull the microwave with textured top panel using the left arm.",
+    "Activate the door to open the microwave with knobs.",
+    "Open the rectangular microwave using the left arm.",
+    "Pull the the microwave with knobs's handle using the left arm.",
+    "Open the yellow-panel microwave with smooth sides by grasping its handle.",
+    "Use the left arm to grab and open the microwave with patterned top and knobs.",
+    "Use the left arm to engage the medium microwave's opening mechanism.",
+    "Engage the yellow-panel microwave with smooth sides's handle and open it.",
+    "Pull the handle to open the medium microwave.",
+    "Open the microwave with knobs by pulling with the left arm.",
+    "Utilize the left arm to pull the microwave with knobs open.",
+    "Pull the door of the microwave with textured top panel to open it.",
+    "Handle the microwave with textured top panel and open it with the left arm.",
+    "Open the gray microwave by pulling on its handle.",
+    "Grab the handle and open the microwave with textured top panel.",
+    "Use the left arm to pull open the door of the rectangular microwave.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Pull the handle to open the medium microwave.",
+    "Use the left arm to open the gray and yellow microwave with rounded edges by pulling.",
+    "Pull the door to open the gray microwave with two control knobs.",
+    "Grasp the microwave with patterned top and knobs's handle and pull to open.",
+    "Use the left arm to grab and pull the medium microwave.",
+    "Use the left arm to pull the gray microwave with two control knobs open.",
+    "Engage the left arm to open the microwave with knobs.",
+    "Grip the microwave with patterned top and knobs's handle and pull it open.",
+    "Engage the microwave with patterned top and knobs using the left arm to open.",
+    "Grab the handle and open the medium microwave with the left arm.",
+    "Pull the handle of the gray and yellow microwave with rounded edges with the left arm.",
+    "Open the yellow-sided microwave by pulling its door with the left arm.",
+    "Use the handle to open the yellow-sided microwave.",
+    "Pull the handle to open the rectangular microwave.",
+    "Access the inside by opening the gray and yellow microwave with rounded edges.",
+    "Pull open the door of the yellow-sided microwave using the left arm.",
+    "Open the gray microwave by pulling its handle.",
+    "Pull to open the gray microwave."
+  ],
+  "unseen": [
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode92.json b/open_microwave/demo_clean/instructions/episode92.json
new file mode 100644
index 0000000000000000000000000000000000000000..1122dbebf57a63b139ec9faf9b7749595d2ffffc
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode92.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the medium microwave by pulling its handle.",
+    "Handle the gray and yellow microwave with rounded edges and open it with the left arm.",
+    "Use the left arm to pull the rectangular microwave open.",
+    "Pull the handle of the rectangular microwave to open it.",
+    "Open the medium microwave by pulling on its handle.",
+    "Use the left arm to pull open the door of the gray microwave.",
+    "Open the microwave by grasping its handle.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Pull the door of the microwave with knobs to open it.",
+    "Use the left arm to grab and pull the yellow-panel microwave with smooth sides.",
+    "Engage the left arm to open the microwave with knobs.",
+    "Pull the handle to open the gray microwave.",
+    "Grip the countertop microwave's handle and pull it open.",
+    "Engage the yellow-sided microwave using the left arm to open.",
+    "Pull to open the gray microwave with two control knobs.",
+    "Open the medium microwave by pulling with the left arm.",
+    "Pull the handle of the microwave with the left arm.",
+    "Use the left arm to engage the gray and yellow microwave with rounded edges's opening mechanism.",
+    "Get the gray microwave open.",
+    "Pull the door to open the gray and yellow microwave with rounded edges.",
+    "Pull and open the rectangular microwave.",
+    "Pull the handle to open the medium microwave.",
+    "Grab the handle and open the rectangular microwave with the left arm.",
+    "Use the left arm to open the rectangular microwave by pulling.",
+    "Utilize the left arm to pull the microwave with textured top panel open.",
+    "Open the gray and yellow microwave with rounded edges using the left arm.",
+    "Access the inside by opening the microwave with knobs.",
+    "Activate the door to open the countertop microwave.",
+    "Engage the microwave's handle and open it.",
+    "Grab the handle and open the countertop microwave.",
+    "Open the microwave with knobs by pulling its door with the left arm.",
+    "Pull the gray microwave's handle to open it.",
+    "Pull open the door of the gray microwave with two control knobs using the left arm.",
+    "Open the medium microwave by pulling its handle.",
+    "Use the handle to open the microwave with knobs.",
+    "Use the left arm to grab and open the microwave with patterned top and knobs.",
+    "Grasp the microwave's handle and pull to open.",
+    "Grab and pull the yellow-panel microwave with smooth sides using the left arm.",
+    "Pull the the yellow-panel microwave with smooth sides's handle using the left arm.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Handle the microwave with patterned top and knobs and open it with the left arm.",
+    "Use the left arm to pull the microwave open.",
+    "Pull the handle of the gray microwave with two control knobs to open it.",
+    "Open the gray and yellow microwave with rounded edges by pulling on its handle.",
+    "Use the left arm to pull open the door of the microwave with patterned top and knobs.",
+    "Open the gray and yellow microwave with rounded edges by grasping its handle.",
+    "Pull the handle to open the gray microwave.",
+    "Pull the door of the gray microwave to open it.",
+    "Use the left arm to grab and pull the gray microwave with two control knobs.",
+    "Engage the left arm to open the microwave.",
+    "Pull the handle to open the rectangular microwave.",
+    "Grip the yellow-sided microwave's handle and pull it open.",
+    "Engage the countertop microwave using the left arm to open.",
+    "Pull to open the microwave with textured top panel.",
+    "Open the medium microwave by pulling with the left arm.",
+    "Pull the handle of the medium microwave with the left arm.",
+    "Use the left arm to engage the rectangular microwave's opening mechanism.",
+    "Get the countertop microwave open.",
+    "Pull the door to open the medium microwave.",
+    "Pull and open the medium microwave.",
+    "Pull the handle to open the countertop microwave.",
+    "Grab the handle and open the medium microwave with the left arm.",
+    "Use the left arm to open the rectangular microwave by pulling.",
+    "Utilize the left arm to pull the microwave with textured top panel open.",
+    "Open the microwave with textured top panel using the left arm.",
+    "Access the inside by opening the medium microwave.",
+    "Activate the door to open the countertop microwave.",
+    "Engage the microwave with textured top panel's handle and open it.",
+    "Grab the handle and open the yellow-sided microwave.",
+    "Open the yellow-sided microwave by pulling its door with the left arm.",
+    "Pull the gray microwave's handle to open it.",
+    "Pull open the door of the yellow-sided microwave using the left arm.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Use the handle to open the countertop microwave.",
+    "Use the left arm to grab and open the gray and yellow microwave with rounded edges.",
+    "Grasp the microwave's handle and pull to open.",
+    "Grab and pull the microwave with patterned top and knobs using the left arm.",
+    "Pull the the rectangular microwave's handle using the left arm.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Handle the microwave with textured top panel and open it with the left arm.",
+    "Use the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Pull the handle of the microwave to open it.",
+    "Open the countertop microwave by pulling on its handle.",
+    "Use the left arm to pull open the door of the countertop microwave.",
+    "Open the gray microwave with two control knobs by grasping its handle.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Pull the door of the medium microwave to open it.",
+    "Use the left arm to grab and pull the gray microwave with two control knobs.",
+    "Engage the left arm to open the gray microwave.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Grip the rectangular microwave's handle and pull it open.",
+    "Engage the microwave with textured top panel using the left arm to open.",
+    "Pull to open the gray microwave with two control knobs.",
+    "Open the gray and yellow microwave with rounded edges by pulling with the left arm.",
+    "Pull the handle of the microwave with textured top panel with the left arm.",
+    "Use the left arm to engage the medium microwave's opening mechanism.",
+    "Get the microwave with textured top panel open.",
+    "Pull the door to open the yellow-panel microwave with smooth sides.",
+    "Pull and open the microwave with knobs.",
+    "Pull the handle to open the microwave."
+  ],
+  "unseen": [
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode93.json b/open_microwave/demo_clean/instructions/episode93.json
new file mode 100644
index 0000000000000000000000000000000000000000..1754b29b126c5ea8050fadca9625bc87afabbaf3
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode93.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grip the medium microwave's handle and pull it open.",
+    "Grab the handle and open the countertop microwave.",
+    "Engage the left arm to open the yellow-sided microwave.",
+    "Handle the yellow-sided microwave and open it with the left arm.",
+    "Open the gray microwave with two control knobs by pulling on its handle.",
+    "Open the gray microwave by pulling its handle.",
+    "Open the gray microwave with two control knobs by pulling with the left arm.",
+    "Pull to open the countertop microwave.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Pull the handle to open the microwave with knobs.",
+    "Utilize the left arm to pull the microwave with knobs open.",
+    "Pull open the door of the gray microwave using the left arm.",
+    "Use the left arm to grab and open the microwave.",
+    "Pull the door of the microwave with knobs to open it.",
+    "Pull the microwave's handle to open it.",
+    "Use the left arm to grab and pull the gray microwave with two control knobs.",
+    "Engage the microwave with textured top panel's handle and open it.",
+    "Pull the handle of the yellow-panel microwave with smooth sides with the left arm.",
+    "Pull the door to open the medium microwave.",
+    "Engage the microwave using the left arm to open.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Pull the the microwave with textured top panel's handle using the left arm.",
+    "Open the yellow-panel microwave with smooth sides by pulling its door with the left arm.",
+    "Use the left arm to pull the yellow-sided microwave open.",
+    "Use the left arm to open the gray and yellow microwave with rounded edges by pulling.",
+    "Pull the handle of the countertop microwave to open it.",
+    "Grab and pull the yellow-sided microwave using the left arm.",
+    "Activate the door to open the microwave with textured top panel.",
+    "Grasp the rectangular microwave's handle and pull to open.",
+    "Open the yellow-panel microwave with smooth sides by grasping its handle.",
+    "Access the inside by opening the microwave with knobs.",
+    "Get the microwave with patterned top and knobs open.",
+    "Open the gray and yellow microwave with rounded edges using the left arm.",
+    "Use the handle to open the microwave with knobs.",
+    "Pull and open the gray microwave with two control knobs.",
+    "Use the left arm to engage the gray microwave with two control knobs's opening mechanism.",
+    "Use the left arm to pull open the door of the microwave with knobs.",
+    "Grab the handle and open the gray microwave with two control knobs with the left arm.",
+    "Pull the handle to open the medium microwave.",
+    "Grip the gray and yellow microwave with rounded edges's handle and pull it open.",
+    "Grab the handle and open the microwave with textured top panel.",
+    "Engage the left arm to open the yellow-panel microwave with smooth sides.",
+    "Handle the gray and yellow microwave with rounded edges and open it with the left arm.",
+    "Open the microwave with knobs by pulling on its handle.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Open the microwave by pulling with the left arm.",
+    "Pull to open the microwave with textured top panel.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Utilize the left arm to pull the microwave with patterned top and knobs open.",
+    "Pull open the door of the microwave with patterned top and knobs using the left arm.",
+    "Use the left arm to grab and open the medium microwave.",
+    "Pull the door of the microwave with textured top panel to open it.",
+    "Pull the microwave with textured top panel's handle to open it.",
+    "Use the left arm to grab and pull the gray and yellow microwave with rounded edges.",
+    "Engage the gray microwave's handle and open it.",
+    "Pull the handle of the yellow-sided microwave with the left arm.",
+    "Pull the door to open the countertop microwave.",
+    "Engage the gray microwave with two control knobs using the left arm to open.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Pull the the yellow-panel microwave with smooth sides's handle using the left arm.",
+    "Open the yellow-sided microwave by pulling its door with the left arm.",
+    "Use the left arm to pull the microwave with knobs open.",
+    "Use the left arm to open the yellow-panel microwave with smooth sides by pulling.",
+    "Pull the handle of the microwave with textured top panel to open it.",
+    "Grab and pull the microwave using the left arm.",
+    "Activate the door to open the microwave with patterned top and knobs.",
+    "Grasp the rectangular microwave's handle and pull to open.",
+    "Open the microwave with patterned top and knobs by grasping its handle.",
+    "Access the inside by opening the microwave with patterned top and knobs.",
+    "Get the microwave with textured top panel open.",
+    "Open the countertop microwave using the left arm.",
+    "Use the handle to open the microwave.",
+    "Pull and open the microwave with knobs.",
+    "Use the left arm to engage the yellow-panel microwave with smooth sides's opening mechanism.",
+    "Use the left arm to pull open the door of the gray microwave.",
+    "Grab the handle and open the microwave with patterned top and knobs with the left arm.",
+    "Pull the handle to open the microwave.",
+    "Grip the medium microwave's handle and pull it open.",
+    "Grab the handle and open the microwave with textured top panel.",
+    "Engage the left arm to open the microwave.",
+    "Handle the countertop microwave and open it with the left arm.",
+    "Open the microwave with textured top panel by pulling on its handle.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Open the countertop microwave by pulling with the left arm.",
+    "Pull to open the microwave with knobs.",
+    "Open the microwave by pulling its handle.",
+    "Pull the handle to open the gray microwave.",
+    "Utilize the left arm to pull the microwave with patterned top and knobs open.",
+    "Pull open the door of the countertop microwave using the left arm.",
+    "Use the left arm to grab and open the gray and yellow microwave with rounded edges.",
+    "Pull the door of the gray and yellow microwave with rounded edges to open it.",
+    "Pull the medium microwave's handle to open it.",
+    "Use the left arm to grab and pull the yellow-sided microwave.",
+    "Engage the gray microwave with two control knobs's handle and open it.",
+    "Pull the handle of the microwave with knobs with the left arm.",
+    "Pull the door to open the rectangular microwave.",
+    "Engage the yellow-panel microwave with smooth sides using the left arm to open.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Pull the the microwave with textured top panel's handle using the left arm."
+  ],
+  "unseen": [
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode94.json b/open_microwave/demo_clean/instructions/episode94.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5bb95d1ec0e25b93ed59a778d27d3c51a71b2d5
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode94.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the handle to open the microwave with textured top panel.",
+    "Pull the microwave's handle to open it.",
+    "Use the left arm to engage the yellow-sided microwave's opening mechanism.",
+    "Access the inside by opening the microwave with patterned top and knobs.",
+    "Use the left arm to grab and pull the medium microwave.",
+    "Pull the door of the gray microwave to open it.",
+    "Handle the gray and yellow microwave with rounded edges and open it with the left arm.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Pull open the door of the yellow-panel microwave with smooth sides using the left arm.",
+    "Grip the microwave's handle and pull it open.",
+    "Pull the handle to open the gray microwave.",
+    "Open the yellow-sided microwave by pulling with the left arm.",
+    "Open the countertop microwave by pulling its handle.",
+    "Open the gray microwave by pulling its door with the left arm.",
+    "Pull the the rectangular microwave's handle using the left arm.",
+    "Pull the handle of the gray microwave with the left arm.",
+    "Engage the left arm to open the microwave with knobs.",
+    "Open the medium microwave using the left arm.",
+    "Pull the handle of the rectangular microwave to open it.",
+    "Open the rectangular microwave by grasping its handle.",
+    "Activate the door to open the yellow-panel microwave with smooth sides.",
+    "Grab the handle and open the gray microwave with two control knobs.",
+    "Engage the gray microwave's handle and open it.",
+    "Use the handle to open the microwave with textured top panel.",
+    "Grasp the yellow-panel microwave with smooth sides's handle and pull to open.",
+    "Grab and pull the rectangular microwave using the left arm.",
+    "Use the left arm to grab and open the gray microwave with two control knobs.",
+    "Utilize the left arm to pull the microwave open.",
+    "Get the microwave with textured top panel open.",
+    "Pull the door to open the countertop microwave.",
+    "Engage the microwave with patterned top and knobs using the left arm to open.",
+    "Use the left arm to open the microwave by pulling.",
+    "Pull the handle to open the microwave with knobs.",
+    "Pull and open the gray microwave with two control knobs.",
+    "Use the left arm to pull the countertop microwave open.",
+    "Use the left arm to pull open the door of the microwave.",
+    "Open the gray and yellow microwave with rounded edges by pulling on its handle.",
+    "Pull to open the gray microwave.",
+    "Grab the handle and open the yellow-sided microwave with the left arm.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Pull the microwave with knobs's handle to open it.",
+    "Use the left arm to engage the microwave with textured top panel's opening mechanism.",
+    "Access the inside by opening the gray microwave.",
+    "Use the left arm to grab and pull the yellow-panel microwave with smooth sides.",
+    "Pull the door of the microwave with textured top panel to open it.",
+    "Handle the gray microwave and open it with the left arm.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Pull open the door of the countertop microwave using the left arm.",
+    "Grip the microwave with patterned top and knobs's handle and pull it open.",
+    "Pull the handle to open the rectangular microwave.",
+    "Open the yellow-sided microwave by pulling with the left arm.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Open the gray microwave by pulling its door with the left arm.",
+    "Pull the the gray microwave's handle using the left arm.",
+    "Pull the handle of the gray microwave with two control knobs with the left arm.",
+    "Engage the left arm to open the microwave.",
+    "Open the yellow-panel microwave with smooth sides using the left arm.",
+    "Pull the handle of the microwave to open it.",
+    "Open the microwave with textured top panel by grasping its handle.",
+    "Activate the door to open the microwave with patterned top and knobs.",
+    "Grab the handle and open the gray microwave with two control knobs.",
+    "Engage the microwave with patterned top and knobs's handle and open it.",
+    "Use the handle to open the medium microwave.",
+    "Grasp the gray microwave's handle and pull to open.",
+    "Grab and pull the gray and yellow microwave with rounded edges using the left arm.",
+    "Use the left arm to grab and open the microwave with textured top panel.",
+    "Utilize the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Get the yellow-panel microwave with smooth sides open.",
+    "Pull the door to open the microwave with knobs.",
+    "Engage the microwave with textured top panel using the left arm to open.",
+    "Use the left arm to open the microwave with knobs by pulling.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Pull and open the countertop microwave.",
+    "Use the left arm to pull the gray microwave open.",
+    "Use the left arm to pull open the door of the medium microwave.",
+    "Open the medium microwave by pulling on its handle.",
+    "Pull to open the yellow-sided microwave.",
+    "Grab the handle and open the microwave with the left arm.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Pull the gray and yellow microwave with rounded edges's handle to open it.",
+    "Use the left arm to engage the microwave with patterned top and knobs's opening mechanism.",
+    "Access the inside by opening the microwave with knobs.",
+    "Use the left arm to grab and pull the countertop microwave.",
+    "Pull the door of the gray microwave to open it.",
+    "Handle the medium microwave and open it with the left arm.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Pull open the door of the gray and yellow microwave with rounded edges using the left arm.",
+    "Grip the medium microwave's handle and pull it open.",
+    "Pull the handle to open the microwave.",
+    "Open the microwave with knobs by pulling with the left arm.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Open the gray microwave by pulling its door with the left arm.",
+    "Pull the the microwave with knobs's handle using the left arm.",
+    "Pull the handle of the medium microwave with the left arm.",
+    "Engage the left arm to open the microwave with textured top panel.",
+    "Open the yellow-sided microwave using the left arm.",
+    "Pull the handle of the gray microwave with two control knobs to open it.",
+    "Open the gray microwave by grasping its handle.",
+    "Activate the door to open the countertop microwave.",
+    "Grab the handle and open the microwave with knobs."
+  ],
+  "unseen": [
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode95.json b/open_microwave/demo_clean/instructions/episode95.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d2617f49c184d9361c5baff4d8c2218c971f150
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode95.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the door to open the microwave with textured top panel.",
+    "Get the yellow-panel microwave with smooth sides open.",
+    "Open the yellow-sided microwave using the left arm.",
+    "Pull the handle to open the microwave with knobs.",
+    "Use the left arm to grab and open the countertop microwave.",
+    "Handle the gray and yellow microwave with rounded edges and open it with the left arm.",
+    "Open the rectangular microwave by grasping its handle.",
+    "Grip the microwave with textured top panel's handle and pull it open.",
+    "Open the medium microwave by pulling its door with the left arm.",
+    "Use the left arm to grab and pull the yellow-panel microwave with smooth sides.",
+    "Open the countertop microwave by pulling with the left arm.",
+    "Utilize the left arm to pull the yellow-sided microwave open.",
+    "Pull the handle to open the rectangular microwave.",
+    "Grab the handle and open the microwave with patterned top and knobs with the left arm.",
+    "Access the inside by opening the microwave with textured top panel.",
+    "Pull the door of the gray and yellow microwave with rounded edges to open it.",
+    "Engage the yellow-sided microwave using the left arm to open.",
+    "Pull open the door of the medium microwave using the left arm.",
+    "Pull the handle of the microwave with patterned top and knobs to open it.",
+    "Pull the microwave with patterned top and knobs's handle to open it.",
+    "Use the left arm to engage the microwave with patterned top and knobs's opening mechanism.",
+    "Pull the the microwave with patterned top and knobs's handle using the left arm.",
+    "Grab and pull the gray microwave with two control knobs using the left arm.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Grab the handle and open the microwave with knobs.",
+    "Pull and open the microwave with textured top panel.",
+    "Open the microwave by pulling its handle.",
+    "Use the handle to open the microwave.",
+    "Use the left arm to pull the rectangular microwave open.",
+    "Open the gray microwave with two control knobs by pulling on its handle.",
+    "Use the left arm to pull open the door of the microwave with knobs.",
+    "Engage the left arm to open the rectangular microwave.",
+    "Pull to open the medium microwave.",
+    "Pull the handle to open the medium microwave.",
+    "Pull the door to open the gray and yellow microwave with rounded edges.",
+    "Grasp the microwave's handle and pull to open.",
+    "Use the left arm to open the yellow-panel microwave with smooth sides by pulling.",
+    "Engage the countertop microwave's handle and open it.",
+    "Pull the handle of the gray microwave with the left arm.",
+    "Activate the door to open the microwave with knobs.",
+    "Get the gray and yellow microwave with rounded edges open.",
+    "Open the rectangular microwave using the left arm.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Use the left arm to grab and open the microwave with patterned top and knobs.",
+    "Handle the countertop microwave and open it with the left arm.",
+    "Open the countertop microwave by grasping its handle.",
+    "Grip the gray microwave with two control knobs's handle and pull it open.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Use the left arm to grab and pull the gray microwave with two control knobs.",
+    "Open the gray microwave by pulling with the left arm.",
+    "Utilize the left arm to pull the rectangular microwave open.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges with the left arm.",
+    "Access the inside by opening the microwave.",
+    "Pull the door of the microwave with knobs to open it.",
+    "Engage the microwave with patterned top and knobs using the left arm to open.",
+    "Pull open the door of the gray and yellow microwave with rounded edges using the left arm.",
+    "Pull the handle of the microwave to open it.",
+    "Pull the microwave with textured top panel's handle to open it.",
+    "Use the left arm to engage the gray and yellow microwave with rounded edges's opening mechanism.",
+    "Pull the the countertop microwave's handle using the left arm.",
+    "Grab and pull the countertop microwave using the left arm.",
+    "Open the gray microwave by pulling its handle.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides.",
+    "Pull and open the medium microwave.",
+    "Open the countertop microwave by pulling its handle.",
+    "Use the handle to open the medium microwave.",
+    "Use the left arm to pull the microwave open.",
+    "Open the microwave with patterned top and knobs by pulling on its handle.",
+    "Use the left arm to pull open the door of the yellow-sided microwave.",
+    "Engage the left arm to open the gray microwave with two control knobs.",
+    "Pull to open the gray microwave.",
+    "Pull the handle to open the countertop microwave.",
+    "Pull the door to open the yellow-panel microwave with smooth sides.",
+    "Grasp the gray and yellow microwave with rounded edges's handle and pull to open.",
+    "Use the left arm to open the microwave with textured top panel by pulling.",
+    "Engage the gray and yellow microwave with rounded edges's handle and open it.",
+    "Pull the handle of the rectangular microwave with the left arm.",
+    "Activate the door to open the microwave.",
+    "Get the microwave with patterned top and knobs open.",
+    "Open the microwave using the left arm.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Use the left arm to grab and open the countertop microwave.",
+    "Handle the medium microwave and open it with the left arm.",
+    "Open the medium microwave by grasping its handle.",
+    "Grip the yellow-panel microwave with smooth sides's handle and pull it open.",
+    "Open the gray and yellow microwave with rounded edges by pulling its door with the left arm.",
+    "Use the left arm to grab and pull the yellow-panel microwave with smooth sides.",
+    "Open the yellow-sided microwave by pulling with the left arm.",
+    "Utilize the left arm to pull the microwave with knobs open.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Grab the handle and open the microwave with patterned top and knobs with the left arm.",
+    "Access the inside by opening the microwave.",
+    "Pull the door of the gray microwave to open it.",
+    "Engage the gray and yellow microwave with rounded edges using the left arm to open.",
+    "Pull open the door of the gray and yellow microwave with rounded edges using the left arm.",
+    "Pull the handle of the rectangular microwave to open it.",
+    "Pull the microwave's handle to open it.",
+    "Use the left arm to engage the yellow-sided microwave's opening mechanism.",
+    "Pull the the microwave with knobs's handle using the left arm."
+  ],
+  "unseen": [
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode96.json b/open_microwave/demo_clean/instructions/episode96.json
new file mode 100644
index 0000000000000000000000000000000000000000..af6205462df2a06108c4e4bb43caa1f0ec0f7b83
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode96.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the handle and open the countertop microwave with the left arm.",
+    "Use the left arm to grab and open the rectangular microwave.",
+    "Engage the gray and yellow microwave with rounded edges's handle and open it.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Grip the yellow-sided microwave's handle and pull it open.",
+    "Engage the left arm to open the yellow-panel microwave with smooth sides.",
+    "Grab and pull the microwave using the left arm.",
+    "Activate the door to open the rectangular microwave.",
+    "Get the microwave with knobs open.",
+    "Pull the door of the microwave with knobs to open it.",
+    "Open the microwave by pulling on its handle.",
+    "Open the microwave with textured top panel by grasping its handle.",
+    "Pull the handle to open the medium microwave.",
+    "Pull and open the medium microwave.",
+    "Use the left arm to pull the gray microwave open.",
+    "Access the inside by opening the countertop microwave.",
+    "Grab the handle and open the microwave with textured top panel.",
+    "Use the left arm to pull open the door of the yellow-sided microwave.",
+    "Open the microwave with textured top panel by pulling its door with the left arm.",
+    "Pull the handle to open the rectangular microwave.",
+    "Pull the handle of the microwave with knobs with the left arm.",
+    "Utilize the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Pull the handle of the microwave with patterned top and knobs to open it.",
+    "Use the left arm to open the yellow-panel microwave with smooth sides by pulling.",
+    "Pull the door to open the medium microwave.",
+    "Pull to open the microwave.",
+    "Engage the countertop microwave using the left arm to open.",
+    "Use the left arm to engage the yellow-sided microwave's opening mechanism.",
+    "Pull the handle to open the microwave.",
+    "Pull open the door of the yellow-panel microwave with smooth sides using the left arm.",
+    "Pull the the yellow-panel microwave with smooth sides's handle using the left arm.",
+    "Grasp the microwave with knobs's handle and pull to open.",
+    "Handle the microwave with textured top panel and open it with the left arm.",
+    "Open the yellow-panel microwave with smooth sides using the left arm.",
+    "Pull the microwave with textured top panel's handle to open it.",
+    "Open the yellow-panel microwave with smooth sides by pulling with the left arm.",
+    "Use the left arm to grab and pull the microwave with textured top panel.",
+    "Use the handle to open the microwave with patterned top and knobs.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges with the left arm.",
+    "Use the left arm to grab and open the medium microwave.",
+    "Engage the gray microwave with two control knobs's handle and open it.",
+    "Open the medium microwave by pulling its handle.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Grip the yellow-sided microwave's handle and pull it open.",
+    "Engage the left arm to open the microwave.",
+    "Grab and pull the gray microwave using the left arm.",
+    "Activate the door to open the gray microwave with two control knobs.",
+    "Get the gray microwave with two control knobs open.",
+    "Pull the door of the yellow-panel microwave with smooth sides to open it.",
+    "Open the gray and yellow microwave with rounded edges by pulling on its handle.",
+    "Open the yellow-sided microwave by grasping its handle.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Pull and open the medium microwave.",
+    "Use the left arm to pull the microwave with patterned top and knobs open.",
+    "Access the inside by opening the rectangular microwave.",
+    "Grab the handle and open the countertop microwave.",
+    "Use the left arm to pull open the door of the rectangular microwave.",
+    "Open the microwave with patterned top and knobs by pulling its door with the left arm.",
+    "Pull the handle to open the microwave.",
+    "Pull the handle of the microwave with knobs with the left arm.",
+    "Utilize the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Pull the handle of the medium microwave to open it.",
+    "Use the left arm to open the microwave with patterned top and knobs by pulling.",
+    "Pull the door to open the microwave with knobs.",
+    "Pull to open the microwave.",
+    "Engage the gray and yellow microwave with rounded edges using the left arm to open.",
+    "Use the left arm to engage the yellow-panel microwave with smooth sides's opening mechanism.",
+    "Pull the handle to open the microwave with knobs.",
+    "Pull open the door of the rectangular microwave using the left arm.",
+    "Pull the the gray microwave with two control knobs's handle using the left arm.",
+    "Grasp the microwave with knobs's handle and pull to open.",
+    "Handle the medium microwave and open it with the left arm.",
+    "Open the yellow-sided microwave using the left arm.",
+    "Pull the microwave with patterned top and knobs's handle to open it.",
+    "Open the gray microwave by pulling with the left arm.",
+    "Use the left arm to grab and pull the microwave.",
+    "Use the handle to open the gray microwave with two control knobs.",
+    "Grab the handle and open the medium microwave with the left arm.",
+    "Use the left arm to grab and open the microwave with knobs.",
+    "Engage the yellow-sided microwave's handle and open it.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Grip the gray microwave with two control knobs's handle and pull it open.",
+    "Engage the left arm to open the gray microwave with two control knobs.",
+    "Grab and pull the yellow-panel microwave with smooth sides using the left arm.",
+    "Activate the door to open the countertop microwave.",
+    "Get the microwave open.",
+    "Pull the door of the countertop microwave to open it.",
+    "Open the yellow-panel microwave with smooth sides by pulling on its handle.",
+    "Open the medium microwave by grasping its handle.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Pull and open the microwave with patterned top and knobs.",
+    "Use the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Access the inside by opening the countertop microwave.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges.",
+    "Use the left arm to pull open the door of the microwave with knobs.",
+    "Open the rectangular microwave by pulling its door with the left arm.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Pull the handle of the rectangular microwave with the left arm."
+  ],
+  "unseen": [
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode97.json b/open_microwave/demo_clean/instructions/episode97.json
new file mode 100644
index 0000000000000000000000000000000000000000..af0824729b51d71a437f0056ff78536c529fb22a
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode97.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the rectangular gray microwave by pulling its handle.",
+    "Pull the handle of the gray and glass microwave for cooking to open it.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Open the gray and glass microwave for cooking by pulling with the left arm.",
+    "Engage the left arm to open the microwave with glass top.",
+    "Pull to open the dark gray slanted microwave box.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Use the handle to open the microwave.",
+    "Pull the the microwave with glossy dark gray finish's handle using the left arm.",
+    "Use the left arm to grab and pull the gray and glass microwave for cooking.",
+    "Pull and open the microwave with smooth surface.",
+    "Use the left arm to grab and open the rectangular microwave with clear glass panel.",
+    "Grab the handle and open the medium microwave with slanted sides with the left arm.",
+    "Use the left arm to open the medium microwave with slanted sides by pulling.",
+    "Utilize the left arm to pull the rectangular microwave with clear glass panel open.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Pull open the door of the rectangular gray microwave using the left arm.",
+    "Grasp the microwave with smooth surface's handle and pull to open.",
+    "Activate the door to open the medium microwave with slanted sides.",
+    "Handle the microwave with glass top and open it with the left arm.",
+    "Open the gray and glass microwave for cooking by pulling its door with the left arm.",
+    "Pull the door of the medium microwave with slanted sides to open it.",
+    "Open the dark gray slanted microwave box by pulling on its handle.",
+    "Grip the rectangular microwave with clear glass panel's handle and pull it open.",
+    "Open the medium microwave with slanted sides using the left arm.",
+    "Pull the door to open the rectangular microwave with clear glass panel.",
+    "Use the left arm to pull open the door of the microwave with glass top.",
+    "Use the left arm to pull the dark gray kitchen microwave open.",
+    "Get the rectangular gray microwave open.",
+    "Open the microwave with smooth surface by grasping its handle.",
+    "Grab and pull the microwave for heating food using the left arm.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Access the inside by opening the microwave for heating food.",
+    "Grab the handle and open the dark gray kitchen microwave.",
+    "Engage the microwave's handle and open it.",
+    "Pull the handle of the microwave for heating food with the left arm.",
+    "Use the left arm to engage the microwave for heating food's opening mechanism.",
+    "Pull the dark gray kitchen microwave's handle to open it.",
+    "Engage the gray and glass microwave for cooking using the left arm to open.",
+    "Open the rectangular microwave with clear glass panel by pulling its handle.",
+    "Pull the handle of the microwave with glass top to open it.",
+    "Open the microwave with glass top by pulling its handle.",
+    "Open the gray and glass microwave for cooking by pulling with the left arm.",
+    "Engage the left arm to open the microwave with smooth surface.",
+    "Pull to open the gray appliance with transparent glass top.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Use the handle to open the microwave with glass top.",
+    "Pull the the microwave with smooth surface's handle using the left arm.",
+    "Use the left arm to grab and pull the microwave with glossy dark gray finish.",
+    "Pull and open the microwave with glass top.",
+    "Use the left arm to grab and open the microwave with glossy dark gray finish.",
+    "Grab the handle and open the microwave with smooth surface with the left arm.",
+    "Use the left arm to open the gray and glass microwave for cooking by pulling.",
+    "Utilize the left arm to pull the microwave with smooth surface open.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Pull open the door of the microwave with glass top using the left arm.",
+    "Grasp the microwave's handle and pull to open.",
+    "Activate the door to open the dark gray slanted microwave box.",
+    "Handle the rectangular gray microwave and open it with the left arm.",
+    "Open the microwave with smooth surface by pulling its door with the left arm.",
+    "Pull the door of the microwave with smooth surface to open it.",
+    "Open the microwave with glossy dark gray finish by pulling on its handle.",
+    "Grip the microwave with smooth surface's handle and pull it open.",
+    "Open the medium microwave with slanted sides using the left arm.",
+    "Pull the door to open the dark gray kitchen microwave.",
+    "Use the left arm to pull open the door of the microwave with glass top.",
+    "Use the left arm to pull the dark gray slanted microwave box open.",
+    "Get the dark gray kitchen microwave open.",
+    "Open the gray and glass microwave for cooking by grasping its handle.",
+    "Grab and pull the rectangular gray microwave using the left arm.",
+    "Pull the handle to open the microwave for heating food.",
+    "Access the inside by opening the medium microwave with slanted sides.",
+    "Grab the handle and open the medium microwave with slanted sides.",
+    "Engage the microwave with smooth surface's handle and open it.",
+    "Pull the handle of the dark gray kitchen microwave with the left arm.",
+    "Use the left arm to engage the microwave with smooth surface's opening mechanism.",
+    "Pull the microwave with glossy dark gray finish's handle to open it.",
+    "Engage the gray appliance with transparent glass top using the left arm to open.",
+    "Open the gray and glass microwave for cooking by pulling its handle.",
+    "Pull the handle of the microwave with smooth surface to open it.",
+    "Open the microwave for heating food by pulling its handle.",
+    "Open the gray and glass microwave for cooking by pulling with the left arm.",
+    "Engage the left arm to open the microwave with glass top.",
+    "Pull to open the gray and glass microwave for cooking.",
+    "Pull the handle to open the microwave.",
+    "Use the handle to open the medium microwave with slanted sides.",
+    "Pull the the rectangular microwave with clear glass panel's handle using the left arm.",
+    "Use the left arm to grab and pull the microwave with smooth surface.",
+    "Pull and open the microwave with smooth surface.",
+    "Use the left arm to grab and open the gray appliance with transparent glass top.",
+    "Grab the handle and open the rectangular gray microwave with the left arm.",
+    "Use the left arm to open the microwave with glossy dark gray finish by pulling.",
+    "Utilize the left arm to pull the rectangular gray microwave open.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Pull open the door of the microwave for heating food using the left arm.",
+    "Grasp the gray and glass microwave for cooking's handle and pull to open.",
+    "Activate the door to open the microwave with glossy dark gray finish.",
+    "Handle the microwave with smooth surface and open it with the left arm.",
+    "Open the microwave with smooth surface by pulling its door with the left arm.",
+    "Pull the door of the dark gray kitchen microwave to open it."
+  ],
+  "unseen": [
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode98.json b/open_microwave/demo_clean/instructions/episode98.json
new file mode 100644
index 0000000000000000000000000000000000000000..936636de83186475ebb9f3dae1829c676a358b9b
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode98.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the handle of the yellow-panel microwave with smooth sides with the left arm.",
+    "Engage the left arm to open the medium microwave.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Pull the door to open the medium microwave.",
+    "Use the left arm to pull the countertop microwave open.",
+    "Use the left arm to pull open the door of the microwave with textured top panel.",
+    "Use the left arm to grab and open the microwave with textured top panel.",
+    "Grab and pull the microwave with textured top panel using the left arm.",
+    "Use the left arm to open the yellow-panel microwave with smooth sides by pulling.",
+    "Utilize the left arm to pull the microwave with patterned top and knobs open.",
+    "Open the yellow-sided microwave by pulling with the left arm.",
+    "Use the handle to open the gray microwave with two control knobs.",
+    "Pull the the gray and yellow microwave with rounded edges's handle using the left arm.",
+    "Grab the handle and open the microwave with patterned top and knobs with the left arm.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Use the left arm to engage the gray and yellow microwave with rounded edges's opening mechanism.",
+    "Open the gray and yellow microwave with rounded edges by grasping its handle.",
+    "Pull the handle of the gray microwave to open it.",
+    "Pull the door of the rectangular microwave to open it.",
+    "Access the inside by opening the rectangular microwave.",
+    "Engage the gray microwave's handle and open it.",
+    "Grip the gray microwave's handle and pull it open.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Grab the handle and open the medium microwave.",
+    "Activate the door to open the countertop microwave.",
+    "Pull and open the microwave with patterned top and knobs.",
+    "Pull the handle to open the microwave.",
+    "Open the gray microwave with two control knobs by pulling on its handle.",
+    "Open the microwave with textured top panel using the left arm.",
+    "Pull to open the gray and yellow microwave with rounded edges.",
+    "Engage the gray microwave using the left arm to open.",
+    "Pull the microwave's handle to open it.",
+    "Pull open the door of the microwave with knobs using the left arm.",
+    "Open the medium microwave by pulling its door with the left arm.",
+    "Get the microwave with knobs open.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Grasp the gray microwave's handle and pull to open.",
+    "Handle the microwave with patterned top and knobs and open it with the left arm.",
+    "Use the left arm to grab and pull the rectangular microwave.",
+    "Pull the handle of the medium microwave with the left arm.",
+    "Engage the left arm to open the gray and yellow microwave with rounded edges.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Pull the door to open the microwave with textured top panel.",
+    "Use the left arm to pull the yellow-sided microwave open.",
+    "Use the left arm to pull open the door of the yellow-sided microwave.",
+    "Use the left arm to grab and open the gray and yellow microwave with rounded edges.",
+    "Grab and pull the gray and yellow microwave with rounded edges using the left arm.",
+    "Use the left arm to open the microwave by pulling.",
+    "Utilize the left arm to pull the microwave with patterned top and knobs open.",
+    "Open the medium microwave by pulling with the left arm.",
+    "Use the handle to open the microwave.",
+    "Pull the the microwave with textured top panel's handle using the left arm.",
+    "Grab the handle and open the gray microwave with the left arm.",
+    "Pull the handle to open the countertop microwave.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Open the yellow-sided microwave by grasping its handle.",
+    "Pull the handle of the rectangular microwave to open it.",
+    "Pull the door of the yellow-sided microwave to open it.",
+    "Access the inside by opening the microwave.",
+    "Engage the yellow-sided microwave's handle and open it.",
+    "Grip the gray microwave's handle and pull it open.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Grab the handle and open the microwave.",
+    "Activate the door to open the yellow-sided microwave.",
+    "Pull and open the microwave with knobs.",
+    "Pull the handle to open the rectangular microwave.",
+    "Open the gray and yellow microwave with rounded edges by pulling on its handle.",
+    "Open the gray microwave using the left arm.",
+    "Pull to open the countertop microwave.",
+    "Engage the gray microwave using the left arm to open.",
+    "Pull the yellow-sided microwave's handle to open it.",
+    "Pull open the door of the microwave with knobs using the left arm.",
+    "Open the medium microwave by pulling its door with the left arm.",
+    "Get the microwave with textured top panel open.",
+    "Open the countertop microwave by pulling its handle.",
+    "Grasp the countertop microwave's handle and pull to open.",
+    "Handle the microwave and open it with the left arm.",
+    "Use the left arm to grab and pull the microwave with textured top panel.",
+    "Pull the handle of the microwave with knobs with the left arm.",
+    "Engage the left arm to open the gray microwave.",
+    "Open the gray microwave by pulling its handle.",
+    "Pull the door to open the yellow-panel microwave with smooth sides.",
+    "Use the left arm to pull the medium microwave open.",
+    "Use the left arm to pull open the door of the gray and yellow microwave with rounded edges.",
+    "Use the left arm to grab and open the gray microwave with two control knobs.",
+    "Grab and pull the gray microwave using the left arm.",
+    "Use the left arm to open the yellow-panel microwave with smooth sides by pulling.",
+    "Utilize the left arm to pull the microwave open.",
+    "Open the yellow-panel microwave with smooth sides by pulling with the left arm.",
+    "Use the handle to open the gray microwave.",
+    "Pull the the gray and yellow microwave with rounded edges's handle using the left arm.",
+    "Grab the handle and open the rectangular microwave with the left arm.",
+    "Pull the handle to open the countertop microwave.",
+    "Use the left arm to engage the microwave with patterned top and knobs's opening mechanism.",
+    "Open the yellow-sided microwave by grasping its handle.",
+    "Pull the handle of the yellow-panel microwave with smooth sides to open it.",
+    "Pull the door of the microwave to open it.",
+    "Access the inside by opening the countertop microwave.",
+    "Engage the gray microwave with two control knobs's handle and open it.",
+    "Grip the microwave with textured top panel's handle and pull it open."
+  ],
+  "unseen": [
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/instructions/episode99.json b/open_microwave/demo_clean/instructions/episode99.json
new file mode 100644
index 0000000000000000000000000000000000000000..fee83426120ad0e562c76227534076f460715c65
--- /dev/null
+++ b/open_microwave/demo_clean/instructions/episode99.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the microwave with textured top panel using the left arm.",
+    "Open the gray microwave by pulling on its handle.",
+    "Pull the microwave with patterned top and knobs's handle to open it.",
+    "Grasp the medium microwave's handle and pull to open.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Open the yellow-panel microwave with smooth sides by pulling with the left arm.",
+    "Pull the the microwave with patterned top and knobs's handle using the left arm.",
+    "Pull the handle of the countertop microwave to open it.",
+    "Handle the gray microwave and open it with the left arm.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Access the inside by opening the gray and yellow microwave with rounded edges.",
+    "Use the left arm to grab and pull the microwave with textured top panel.",
+    "Get the yellow-sided microwave open.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Utilize the left arm to pull the microwave with knobs open.",
+    "Pull the handle of the gray microwave with two control knobs with the left arm.",
+    "Engage the left arm to open the yellow-panel microwave with smooth sides.",
+    "Use the left arm to pull the rectangular microwave open.",
+    "Use the handle to open the gray and yellow microwave with rounded edges.",
+    "Grab and pull the microwave with patterned top and knobs using the left arm.",
+    "Engage the microwave with patterned top and knobs's handle and open it.",
+    "Activate the door to open the gray microwave.",
+    "Pull the door of the gray and yellow microwave with rounded edges to open it.",
+    "Pull open the door of the microwave with knobs using the left arm.",
+    "Open the gray microwave by pulling its door with the left arm.",
+    "Open the microwave with knobs by grasping its handle.",
+    "Use the left arm to grab and open the medium microwave.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Grab the handle and open the gray microwave with two control knobs.",
+    "Engage the microwave with patterned top and knobs using the left arm to open.",
+    "Pull and open the gray and yellow microwave with rounded edges.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Use the left arm to pull open the door of the yellow-sided microwave.",
+    "Grab the handle and open the microwave with the left arm.",
+    "Pull to open the rectangular microwave.",
+    "Grip the yellow-panel microwave with smooth sides's handle and pull it open.",
+    "Use the left arm to open the microwave with knobs by pulling.",
+    "Pull the door to open the countertop microwave.",
+    "Open the microwave with patterned top and knobs using the left arm.",
+    "Open the medium microwave by pulling on its handle.",
+    "Pull the countertop microwave's handle to open it.",
+    "Grasp the microwave with knobs's handle and pull to open.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Open the rectangular microwave by pulling with the left arm.",
+    "Pull the the medium microwave's handle using the left arm.",
+    "Pull the handle of the rectangular microwave to open it.",
+    "Handle the microwave with patterned top and knobs and open it with the left arm.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Access the inside by opening the yellow-sided microwave.",
+    "Use the left arm to grab and pull the microwave with knobs.",
+    "Get the medium microwave open.",
+    "Use the left arm to engage the medium microwave's opening mechanism.",
+    "Utilize the left arm to pull the microwave with patterned top and knobs open.",
+    "Pull the handle of the microwave with patterned top and knobs with the left arm.",
+    "Engage the left arm to open the countertop microwave.",
+    "Use the left arm to pull the microwave open.",
+    "Use the handle to open the gray microwave with two control knobs.",
+    "Grab and pull the microwave with knobs using the left arm.",
+    "Engage the countertop microwave's handle and open it.",
+    "Activate the door to open the rectangular microwave.",
+    "Pull the door of the gray microwave with two control knobs to open it.",
+    "Pull open the door of the gray microwave with two control knobs using the left arm.",
+    "Open the yellow-panel microwave with smooth sides by pulling its door with the left arm.",
+    "Open the countertop microwave by grasping its handle.",
+    "Use the left arm to grab and open the yellow-sided microwave.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Pull the handle to open the rectangular microwave.",
+    "Grab the handle and open the gray microwave with two control knobs.",
+    "Engage the yellow-panel microwave with smooth sides using the left arm to open.",
+    "Pull and open the gray microwave.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Use the left arm to pull open the door of the yellow-sided microwave.",
+    "Grab the handle and open the gray microwave with two control knobs with the left arm.",
+    "Pull to open the microwave with knobs.",
+    "Grip the microwave with patterned top and knobs's handle and pull it open.",
+    "Use the left arm to open the microwave with patterned top and knobs by pulling.",
+    "Pull the door to open the microwave with textured top panel.",
+    "Open the microwave using the left arm.",
+    "Open the microwave with textured top panel by pulling on its handle.",
+    "Pull the microwave with textured top panel's handle to open it.",
+    "Grasp the gray and yellow microwave with rounded edges's handle and pull to open.",
+    "Pull the handle to open the gray microwave.",
+    "Open the yellow-sided microwave by pulling with the left arm.",
+    "Pull the the microwave with knobs's handle using the left arm.",
+    "Pull the handle of the gray microwave to open it.",
+    "Handle the gray microwave and open it with the left arm.",
+    "Open the countertop microwave by pulling its handle.",
+    "Access the inside by opening the microwave with knobs.",
+    "Use the left arm to grab and pull the microwave with patterned top and knobs.",
+    "Get the gray microwave with two control knobs open.",
+    "Use the left arm to engage the yellow-sided microwave's opening mechanism.",
+    "Utilize the left arm to pull the yellow-sided microwave open.",
+    "Pull the handle of the microwave with knobs with the left arm.",
+    "Engage the left arm to open the microwave.",
+    "Use the left arm to pull the microwave open.",
+    "Use the handle to open the yellow-panel microwave with smooth sides.",
+    "Grab and pull the gray microwave with two control knobs using the left arm.",
+    "Engage the rectangular microwave's handle and open it.",
+    "Activate the door to open the gray microwave with two control knobs."
+  ],
+  "unseen": [
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_clean/scene_info.json b/open_microwave/demo_clean/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca656c60d99efb21016119e614b518025d4540f5
--- /dev/null
+++ b/open_microwave/demo_clean/scene_info.json
@@ -0,0 +1,1102 @@
+{
+    "episode_0": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_1": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_2": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_3": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base1",
+            "{a}": "left"
+        }
+    },
+    "episode_4": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_5": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base1",
+            "{a}": "left"
+        }
+    },
+    "episode_6": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_7": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_8": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_9": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base1",
+            "{a}": "left"
+        }
+    },
+    "episode_10": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
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