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+{
+  "seen": [
+    "Set the rounded base blue cup carefully onto the grainy texture coaster",
+    "Use the arm to slide the light blue plastic cup onto the smooth round palm-sized coaster.",
+    "Set the rounded base blue cup onto the round coaster using the arm.",
+    "Use an arm to drop the plastic cup for drinks on the small coaster with grain texture.",
+    "Carefully place the smooth blue cup for liquids onto the smooth round palm-sized coaster without arm",
+    "Move the medium blue cylindrical cup to the grainy texture coaster using the arm.",
+    "Place the cup with light blue color on top of the small coaster with grain texture",
+    "Set the blue rounded-bottom cup down on the grainy texture coaster",
+    "Use arm to place the cup for holding liquids on the light gray streaked wooden coaster",
+    "Use an arm to drop the rounded base blue cup on the small coaster with grain texture",
+    "Using the arm, drop the rounded base blue cup onto the coaster with circular shape.",
+    "Use an arm to place the medium blue cylindrical cup on the coaster with circular shape",
+    "Position the smooth blue cup for liquids carefully on the round coaster with light streaks",
+    "Move the smooth blue drinking cup onto the flat round wooden coaster with the arm",
+    "Grab the cylindrical light blue cup and place it on the coaster made of smooth wood.",
+    "Set the medium blue cylindrical cup on the smooth round palm-sized coaster using the arm.",
+    "Lift the smooth blue cup for liquids and place it over the small coaster with grain texture",
+    "Grab the rounded base blue cup and lower it onto the flat round wooden coaster",
+    "Slide the medium blue cylindrical cup gently onto the round coaster with light streaks via the arm.",
+    "Use the arm to set the smooth blue cup for liquids on the grainy texture coaster",
+    "Position the cylindrical light blue cup above and drop it on the small coaster with grain texture",
+    "Using the arm, slide the cup with light blue color onto the flat round wooden coaster.",
+    "Make sure the medium blue cylindrical cup ends up on the wooden coaster.",
+    "Align the cup for holding liquids and set it down on the round coaster",
+    "Drop the cup with smooth plastic surface on top of the flat round wooden coaster.",
+    "Move the smooth blue cup for liquids to the flat round wooden coaster and set it down.",
+    "Grab the cup for holding liquids and set it onto the small coaster with grain texture.",
+    "Grab the smooth blue drinking cup and place it over the round coaster.",
+    "Stick the medium blue cylindrical cup onto the smooth round palm-sized coaster using the arm.",
+    "Slide the smooth blue drinking cup onto the grainy texture coaster",
+    "Direct the plastic cup for drinks to the light gray round grainy coaster and let it rest.",
+    "Slide the light blue plastic cup onto the flat round wooden coaster with the arm.",
+    "Drop the smooth blue cup for liquids firmly on the smooth round palm-sized coaster using arm",
+    "Use the arm to position the smooth blue drinking cup onto the light gray streaked wooden coaster.",
+    "Relocate the rounded base blue cup precisely onto the round coaster with arm",
+    "Pick the medium-sized plastic blue cup up and drop it on the wooden coaster.",
+    "Use the arm to put the rounded base blue cup onto the light gray round grainy coaster.",
+    "Stick the cup with smooth plastic surface onto the light gray streaked wooden coaster using the arm",
+    "Lift the cylindrical light blue cup up and drop it on the wooden coaster.",
+    "Stick the medium blue cylindrical cup onto the flat surface gray wooden coaster carefully.",
+    "Position the blue rounded-bottom cup squarely on top of the flat surface gray wooden coaster.",
+    "Lift the rounded base blue cup and place it onto the light gray streaked wooden coaster.",
+    "Lift the cup with light blue color and stick it onto the light gray round grainy coaster.",
+    "Grab the smooth blue drinking cup, then place it onto the grainy texture coaster.",
+    "Using the arm, align the rounded base blue cup over the small coaster with grain texture",
+    "Set the rounded base blue cup securely on the light gray round grainy coaster using the arm.",
+    "Move the smooth blue cup for liquids to the coaster made of smooth wood",
+    "Position the plastic cup for drinks on the light gray streaked wooden coaster with the arm.",
+    "Move the cup with light blue color using the arm onto the coaster with circular shape.",
+    "Use the arm to position the cup for holding liquids on the round coaster with light streaks.",
+    "Set the light blue plastic cup carefully onto the light gray streaked wooden coaster",
+    "Use the arm to slide the rounded base blue cup onto the round coaster with light streaks.",
+    "Set the cup with light blue color onto the smooth round palm-sized coaster using the arm.",
+    "Use an arm to drop the cup with light blue color on the smooth round palm-sized coaster.",
+    "Carefully place the cup with smooth plastic surface onto the light gray round grainy coaster without arm",
+    "Move the plastic cup for drinks to the light gray round grainy coaster using the arm.",
+    "Place the cylindrical light blue cup on top of the light gray streaked wooden coaster",
+    "Set the smooth blue drinking cup down on the smooth round palm-sized coaster",
+    "Use arm to place the light blue plastic cup on the flat surface gray wooden coaster",
+    "Use an arm to drop the blue rounded-bottom cup on the small coaster with grain texture",
+    "Using the arm, drop the medium-sized plastic blue cup onto the flat surface gray wooden coaster.",
+    "Use an arm to place the plastic cup for drinks on the wooden coaster",
+    "Position the blue rounded-bottom cup carefully on the light gray streaked wooden coaster",
+    "Move the cup for holding liquids onto the wooden coaster with the arm",
+    "Grab the cup with smooth plastic surface and place it on the grainy texture coaster.",
+    "Set the cup with smooth plastic surface on the coaster with circular shape using the arm.",
+    "Lift the medium blue cylindrical cup and place it over the small coaster with grain texture",
+    "Grab the cylindrical light blue cup and lower it onto the flat round wooden coaster",
+    "Slide the medium-sized plastic blue cup gently onto the round coaster with light streaks via the arm.",
+    "Use the arm to set the smooth blue cup for liquids on the small coaster with grain texture",
+    "Position the medium-sized plastic blue cup above and drop it on the round coaster",
+    "Using the arm, slide the medium blue cylindrical cup onto the light gray streaked wooden coaster.",
+    "Make sure the plastic cup for drinks ends up on the light gray streaked wooden coaster.",
+    "Align the light blue plastic cup and set it down on the wooden coaster",
+    "Drop the rounded base blue cup on top of the light gray round grainy coaster.",
+    "Move the cylindrical light blue cup to the grainy texture coaster and set it down.",
+    "Grab the cup for holding liquids and set it onto the smooth round palm-sized coaster.",
+    "Grab the cup with light blue color and place it over the light gray streaked wooden coaster.",
+    "Stick the plastic cup for drinks onto the wooden coaster using the arm.",
+    "Slide the cup with light blue color onto the small coaster with grain texture",
+    "Direct the cup for holding liquids to the flat round wooden coaster and let it rest.",
+    "Slide the cup with light blue color onto the grainy texture coaster with the arm.",
+    "Drop the smooth blue drinking cup firmly on the flat surface gray wooden coaster using arm",
+    "Use the arm to position the smooth blue drinking cup onto the light gray round grainy coaster.",
+    "Relocate the plastic cup for drinks precisely onto the flat surface gray wooden coaster with arm",
+    "Pick the cup with light blue color up and drop it on the flat round wooden coaster.",
+    "Use the arm to put the plastic cup for drinks onto the round coaster with light streaks.",
+    "Stick the cup with smooth plastic surface onto the round coaster using the arm",
+    "Lift the cup with light blue color up and drop it on the smooth round palm-sized coaster.",
+    "Stick the cylindrical light blue cup onto the light gray round grainy coaster carefully.",
+    "Position the smooth blue cup for liquids squarely on top of the small coaster with grain texture.",
+    "Lift the medium-sized plastic blue cup and place it onto the light gray round grainy coaster.",
+    "Lift the blue rounded-bottom cup and stick it onto the wooden coaster.",
+    "Grab the light blue plastic cup, then place it onto the small coaster with grain texture.",
+    "Using the arm, align the cylindrical light blue cup over the flat surface gray wooden coaster",
+    "Set the light blue plastic cup securely on the round coaster using the arm.",
+    "Move the cup for holding liquids to the wooden coaster",
+    "Position the medium-sized plastic blue cup on the light gray round grainy coaster with the arm.",
+    "Move the cup with smooth plastic surface using the arm onto the round coaster.",
+    "Use the arm to position the cup for holding liquids on the wooden coaster."
+  ],
+  "unseen": [
+    "Place the blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster"
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode1.json b/place_empty_cup/demo_clean/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f65095aab765b51119ec35b3855aa25abd6c52b
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode1.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the medium-sized plastic blue cup and place it on the wooden coaster.",
+    "Slide the cup for holding liquids onto the grainy texture coaster with the arm.",
+    "Move the medium blue cylindrical cup using the arm onto the light gray round grainy coaster.",
+    "Grab the smooth blue cup for liquids, then place it onto the smooth round palm-sized coaster.",
+    "Set the cup for holding liquids securely on the smooth round palm-sized coaster using the arm.",
+    "Lift the cup with smooth plastic surface and place it over the flat surface gray wooden coaster",
+    "Move the plastic cup for drinks to the coaster with circular shape using the arm.",
+    "Move the medium-sized plastic blue cup to the smooth round palm-sized coaster and set it down.",
+    "Grab the cup with smooth plastic surface and lower it onto the light gray streaked wooden coaster",
+    "Stick the smooth blue drinking cup onto the round coaster carefully.",
+    "Grab the medium blue cylindrical cup and place it over the light gray streaked wooden coaster.",
+    "Use arm to place the cup with light blue color on the grainy texture coaster",
+    "Position the medium-sized plastic blue cup carefully on the grainy texture coaster",
+    "Use an arm to drop the blue rounded-bottom cup on the coaster made of smooth wood.",
+    "Drop the cup for holding liquids firmly on the small coaster with grain texture using arm",
+    "Move the cup for holding liquids onto the wooden coaster with the arm",
+    "Lift the plastic cup for drinks up and drop it on the wooden coaster.",
+    "Use an arm to place the cup with smooth plastic surface on the small coaster with grain texture",
+    "Slide the medium-sized plastic blue cup onto the wooden coaster",
+    "Align the smooth blue drinking cup and set it down on the flat surface gray wooden coaster",
+    "Grab the light blue plastic cup and set it onto the small coaster with grain texture.",
+    "Use the arm to slide the cup with smooth plastic surface onto the flat round wooden coaster.",
+    "Using the arm, slide the cup for holding liquids onto the smooth round palm-sized coaster.",
+    "Move the blue rounded-bottom cup to the small coaster with grain texture",
+    "Position the blue rounded-bottom cup squarely on top of the light gray round grainy coaster.",
+    "Use an arm to drop the smooth blue drinking cup on the flat surface gray wooden coaster",
+    "Stick the rounded base blue cup onto the round coaster with light streaks using the arm.",
+    "Use the arm to set the cup with light blue color on the coaster made of smooth wood",
+    "Set the cup for holding liquids on the coaster with circular shape using the arm.",
+    "Lift the cup for holding liquids and stick it onto the light gray round grainy coaster.",
+    "Carefully place the cup with smooth plastic surface onto the flat round wooden coaster without arm",
+    "Slide the cup for holding liquids gently onto the small coaster with grain texture via the arm.",
+    "Stick the smooth blue cup for liquids onto the light gray streaked wooden coaster using the arm",
+    "Drop the plastic cup for drinks on top of the flat round wooden coaster.",
+    "Using the arm, align the cylindrical light blue cup over the round coaster",
+    "Lift the blue rounded-bottom cup and place it onto the smooth round palm-sized coaster.",
+    "Make sure the light blue plastic cup ends up on the flat surface gray wooden coaster.",
+    "Use the arm to put the medium-sized plastic blue cup onto the grainy texture coaster.",
+    "Relocate the cup with light blue color precisely onto the flat surface gray wooden coaster with arm",
+    "Set the smooth blue cup for liquids down on the light gray round grainy coaster",
+    "Use the arm to position the cup with light blue color onto the grainy texture coaster.",
+    "Position the smooth blue drinking cup on the flat surface gray wooden coaster with the arm.",
+    "Use the arm to position the smooth blue drinking cup on the smooth round palm-sized coaster.",
+    "Direct the plastic cup for drinks to the flat surface gray wooden coaster and let it rest.",
+    "Position the plastic cup for drinks above and drop it on the coaster made of smooth wood",
+    "Pick the cup with smooth plastic surface up and drop it on the smooth round palm-sized coaster.",
+    "Set the rounded base blue cup onto the flat surface gray wooden coaster using the arm.",
+    "Place the medium-sized plastic blue cup on top of the wooden coaster",
+    "Set the cylindrical light blue cup carefully onto the flat surface gray wooden coaster",
+    "Using the arm, drop the cup with smooth plastic surface onto the round coaster.",
+    "Grab the cylindrical light blue cup and place it on the coaster with circular shape.",
+    "Slide the smooth blue drinking cup onto the light gray round grainy coaster with the arm.",
+    "Move the plastic cup for drinks using the arm onto the light gray round grainy coaster.",
+    "Grab the plastic cup for drinks, then place it onto the coaster made of smooth wood.",
+    "Set the medium-sized plastic blue cup securely on the light gray round grainy coaster using the arm.",
+    "Lift the cup with smooth plastic surface and place it over the smooth round palm-sized coaster",
+    "Move the medium-sized plastic blue cup to the light gray round grainy coaster using the arm.",
+    "Move the cup for holding liquids to the coaster made of smooth wood and set it down.",
+    "Grab the cylindrical light blue cup and lower it onto the wooden coaster",
+    "Stick the cup for holding liquids onto the smooth round palm-sized coaster carefully.",
+    "Grab the cup for holding liquids and place it over the coaster with circular shape.",
+    "Use arm to place the cup for holding liquids on the wooden coaster",
+    "Position the medium-sized plastic blue cup carefully on the light gray streaked wooden coaster",
+    "Use an arm to drop the plastic cup for drinks on the smooth round palm-sized coaster.",
+    "Drop the medium blue cylindrical cup firmly on the round coaster with light streaks using arm",
+    "Move the plastic cup for drinks onto the light gray round grainy coaster with the arm",
+    "Lift the cup for holding liquids up and drop it on the light gray streaked wooden coaster.",
+    "Use an arm to place the plastic cup for drinks on the coaster made of smooth wood",
+    "Slide the medium-sized plastic blue cup onto the smooth round palm-sized coaster",
+    "Align the plastic cup for drinks and set it down on the grainy texture coaster",
+    "Grab the blue rounded-bottom cup and set it onto the wooden coaster.",
+    "Use the arm to slide the blue rounded-bottom cup onto the wooden coaster.",
+    "Using the arm, slide the smooth blue drinking cup onto the light gray streaked wooden coaster.",
+    "Move the cylindrical light blue cup to the wooden coaster",
+    "Position the blue rounded-bottom cup squarely on top of the grainy texture coaster.",
+    "Use an arm to drop the smooth blue drinking cup on the smooth round palm-sized coaster",
+    "Stick the cup for holding liquids onto the light gray streaked wooden coaster using the arm.",
+    "Use the arm to set the medium blue cylindrical cup on the smooth round palm-sized coaster",
+    "Set the medium-sized plastic blue cup on the coaster with circular shape using the arm.",
+    "Lift the smooth blue drinking cup and stick it onto the small coaster with grain texture.",
+    "Carefully place the light blue plastic cup onto the coaster with circular shape without arm",
+    "Slide the rounded base blue cup gently onto the coaster with circular shape via the arm.",
+    "Stick the cup with smooth plastic surface onto the coaster made of smooth wood using the arm",
+    "Drop the cylindrical light blue cup on top of the flat surface gray wooden coaster.",
+    "Using the arm, align the plastic cup for drinks over the coaster made of smooth wood",
+    "Lift the medium-sized plastic blue cup and place it onto the light gray round grainy coaster.",
+    "Make sure the cup with smooth plastic surface ends up on the round coaster.",
+    "Use the arm to put the smooth blue drinking cup onto the round coaster with light streaks.",
+    "Relocate the medium blue cylindrical cup precisely onto the coaster made of smooth wood with arm",
+    "Set the smooth blue drinking cup down on the round coaster",
+    "Use the arm to position the medium blue cylindrical cup onto the flat surface gray wooden coaster.",
+    "Position the medium blue cylindrical cup on the grainy texture coaster with the arm.",
+    "Use the arm to position the cylindrical light blue cup on the coaster made of smooth wood.",
+    "Direct the cup with light blue color to the flat round wooden coaster and let it rest.",
+    "Position the light blue plastic cup above and drop it on the wooden coaster",
+    "Pick the plastic cup for drinks up and drop it on the smooth round palm-sized coaster.",
+    "Set the plastic cup for drinks onto the small coaster with grain texture using the arm.",
+    "Place the light blue plastic cup on top of the round coaster",
+    "Set the cup with light blue color carefully onto the light gray round grainy coaster",
+    "Using the arm, drop the cylindrical light blue cup onto the flat round wooden coaster."
+  ],
+  "unseen": [
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode10.json b/place_empty_cup/demo_clean/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc97f5fb42689dfedf2f8b777d94ee42c9c562c3
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode10.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the smooth blue cup for liquids and set it onto the coaster with circular shape.",
+    "Using the arm, slide the cup with smooth plastic surface onto the flat round wooden coaster.",
+    "Stick the plastic cup for drinks onto the coaster made of smooth wood carefully.",
+    "Use an arm to drop the blue rounded-bottom cup on the small coaster with grain texture",
+    "Lift the plastic cup for drinks and place it onto the small coaster with grain texture.",
+    "Set the cup for holding liquids carefully onto the coaster made of smooth wood",
+    "Grab the cylindrical light blue cup and lower it onto the round coaster",
+    "Position the cylindrical light blue cup squarely on top of the smooth round palm-sized coaster.",
+    "Set the cylindrical light blue cup down on the coaster made of smooth wood",
+    "Relocate the plastic cup for drinks precisely onto the round coaster with arm",
+    "Stick the plastic cup for drinks onto the light gray streaked wooden coaster using the arm.",
+    "Move the medium blue cylindrical cup onto the wooden coaster with the arm",
+    "Drop the cup with light blue color firmly on the round coaster with light streaks using arm",
+    "Drop the light blue plastic cup on top of the coaster made of smooth wood.",
+    "Use the arm to set the medium blue cylindrical cup on the smooth round palm-sized coaster",
+    "Use the arm to put the medium blue cylindrical cup onto the small coaster with grain texture.",
+    "Use an arm to drop the cup with light blue color on the wooden coaster.",
+    "Carefully place the cylindrical light blue cup onto the light gray round grainy coaster without arm",
+    "Use an arm to place the cup with light blue color on the coaster with circular shape",
+    "Set the cup with light blue color on the flat round wooden coaster using the arm.",
+    "Grab the medium blue cylindrical cup, then place it onto the coaster made of smooth wood.",
+    "Lift the cup with light blue color and stick it onto the light gray round grainy coaster.",
+    "Lift the light blue plastic cup and place it over the round coaster with light streaks",
+    "Slide the blue rounded-bottom cup onto the flat round wooden coaster with the arm.",
+    "Position the cylindrical light blue cup above and drop it on the coaster made of smooth wood",
+    "Use the arm to slide the cup for holding liquids onto the light gray round grainy coaster.",
+    "Use arm to place the plastic cup for drinks on the coaster with circular shape",
+    "Use the arm to position the smooth blue drinking cup on the flat round wooden coaster.",
+    "Place the plastic cup for drinks on top of the coaster with circular shape",
+    "Use the arm to position the smooth blue drinking cup onto the round coaster.",
+    "Slide the medium-sized plastic blue cup gently onto the flat round wooden coaster via the arm.",
+    "Position the light blue plastic cup carefully on the round coaster",
+    "Using the arm, align the cup with light blue color over the flat surface gray wooden coaster",
+    "Move the medium-sized plastic blue cup to the grainy texture coaster and set it down.",
+    "Lift the light blue plastic cup up and drop it on the flat round wooden coaster.",
+    "Grab the plastic cup for drinks and place it on the flat surface gray wooden coaster.",
+    "Move the medium blue cylindrical cup to the flat surface gray wooden coaster",
+    "Align the cup for holding liquids and set it down on the light gray streaked wooden coaster",
+    "Set the rounded base blue cup securely on the light gray round grainy coaster using the arm.",
+    "Stick the cup for holding liquids onto the flat surface gray wooden coaster using the arm",
+    "Set the light blue plastic cup onto the round coaster using the arm.",
+    "Make sure the smooth blue cup for liquids ends up on the grainy texture coaster.",
+    "Slide the light blue plastic cup onto the round coaster",
+    "Move the cylindrical light blue cup to the grainy texture coaster using the arm.",
+    "Using the arm, drop the light blue plastic cup onto the wooden coaster.",
+    "Direct the plastic cup for drinks to the light gray round grainy coaster and let it rest.",
+    "Grab the cup with light blue color and place it over the light gray round grainy coaster.",
+    "Position the cup with smooth plastic surface on the grainy texture coaster with the arm.",
+    "Move the cup for holding liquids using the arm onto the wooden coaster.",
+    "Pick the cup for holding liquids up and drop it on the round coaster with light streaks.",
+    "Grab the smooth blue drinking cup and set it onto the coaster made of smooth wood.",
+    "Using the arm, slide the medium blue cylindrical cup onto the round coaster.",
+    "Stick the cup for holding liquids onto the smooth round palm-sized coaster carefully.",
+    "Use an arm to drop the blue rounded-bottom cup on the round coaster",
+    "Lift the rounded base blue cup and place it onto the flat surface gray wooden coaster.",
+    "Set the blue rounded-bottom cup carefully onto the smooth round palm-sized coaster",
+    "Grab the smooth blue cup for liquids and lower it onto the smooth round palm-sized coaster",
+    "Position the cup with smooth plastic surface squarely on top of the wooden coaster.",
+    "Set the blue rounded-bottom cup down on the flat surface gray wooden coaster",
+    "Relocate the blue rounded-bottom cup precisely onto the coaster made of smooth wood with arm",
+    "Stick the light blue plastic cup onto the flat round wooden coaster using the arm.",
+    "Move the smooth blue drinking cup onto the round coaster with the arm",
+    "Drop the cup for holding liquids firmly on the smooth round palm-sized coaster using arm",
+    "Drop the plastic cup for drinks on top of the smooth round palm-sized coaster.",
+    "Use the arm to set the smooth blue drinking cup on the coaster made of smooth wood",
+    "Use the arm to put the medium blue cylindrical cup onto the round coaster with light streaks.",
+    "Use an arm to drop the light blue plastic cup on the smooth round palm-sized coaster.",
+    "Carefully place the cylindrical light blue cup onto the light gray streaked wooden coaster without arm",
+    "Use an arm to place the medium blue cylindrical cup on the flat surface gray wooden coaster",
+    "Set the cup for holding liquids on the flat round wooden coaster using the arm.",
+    "Grab the plastic cup for drinks, then place it onto the wooden coaster.",
+    "Lift the medium blue cylindrical cup and stick it onto the light gray round grainy coaster.",
+    "Lift the rounded base blue cup and place it over the coaster with circular shape",
+    "Slide the medium blue cylindrical cup onto the light gray streaked wooden coaster with the arm.",
+    "Position the smooth blue drinking cup above and drop it on the flat surface gray wooden coaster",
+    "Use the arm to slide the medium blue cylindrical cup onto the coaster made of smooth wood.",
+    "Use arm to place the cup for holding liquids on the coaster with circular shape",
+    "Use the arm to position the cup with light blue color on the small coaster with grain texture.",
+    "Place the light blue plastic cup on top of the coaster made of smooth wood",
+    "Use the arm to position the blue rounded-bottom cup onto the small coaster with grain texture.",
+    "Slide the light blue plastic cup gently onto the light gray streaked wooden coaster via the arm.",
+    "Position the medium blue cylindrical cup carefully on the round coaster with light streaks",
+    "Using the arm, align the light blue plastic cup over the wooden coaster",
+    "Move the cup with light blue color to the flat surface gray wooden coaster and set it down.",
+    "Lift the plastic cup for drinks up and drop it on the coaster made of smooth wood.",
+    "Grab the light blue plastic cup and place it on the wooden coaster.",
+    "Move the light blue plastic cup to the light gray round grainy coaster",
+    "Align the cup with light blue color and set it down on the smooth round palm-sized coaster",
+    "Set the medium blue cylindrical cup securely on the light gray round grainy coaster using the arm.",
+    "Stick the cylindrical light blue cup onto the coaster with circular shape using the arm",
+    "Set the cylindrical light blue cup onto the flat round wooden coaster using the arm.",
+    "Make sure the cylindrical light blue cup ends up on the coaster made of smooth wood.",
+    "Slide the cup with smooth plastic surface onto the flat round wooden coaster",
+    "Move the plastic cup for drinks to the round coaster using the arm.",
+    "Using the arm, drop the smooth blue cup for liquids onto the light gray streaked wooden coaster.",
+    "Direct the smooth blue drinking cup to the flat surface gray wooden coaster and let it rest.",
+    "Grab the medium-sized plastic blue cup and place it over the light gray round grainy coaster.",
+    "Position the light blue plastic cup on the coaster made of smooth wood with the arm.",
+    "Move the cup for holding liquids using the arm onto the round coaster with light streaks.",
+    "Pick the plastic cup for drinks up and drop it on the flat surface gray wooden coaster."
+  ],
+  "unseen": [
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode11.json b/place_empty_cup/demo_clean/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..65763740ea322f72f9f878cf2f39fc0b0e3764c6
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode11.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Make sure the light blue plastic cup ends up on the light gray round grainy coaster.",
+    "Slide the medium-sized plastic blue cup onto the grainy texture coaster with the arm.",
+    "Set the rounded base blue cup on the grainy texture coaster using the arm.",
+    "Move the smooth blue cup for liquids using the arm onto the small coaster with grain texture.",
+    "Use the arm to set the blue rounded-bottom cup on the coaster made of smooth wood",
+    "Use the arm to position the light blue plastic cup onto the wooden coaster.",
+    "Lift the smooth blue cup for liquids and place it over the small coaster with grain texture",
+    "Position the medium blue cylindrical cup carefully on the wooden coaster",
+    "Position the medium blue cylindrical cup squarely on top of the wooden coaster.",
+    "Direct the medium blue cylindrical cup to the flat round wooden coaster and let it rest.",
+    "Using the arm, slide the smooth blue cup for liquids onto the smooth round palm-sized coaster.",
+    "Stick the cylindrical light blue cup onto the light gray streaked wooden coaster using the arm.",
+    "Lift the cup with light blue color up and drop it on the round coaster.",
+    "Grab the cup with smooth plastic surface, then place it onto the coaster with circular shape.",
+    "Grab the plastic cup for drinks and place it on the grainy texture coaster.",
+    "Stick the cup for holding liquids onto the grainy texture coaster using the arm",
+    "Use the arm to put the cylindrical light blue cup onto the light gray round grainy coaster.",
+    "Set the cup for holding liquids carefully onto the flat surface gray wooden coaster",
+    "Set the cup for holding liquids down on the coaster with circular shape",
+    "Slide the medium blue cylindrical cup onto the flat surface gray wooden coaster",
+    "Use arm to place the smooth blue drinking cup on the light gray streaked wooden coaster",
+    "Move the cup with light blue color to the round coaster with light streaks",
+    "Carefully place the cup with light blue color onto the grainy texture coaster without arm",
+    "Lift the blue rounded-bottom cup and stick it onto the small coaster with grain texture.",
+    "Position the cup for holding liquids above and drop it on the grainy texture coaster",
+    "Drop the medium blue cylindrical cup on top of the coaster with circular shape.",
+    "Grab the smooth blue drinking cup and lower it onto the flat round wooden coaster",
+    "Align the smooth blue cup for liquids and set it down on the coaster with circular shape",
+    "Stick the smooth blue drinking cup onto the light gray streaked wooden coaster carefully.",
+    "Move the cup with smooth plastic surface to the round coaster with light streaks using the arm.",
+    "Place the rounded base blue cup on top of the light gray round grainy coaster",
+    "Slide the cup with smooth plastic surface gently onto the round coaster via the arm.",
+    "Use the arm to slide the medium blue cylindrical cup onto the coaster with circular shape.",
+    "Position the plastic cup for drinks on the wooden coaster with the arm.",
+    "Set the rounded base blue cup onto the small coaster with grain texture using the arm.",
+    "Pick the blue rounded-bottom cup up and drop it on the small coaster with grain texture.",
+    "Grab the cup with smooth plastic surface and place it over the light gray streaked wooden coaster.",
+    "Move the cylindrical light blue cup to the flat round wooden coaster and set it down.",
+    "Move the cylindrical light blue cup onto the small coaster with grain texture with the arm",
+    "Lift the medium-sized plastic blue cup and place it onto the smooth round palm-sized coaster.",
+    "Use an arm to place the smooth blue drinking cup on the small coaster with grain texture",
+    "Drop the smooth blue cup for liquids firmly on the flat surface gray wooden coaster using arm",
+    "Using the arm, drop the medium blue cylindrical cup onto the round coaster with light streaks.",
+    "Use an arm to drop the smooth blue cup for liquids on the flat round wooden coaster",
+    "Set the medium blue cylindrical cup securely on the small coaster with grain texture using the arm.",
+    "Use the arm to position the blue rounded-bottom cup on the coaster made of smooth wood.",
+    "Using the arm, align the smooth blue cup for liquids over the grainy texture coaster",
+    "Use an arm to drop the rounded base blue cup on the grainy texture coaster.",
+    "Relocate the cup for holding liquids precisely onto the small coaster with grain texture with arm",
+    "Grab the cylindrical light blue cup and set it onto the light gray streaked wooden coaster.",
+    "Make sure the medium blue cylindrical cup ends up on the light gray streaked wooden coaster.",
+    "Slide the cup with smooth plastic surface onto the flat surface gray wooden coaster with the arm.",
+    "Set the plastic cup for drinks on the flat round wooden coaster using the arm.",
+    "Move the rounded base blue cup using the arm onto the round coaster with light streaks.",
+    "Use the arm to set the medium blue cylindrical cup on the round coaster with light streaks",
+    "Use the arm to position the cup with light blue color onto the round coaster with light streaks.",
+    "Lift the cylindrical light blue cup and place it over the flat surface gray wooden coaster",
+    "Position the medium blue cylindrical cup carefully on the coaster with circular shape",
+    "Position the smooth blue cup for liquids squarely on top of the grainy texture coaster.",
+    "Direct the blue rounded-bottom cup to the coaster with circular shape and let it rest.",
+    "Using the arm, slide the light blue plastic cup onto the round coaster with light streaks.",
+    "Stick the cup with light blue color onto the light gray streaked wooden coaster using the arm.",
+    "Lift the cylindrical light blue cup up and drop it on the round coaster.",
+    "Grab the cup for holding liquids, then place it onto the small coaster with grain texture.",
+    "Grab the light blue plastic cup and place it on the coaster with circular shape.",
+    "Stick the blue rounded-bottom cup onto the flat surface gray wooden coaster using the arm",
+    "Use the arm to put the rounded base blue cup onto the flat surface gray wooden coaster.",
+    "Set the smooth blue cup for liquids carefully onto the round coaster",
+    "Set the cup with smooth plastic surface down on the smooth round palm-sized coaster",
+    "Slide the rounded base blue cup onto the round coaster",
+    "Use arm to place the medium-sized plastic blue cup on the light gray streaked wooden coaster",
+    "Move the cup with light blue color to the grainy texture coaster",
+    "Carefully place the rounded base blue cup onto the grainy texture coaster without arm",
+    "Lift the cylindrical light blue cup and stick it onto the smooth round palm-sized coaster.",
+    "Position the smooth blue drinking cup above and drop it on the coaster made of smooth wood",
+    "Drop the cup for holding liquids on top of the light gray round grainy coaster.",
+    "Grab the plastic cup for drinks and lower it onto the coaster with circular shape",
+    "Align the smooth blue drinking cup and set it down on the coaster with circular shape",
+    "Stick the plastic cup for drinks onto the smooth round palm-sized coaster carefully.",
+    "Move the plastic cup for drinks to the round coaster with light streaks using the arm.",
+    "Place the medium-sized plastic blue cup on top of the flat surface gray wooden coaster",
+    "Slide the cup for holding liquids gently onto the flat round wooden coaster via the arm.",
+    "Use the arm to slide the medium blue cylindrical cup onto the grainy texture coaster.",
+    "Position the medium blue cylindrical cup on the round coaster with the arm.",
+    "Set the rounded base blue cup onto the smooth round palm-sized coaster using the arm.",
+    "Pick the plastic cup for drinks up and drop it on the flat round wooden coaster.",
+    "Grab the medium-sized plastic blue cup and place it over the flat surface gray wooden coaster.",
+    "Move the plastic cup for drinks to the wooden coaster and set it down.",
+    "Move the cup with light blue color onto the smooth round palm-sized coaster with the arm",
+    "Lift the cylindrical light blue cup and place it onto the round coaster with light streaks.",
+    "Use an arm to place the blue rounded-bottom cup on the coaster with circular shape",
+    "Drop the plastic cup for drinks firmly on the small coaster with grain texture using arm",
+    "Using the arm, drop the light blue plastic cup onto the light gray streaked wooden coaster.",
+    "Use an arm to drop the smooth blue drinking cup on the light gray streaked wooden coaster",
+    "Set the cup with smooth plastic surface securely on the coaster with circular shape using the arm.",
+    "Use the arm to position the plastic cup for drinks on the light gray round grainy coaster.",
+    "Using the arm, align the rounded base blue cup over the smooth round palm-sized coaster",
+    "Use an arm to drop the cup with light blue color on the round coaster with light streaks.",
+    "Relocate the smooth blue drinking cup precisely onto the coaster made of smooth wood with arm",
+    "Grab the light blue plastic cup and set it onto the smooth round palm-sized coaster."
+  ],
+  "unseen": [
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode12.json b/place_empty_cup/demo_clean/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f17f817086285df9c4e948d6ac765bd04305a20
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode12.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the medium blue cylindrical cup onto the flat surface gray wooden coaster with the arm",
+    "Stick the cup with light blue color onto the small coaster with grain texture using the arm",
+    "Position the cup with smooth plastic surface squarely on top of the flat round wooden coaster.",
+    "Set the medium-sized plastic blue cup on the small coaster with grain texture using the arm.",
+    "Slide the cup with smooth plastic surface gently onto the small coaster with grain texture via the arm.",
+    "Move the blue rounded-bottom cup to the flat surface gray wooden coaster using the arm.",
+    "Move the cylindrical light blue cup using the arm onto the coaster with circular shape.",
+    "Using the arm, drop the cup with light blue color onto the coaster made of smooth wood.",
+    "Place the smooth blue drinking cup on top of the flat round wooden coaster",
+    "Use the arm to position the cup for holding liquids on the round coaster with light streaks.",
+    "Use an arm to drop the medium-sized plastic blue cup on the light gray round grainy coaster",
+    "Grab the cup for holding liquids and place it over the small coaster with grain texture.",
+    "Using the arm, slide the blue rounded-bottom cup onto the coaster with circular shape.",
+    "Stick the medium blue cylindrical cup onto the coaster made of smooth wood carefully.",
+    "Position the cylindrical light blue cup above and drop it on the small coaster with grain texture",
+    "Grab the cup with smooth plastic surface and set it onto the smooth round palm-sized coaster.",
+    "Position the cup with light blue color on the flat surface gray wooden coaster with the arm.",
+    "Using the arm, align the cylindrical light blue cup over the smooth round palm-sized coaster",
+    "Direct the blue rounded-bottom cup to the round coaster and let it rest.",
+    "Set the smooth blue drinking cup onto the flat round wooden coaster using the arm.",
+    "Make sure the plastic cup for drinks ends up on the smooth round palm-sized coaster.",
+    "Set the cup with light blue color carefully onto the coaster with circular shape",
+    "Set the cup with light blue color securely on the wooden coaster using the arm.",
+    "Use the arm to position the smooth blue drinking cup onto the grainy texture coaster.",
+    "Use the arm to slide the cup with light blue color onto the flat surface gray wooden coaster.",
+    "Grab the cup for holding liquids, then place it onto the wooden coaster.",
+    "Align the blue rounded-bottom cup and set it down on the wooden coaster",
+    "Set the cup for holding liquids down on the smooth round palm-sized coaster",
+    "Stick the light blue plastic cup onto the coaster made of smooth wood using the arm.",
+    "Lift the cylindrical light blue cup and place it over the coaster with circular shape",
+    "Relocate the medium blue cylindrical cup precisely onto the light gray streaked wooden coaster with arm",
+    "Position the medium-sized plastic blue cup carefully on the flat round wooden coaster",
+    "Move the plastic cup for drinks to the flat round wooden coaster and set it down.",
+    "Use an arm to place the cup with smooth plastic surface on the smooth round palm-sized coaster",
+    "Grab the rounded base blue cup and place it on the coaster with circular shape.",
+    "Drop the cup for holding liquids firmly on the round coaster with light streaks using arm",
+    "Use an arm to drop the cup for holding liquids on the light gray round grainy coaster.",
+    "Lift the cup with smooth plastic surface up and drop it on the coaster with circular shape.",
+    "Lift the plastic cup for drinks and place it onto the round coaster.",
+    "Grab the plastic cup for drinks and lower it onto the flat surface gray wooden coaster",
+    "Move the smooth blue drinking cup to the round coaster",
+    "Carefully place the cup with light blue color onto the small coaster with grain texture without arm",
+    "Use the arm to put the rounded base blue cup onto the round coaster with light streaks.",
+    "Pick the plastic cup for drinks up and drop it on the light gray streaked wooden coaster.",
+    "Use arm to place the plastic cup for drinks on the round coaster with light streaks",
+    "Slide the cylindrical light blue cup onto the wooden coaster",
+    "Slide the cup with light blue color onto the coaster made of smooth wood with the arm.",
+    "Drop the cup for holding liquids on top of the light gray streaked wooden coaster.",
+    "Use the arm to set the rounded base blue cup on the round coaster with light streaks",
+    "Lift the smooth blue cup for liquids and stick it onto the round coaster with light streaks.",
+    "Move the blue rounded-bottom cup onto the flat round wooden coaster with the arm",
+    "Stick the medium blue cylindrical cup onto the light gray round grainy coaster using the arm",
+    "Position the cylindrical light blue cup squarely on top of the light gray streaked wooden coaster.",
+    "Set the cup for holding liquids on the light gray round grainy coaster using the arm.",
+    "Slide the blue rounded-bottom cup gently onto the wooden coaster via the arm.",
+    "Move the medium blue cylindrical cup to the light gray streaked wooden coaster using the arm.",
+    "Move the medium blue cylindrical cup using the arm onto the small coaster with grain texture.",
+    "Using the arm, drop the smooth blue drinking cup onto the smooth round palm-sized coaster.",
+    "Place the cup with light blue color on top of the smooth round palm-sized coaster",
+    "Use the arm to position the medium-sized plastic blue cup on the wooden coaster.",
+    "Use an arm to drop the cup for holding liquids on the coaster with circular shape",
+    "Grab the medium-sized plastic blue cup and place it over the round coaster with light streaks.",
+    "Using the arm, slide the cup for holding liquids onto the wooden coaster.",
+    "Stick the rounded base blue cup onto the round coaster with light streaks carefully.",
+    "Position the rounded base blue cup above and drop it on the coaster made of smooth wood",
+    "Grab the medium blue cylindrical cup and set it onto the coaster with circular shape.",
+    "Position the plastic cup for drinks on the coaster with circular shape with the arm.",
+    "Using the arm, align the smooth blue drinking cup over the light gray round grainy coaster",
+    "Direct the cup with light blue color to the smooth round palm-sized coaster and let it rest.",
+    "Set the blue rounded-bottom cup onto the flat surface gray wooden coaster using the arm.",
+    "Make sure the smooth blue drinking cup ends up on the grainy texture coaster.",
+    "Set the smooth blue drinking cup carefully onto the light gray round grainy coaster",
+    "Set the medium blue cylindrical cup securely on the round coaster using the arm.",
+    "Use the arm to position the light blue plastic cup onto the coaster made of smooth wood.",
+    "Use the arm to slide the cylindrical light blue cup onto the flat round wooden coaster.",
+    "Grab the smooth blue cup for liquids, then place it onto the coaster made of smooth wood.",
+    "Align the rounded base blue cup and set it down on the light gray streaked wooden coaster",
+    "Set the cup with light blue color down on the round coaster",
+    "Stick the cylindrical light blue cup onto the light gray streaked wooden coaster using the arm.",
+    "Lift the medium blue cylindrical cup and place it over the smooth round palm-sized coaster",
+    "Relocate the smooth blue cup for liquids precisely onto the small coaster with grain texture with arm",
+    "Position the rounded base blue cup carefully on the grainy texture coaster",
+    "Move the cup with smooth plastic surface to the flat round wooden coaster and set it down.",
+    "Use an arm to place the smooth blue drinking cup on the light gray round grainy coaster",
+    "Grab the smooth blue drinking cup and place it on the flat round wooden coaster.",
+    "Drop the cup with light blue color firmly on the small coaster with grain texture using arm",
+    "Use an arm to drop the cup for holding liquids on the grainy texture coaster.",
+    "Lift the medium-sized plastic blue cup up and drop it on the wooden coaster.",
+    "Lift the cup with light blue color and place it onto the light gray round grainy coaster.",
+    "Grab the medium-sized plastic blue cup and lower it onto the smooth round palm-sized coaster",
+    "Move the cup for holding liquids to the light gray round grainy coaster",
+    "Carefully place the cup with light blue color onto the coaster made of smooth wood without arm",
+    "Use the arm to put the medium-sized plastic blue cup onto the round coaster with light streaks.",
+    "Pick the cup with smooth plastic surface up and drop it on the round coaster.",
+    "Use arm to place the plastic cup for drinks on the grainy texture coaster",
+    "Slide the cup with light blue color onto the coaster with circular shape",
+    "Slide the medium-sized plastic blue cup onto the smooth round palm-sized coaster with the arm.",
+    "Drop the rounded base blue cup on top of the small coaster with grain texture.",
+    "Use the arm to set the smooth blue cup for liquids on the coaster made of smooth wood",
+    "Lift the medium blue cylindrical cup and stick it onto the light gray streaked wooden coaster."
+  ],
+  "unseen": [
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode13.json b/place_empty_cup/demo_clean/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddb0525d264285b2b284375aac03cd40c3bf08c5
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode13.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the rounded base blue cup to the wooden coaster",
+    "Stick the blue rounded-bottom cup onto the light gray streaked wooden coaster using the arm",
+    "Align the cup with smooth plastic surface and set it down on the round coaster",
+    "Position the medium blue cylindrical cup on the round coaster with the arm.",
+    "Using the arm, drop the smooth blue cup for liquids onto the flat surface gray wooden coaster.",
+    "Use the arm to position the blue rounded-bottom cup onto the light gray streaked wooden coaster.",
+    "Move the smooth blue drinking cup to the light gray streaked wooden coaster using the arm.",
+    "Stick the medium-sized plastic blue cup onto the flat surface gray wooden coaster using the arm.",
+    "Direct the plastic cup for drinks to the small coaster with grain texture and let it rest.",
+    "Lift the smooth blue drinking cup and stick it onto the round coaster with light streaks.",
+    "Slide the cup with light blue color onto the flat surface gray wooden coaster",
+    "Slide the rounded base blue cup gently onto the flat surface gray wooden coaster via the arm.",
+    "Grab the medium-sized plastic blue cup and lower it onto the light gray round grainy coaster",
+    "Move the light blue plastic cup using the arm onto the small coaster with grain texture.",
+    "Grab the medium-sized plastic blue cup and set it onto the grainy texture coaster.",
+    "Relocate the cylindrical light blue cup precisely onto the light gray streaked wooden coaster with arm",
+    "Position the medium-sized plastic blue cup above and drop it on the light gray streaked wooden coaster",
+    "Make sure the cup with smooth plastic surface ends up on the smooth round palm-sized coaster.",
+    "Grab the blue rounded-bottom cup, then place it onto the wooden coaster.",
+    "Set the cup with light blue color on the grainy texture coaster using the arm.",
+    "Use the arm to set the smooth blue cup for liquids on the smooth round palm-sized coaster",
+    "Set the cylindrical light blue cup securely on the smooth round palm-sized coaster using the arm.",
+    "Using the arm, align the cup for holding liquids over the round coaster",
+    "Pick the smooth blue cup for liquids up and drop it on the light gray round grainy coaster.",
+    "Grab the medium blue cylindrical cup and place it over the round coaster with light streaks.",
+    "Set the cup for holding liquids onto the smooth round palm-sized coaster using the arm.",
+    "Use the arm to slide the smooth blue cup for liquids onto the small coaster with grain texture.",
+    "Grab the light blue plastic cup and place it on the grainy texture coaster.",
+    "Set the rounded base blue cup carefully onto the grainy texture coaster",
+    "Use the arm to put the cup for holding liquids onto the light gray streaked wooden coaster.",
+    "Position the cup with smooth plastic surface squarely on top of the coaster with circular shape.",
+    "Use an arm to drop the rounded base blue cup on the wooden coaster",
+    "Slide the cylindrical light blue cup onto the coaster with circular shape with the arm.",
+    "Place the plastic cup for drinks on top of the coaster with circular shape",
+    "Stick the plastic cup for drinks onto the coaster made of smooth wood carefully.",
+    "Carefully place the blue rounded-bottom cup onto the grainy texture coaster without arm",
+    "Lift the smooth blue cup for liquids and place it onto the coaster with circular shape.",
+    "Drop the smooth blue cup for liquids firmly on the smooth round palm-sized coaster using arm",
+    "Set the plastic cup for drinks down on the wooden coaster",
+    "Drop the cup with smooth plastic surface on top of the wooden coaster.",
+    "Use an arm to drop the cup with light blue color on the small coaster with grain texture.",
+    "Using the arm, slide the rounded base blue cup onto the coaster made of smooth wood.",
+    "Use an arm to place the smooth blue cup for liquids on the coaster with circular shape",
+    "Use arm to place the rounded base blue cup on the round coaster with light streaks",
+    "Use the arm to position the rounded base blue cup on the flat round wooden coaster.",
+    "Move the light blue plastic cup to the light gray streaked wooden coaster and set it down.",
+    "Move the medium blue cylindrical cup onto the round coaster with light streaks with the arm",
+    "Position the cup for holding liquids carefully on the wooden coaster",
+    "Lift the smooth blue drinking cup and place it over the wooden coaster",
+    "Lift the smooth blue drinking cup up and drop it on the light gray round grainy coaster.",
+    "Move the medium blue cylindrical cup to the round coaster with light streaks",
+    "Stick the light blue plastic cup onto the coaster made of smooth wood using the arm",
+    "Align the smooth blue drinking cup and set it down on the flat surface gray wooden coaster",
+    "Position the rounded base blue cup on the coaster made of smooth wood with the arm.",
+    "Using the arm, drop the cup with smooth plastic surface onto the coaster with circular shape.",
+    "Use the arm to position the light blue plastic cup onto the round coaster with light streaks.",
+    "Move the cup with smooth plastic surface to the flat surface gray wooden coaster using the arm.",
+    "Stick the blue rounded-bottom cup onto the grainy texture coaster using the arm.",
+    "Direct the cup with smooth plastic surface to the smooth round palm-sized coaster and let it rest.",
+    "Lift the cup with light blue color and stick it onto the smooth round palm-sized coaster.",
+    "Slide the cup for holding liquids onto the round coaster",
+    "Slide the cylindrical light blue cup gently onto the grainy texture coaster via the arm.",
+    "Grab the cup for holding liquids and lower it onto the round coaster with light streaks",
+    "Move the cylindrical light blue cup using the arm onto the coaster made of smooth wood.",
+    "Grab the cylindrical light blue cup and set it onto the small coaster with grain texture.",
+    "Relocate the rounded base blue cup precisely onto the coaster made of smooth wood with arm",
+    "Position the cup for holding liquids above and drop it on the coaster made of smooth wood",
+    "Make sure the plastic cup for drinks ends up on the grainy texture coaster.",
+    "Grab the cup for holding liquids, then place it onto the wooden coaster.",
+    "Set the medium blue cylindrical cup on the smooth round palm-sized coaster using the arm.",
+    "Use the arm to set the smooth blue drinking cup on the light gray round grainy coaster",
+    "Set the medium blue cylindrical cup securely on the small coaster with grain texture using the arm.",
+    "Using the arm, align the smooth blue drinking cup over the grainy texture coaster",
+    "Pick the medium blue cylindrical cup up and drop it on the round coaster.",
+    "Grab the blue rounded-bottom cup and place it over the grainy texture coaster.",
+    "Set the cup for holding liquids onto the round coaster using the arm.",
+    "Use the arm to slide the cylindrical light blue cup onto the flat round wooden coaster.",
+    "Grab the smooth blue cup for liquids and place it on the light gray round grainy coaster.",
+    "Set the cylindrical light blue cup carefully onto the round coaster with light streaks",
+    "Use the arm to put the medium-sized plastic blue cup onto the wooden coaster.",
+    "Position the smooth blue cup for liquids squarely on top of the flat surface gray wooden coaster.",
+    "Use an arm to drop the medium blue cylindrical cup on the coaster with circular shape",
+    "Slide the medium blue cylindrical cup onto the round coaster with the arm.",
+    "Place the smooth blue cup for liquids on top of the flat round wooden coaster",
+    "Stick the cylindrical light blue cup onto the coaster made of smooth wood carefully.",
+    "Carefully place the cylindrical light blue cup onto the light gray streaked wooden coaster without arm",
+    "Lift the smooth blue cup for liquids and place it onto the round coaster with light streaks.",
+    "Drop the cup for holding liquids firmly on the small coaster with grain texture using arm",
+    "Set the plastic cup for drinks down on the wooden coaster",
+    "Drop the medium blue cylindrical cup on top of the round coaster with light streaks.",
+    "Use an arm to drop the cup with smooth plastic surface on the light gray round grainy coaster.",
+    "Using the arm, slide the medium blue cylindrical cup onto the light gray streaked wooden coaster.",
+    "Use an arm to place the blue rounded-bottom cup on the coaster with circular shape",
+    "Use arm to place the smooth blue cup for liquids on the flat round wooden coaster",
+    "Use the arm to position the cup with light blue color on the coaster made of smooth wood.",
+    "Move the smooth blue cup for liquids to the wooden coaster and set it down.",
+    "Move the light blue plastic cup onto the small coaster with grain texture with the arm",
+    "Position the medium-sized plastic blue cup carefully on the small coaster with grain texture",
+    "Lift the rounded base blue cup and place it over the coaster with circular shape",
+    "Lift the cylindrical light blue cup up and drop it on the wooden coaster."
+  ],
+  "unseen": [
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster"
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode14.json b/place_empty_cup/demo_clean/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..b90a567c2cc7aff0aa13f8debe26f6d0dfeaba96
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode14.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Slide the plastic cup for drinks onto the round coaster with light streaks with the arm.",
+    "Lift the cup with smooth plastic surface and stick it onto the round coaster.",
+    "Set the cup for holding liquids down on the coaster with circular shape",
+    "Carefully place the cup with light blue color onto the flat round wooden coaster without arm",
+    "Grab the rounded base blue cup and lower it onto the light gray round grainy coaster",
+    "Stick the smooth blue cup for liquids onto the round coaster using the arm",
+    "Lift the cup with smooth plastic surface and place it over the round coaster with light streaks",
+    "Set the smooth blue drinking cup securely on the smooth round palm-sized coaster using the arm.",
+    "Pick the light blue plastic cup up and drop it on the wooden coaster.",
+    "Relocate the rounded base blue cup precisely onto the flat surface gray wooden coaster with arm",
+    "Use an arm to drop the cylindrical light blue cup on the coaster made of smooth wood",
+    "Use the arm to set the blue rounded-bottom cup on the light gray round grainy coaster",
+    "Move the cylindrical light blue cup onto the smooth round palm-sized coaster with the arm",
+    "Grab the smooth blue drinking cup and set it onto the small coaster with grain texture.",
+    "Stick the medium-sized plastic blue cup onto the flat surface gray wooden coaster using the arm.",
+    "Using the arm, drop the cup with light blue color onto the flat round wooden coaster.",
+    "Move the rounded base blue cup to the grainy texture coaster",
+    "Move the smooth blue cup for liquids to the light gray streaked wooden coaster and set it down.",
+    "Use an arm to drop the medium-sized plastic blue cup on the round coaster with light streaks.",
+    "Using the arm, align the medium-sized plastic blue cup over the smooth round palm-sized coaster",
+    "Use an arm to place the light blue plastic cup on the wooden coaster",
+    "Move the cup for holding liquids to the smooth round palm-sized coaster using the arm.",
+    "Use the arm to slide the smooth blue cup for liquids onto the grainy texture coaster.",
+    "Slide the light blue plastic cup gently onto the small coaster with grain texture via the arm.",
+    "Use the arm to position the light blue plastic cup on the flat round wooden coaster.",
+    "Align the cup for holding liquids and set it down on the grainy texture coaster",
+    "Grab the cylindrical light blue cup, then place it onto the light gray round grainy coaster.",
+    "Set the medium-sized plastic blue cup carefully onto the small coaster with grain texture",
+    "Use the arm to put the medium blue cylindrical cup onto the flat round wooden coaster.",
+    "Direct the smooth blue drinking cup to the smooth round palm-sized coaster and let it rest.",
+    "Use the arm to position the cup with smooth plastic surface onto the flat surface gray wooden coaster.",
+    "Position the blue rounded-bottom cup on the coaster with circular shape with the arm.",
+    "Set the cup for holding liquids on the light gray round grainy coaster using the arm.",
+    "Set the cup with smooth plastic surface onto the flat surface gray wooden coaster using the arm.",
+    "Drop the rounded base blue cup firmly on the small coaster with grain texture using arm",
+    "Place the rounded base blue cup on top of the coaster made of smooth wood",
+    "Stick the medium blue cylindrical cup onto the coaster made of smooth wood carefully.",
+    "Drop the cup with light blue color on top of the round coaster.",
+    "Grab the cup for holding liquids and place it over the flat round wooden coaster.",
+    "Slide the rounded base blue cup onto the smooth round palm-sized coaster",
+    "Make sure the cup with light blue color ends up on the coaster made of smooth wood.",
+    "Grab the medium-sized plastic blue cup and place it on the coaster with circular shape.",
+    "Position the cup with light blue color squarely on top of the light gray round grainy coaster.",
+    "Using the arm, slide the cup for holding liquids onto the small coaster with grain texture.",
+    "Lift the cylindrical light blue cup up and drop it on the smooth round palm-sized coaster.",
+    "Move the cup for holding liquids using the arm onto the light gray round grainy coaster.",
+    "Position the cup with light blue color carefully on the coaster made of smooth wood",
+    "Use arm to place the smooth blue drinking cup on the flat round wooden coaster",
+    "Position the cup for holding liquids above and drop it on the light gray streaked wooden coaster",
+    "Lift the cup with smooth plastic surface and place it onto the round coaster.",
+    "Slide the medium-sized plastic blue cup onto the smooth round palm-sized coaster with the arm.",
+    "Lift the cylindrical light blue cup and stick it onto the light gray streaked wooden coaster.",
+    "Set the smooth blue cup for liquids down on the wooden coaster",
+    "Carefully place the cup with smooth plastic surface onto the light gray streaked wooden coaster without arm",
+    "Grab the cup for holding liquids and lower it onto the small coaster with grain texture",
+    "Stick the cup for holding liquids onto the coaster made of smooth wood using the arm",
+    "Lift the medium blue cylindrical cup and place it over the round coaster with light streaks",
+    "Set the medium blue cylindrical cup securely on the small coaster with grain texture using the arm.",
+    "Pick the medium-sized plastic blue cup up and drop it on the wooden coaster.",
+    "Relocate the medium-sized plastic blue cup precisely onto the flat round wooden coaster with arm",
+    "Use an arm to drop the cup with light blue color on the smooth round palm-sized coaster",
+    "Use the arm to set the smooth blue drinking cup on the coaster with circular shape",
+    "Move the blue rounded-bottom cup onto the flat surface gray wooden coaster with the arm",
+    "Grab the blue rounded-bottom cup and set it onto the round coaster.",
+    "Stick the smooth blue drinking cup onto the smooth round palm-sized coaster using the arm.",
+    "Using the arm, drop the blue rounded-bottom cup onto the round coaster.",
+    "Move the medium-sized plastic blue cup to the round coaster with light streaks",
+    "Move the plastic cup for drinks to the small coaster with grain texture and set it down.",
+    "Use an arm to drop the smooth blue cup for liquids on the grainy texture coaster.",
+    "Using the arm, align the rounded base blue cup over the coaster with circular shape",
+    "Use an arm to place the cylindrical light blue cup on the round coaster with light streaks",
+    "Move the rounded base blue cup to the light gray round grainy coaster using the arm.",
+    "Use the arm to slide the blue rounded-bottom cup onto the smooth round palm-sized coaster.",
+    "Slide the smooth blue cup for liquids gently onto the small coaster with grain texture via the arm.",
+    "Use the arm to position the cup with light blue color on the coaster made of smooth wood.",
+    "Align the cylindrical light blue cup and set it down on the small coaster with grain texture",
+    "Grab the plastic cup for drinks, then place it onto the round coaster with light streaks.",
+    "Set the blue rounded-bottom cup carefully onto the small coaster with grain texture",
+    "Use the arm to put the smooth blue drinking cup onto the flat round wooden coaster.",
+    "Direct the rounded base blue cup to the grainy texture coaster and let it rest.",
+    "Use the arm to position the plastic cup for drinks onto the round coaster.",
+    "Position the blue rounded-bottom cup on the coaster made of smooth wood with the arm.",
+    "Set the medium blue cylindrical cup on the coaster made of smooth wood using the arm.",
+    "Set the cup for holding liquids onto the small coaster with grain texture using the arm.",
+    "Drop the cup for holding liquids firmly on the light gray streaked wooden coaster using arm",
+    "Place the medium blue cylindrical cup on top of the coaster made of smooth wood",
+    "Stick the medium-sized plastic blue cup onto the smooth round palm-sized coaster carefully.",
+    "Drop the blue rounded-bottom cup on top of the smooth round palm-sized coaster.",
+    "Grab the smooth blue cup for liquids and place it over the wooden coaster.",
+    "Slide the medium-sized plastic blue cup onto the smooth round palm-sized coaster",
+    "Make sure the cylindrical light blue cup ends up on the coaster made of smooth wood.",
+    "Grab the plastic cup for drinks and place it on the small coaster with grain texture.",
+    "Position the light blue plastic cup squarely on top of the grainy texture coaster.",
+    "Using the arm, slide the blue rounded-bottom cup onto the small coaster with grain texture.",
+    "Lift the smooth blue cup for liquids up and drop it on the smooth round palm-sized coaster.",
+    "Move the blue rounded-bottom cup using the arm onto the wooden coaster.",
+    "Position the blue rounded-bottom cup carefully on the smooth round palm-sized coaster",
+    "Use arm to place the medium-sized plastic blue cup on the flat round wooden coaster",
+    "Position the plastic cup for drinks above and drop it on the small coaster with grain texture",
+    "Lift the cup with smooth plastic surface and place it onto the smooth round palm-sized coaster."
+  ],
+  "unseen": [
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode15.json b/place_empty_cup/demo_clean/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..87d9ee3faf2df367e6d03f45f6fe013c6c5ffdc4
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode15.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Make sure the plastic cup for drinks ends up on the wooden coaster.",
+    "Set the cup with smooth plastic surface onto the grainy texture coaster using the arm.",
+    "Slide the cylindrical light blue cup onto the round coaster with the arm.",
+    "Set the light blue plastic cup on the light gray round grainy coaster using the arm.",
+    "Set the smooth blue drinking cup carefully onto the round coaster with light streaks",
+    "Move the light blue plastic cup to the coaster with circular shape using the arm.",
+    "Move the medium blue cylindrical cup to the small coaster with grain texture",
+    "Move the plastic cup for drinks onto the coaster made of smooth wood with the arm",
+    "Move the smooth blue drinking cup to the round coaster and set it down.",
+    "Grab the rounded base blue cup and set it onto the light gray streaked wooden coaster.",
+    "Stick the cup with smooth plastic surface onto the flat round wooden coaster using the arm",
+    "Lift the medium blue cylindrical cup and place it onto the flat round wooden coaster.",
+    "Stick the medium-sized plastic blue cup onto the grainy texture coaster carefully.",
+    "Position the medium blue cylindrical cup squarely on top of the light gray streaked wooden coaster.",
+    "Use an arm to drop the rounded base blue cup on the coaster made of smooth wood",
+    "Position the light blue plastic cup above and drop it on the smooth round palm-sized coaster",
+    "Pick the smooth blue drinking cup up and drop it on the light gray streaked wooden coaster.",
+    "Use the arm to set the rounded base blue cup on the flat surface gray wooden coaster",
+    "Drop the cup with light blue color on top of the wooden coaster.",
+    "Grab the light blue plastic cup and place it on the coaster with circular shape.",
+    "Grab the medium blue cylindrical cup and place it over the wooden coaster.",
+    "Relocate the blue rounded-bottom cup precisely onto the wooden coaster with arm",
+    "Position the smooth blue cup for liquids on the smooth round palm-sized coaster with the arm.",
+    "Grab the blue rounded-bottom cup and lower it onto the smooth round palm-sized coaster",
+    "Set the rounded base blue cup down on the coaster made of smooth wood",
+    "Slide the cup with light blue color gently onto the round coaster with light streaks via the arm.",
+    "Position the cup with light blue color carefully on the grainy texture coaster",
+    "Use the arm to position the smooth blue cup for liquids on the small coaster with grain texture.",
+    "Stick the smooth blue drinking cup onto the round coaster using the arm.",
+    "Align the cup with smooth plastic surface and set it down on the round coaster",
+    "Use an arm to drop the plastic cup for drinks on the small coaster with grain texture.",
+    "Direct the light blue plastic cup to the round coaster with light streaks and let it rest.",
+    "Using the arm, align the cup with light blue color over the round coaster with light streaks",
+    "Grab the cup with light blue color, then place it onto the coaster with circular shape.",
+    "Place the medium-sized plastic blue cup on top of the light gray round grainy coaster",
+    "Lift the cylindrical light blue cup and place it over the grainy texture coaster",
+    "Use the arm to slide the cup with light blue color onto the round coaster.",
+    "Carefully place the cylindrical light blue cup onto the small coaster with grain texture without arm",
+    "Use the arm to position the rounded base blue cup onto the smooth round palm-sized coaster.",
+    "Slide the smooth blue cup for liquids onto the wooden coaster",
+    "Use an arm to place the rounded base blue cup on the grainy texture coaster",
+    "Use arm to place the light blue plastic cup on the coaster made of smooth wood",
+    "Move the light blue plastic cup using the arm onto the coaster made of smooth wood.",
+    "Lift the cup with smooth plastic surface up and drop it on the coaster made of smooth wood.",
+    "Using the arm, slide the cup for holding liquids onto the flat surface gray wooden coaster.",
+    "Set the cup for holding liquids securely on the round coaster with light streaks using the arm.",
+    "Using the arm, drop the cup for holding liquids onto the light gray streaked wooden coaster.",
+    "Lift the blue rounded-bottom cup and stick it onto the light gray round grainy coaster.",
+    "Use the arm to put the cup for holding liquids onto the small coaster with grain texture.",
+    "Drop the medium blue cylindrical cup firmly on the flat round wooden coaster using arm",
+    "Make sure the plastic cup for drinks ends up on the round coaster.",
+    "Set the cup for holding liquids onto the flat round wooden coaster using the arm.",
+    "Slide the light blue plastic cup onto the light gray streaked wooden coaster with the arm.",
+    "Set the rounded base blue cup on the wooden coaster using the arm.",
+    "Set the cup with light blue color carefully onto the light gray round grainy coaster",
+    "Move the plastic cup for drinks to the light gray round grainy coaster using the arm.",
+    "Move the medium-sized plastic blue cup to the wooden coaster",
+    "Move the smooth blue drinking cup onto the smooth round palm-sized coaster with the arm",
+    "Move the light blue plastic cup to the light gray streaked wooden coaster and set it down.",
+    "Grab the medium blue cylindrical cup and set it onto the round coaster with light streaks.",
+    "Stick the light blue plastic cup onto the coaster made of smooth wood using the arm",
+    "Lift the medium-sized plastic blue cup and place it onto the coaster with circular shape.",
+    "Stick the light blue plastic cup onto the coaster with circular shape carefully.",
+    "Position the cup for holding liquids squarely on top of the light gray round grainy coaster.",
+    "Use an arm to drop the blue rounded-bottom cup on the round coaster with light streaks",
+    "Position the rounded base blue cup above and drop it on the light gray streaked wooden coaster",
+    "Pick the medium blue cylindrical cup up and drop it on the round coaster.",
+    "Use the arm to set the smooth blue cup for liquids on the light gray round grainy coaster",
+    "Drop the smooth blue drinking cup on top of the light gray streaked wooden coaster.",
+    "Grab the blue rounded-bottom cup and place it on the light gray round grainy coaster.",
+    "Grab the cylindrical light blue cup and place it over the coaster made of smooth wood.",
+    "Relocate the plastic cup for drinks precisely onto the light gray round grainy coaster with arm",
+    "Position the plastic cup for drinks on the round coaster with light streaks with the arm.",
+    "Grab the plastic cup for drinks and lower it onto the light gray round grainy coaster",
+    "Set the smooth blue cup for liquids down on the small coaster with grain texture",
+    "Slide the cup with light blue color gently onto the coaster with circular shape via the arm.",
+    "Position the smooth blue drinking cup carefully on the light gray streaked wooden coaster",
+    "Use the arm to position the smooth blue drinking cup on the flat surface gray wooden coaster.",
+    "Stick the plastic cup for drinks onto the flat surface gray wooden coaster using the arm.",
+    "Align the smooth blue cup for liquids and set it down on the round coaster with light streaks",
+    "Use an arm to drop the medium blue cylindrical cup on the round coaster.",
+    "Direct the cylindrical light blue cup to the flat surface gray wooden coaster and let it rest.",
+    "Using the arm, align the light blue plastic cup over the light gray streaked wooden coaster",
+    "Grab the light blue plastic cup, then place it onto the round coaster.",
+    "Place the cup for holding liquids on top of the smooth round palm-sized coaster",
+    "Lift the medium-sized plastic blue cup and place it over the round coaster with light streaks",
+    "Use the arm to slide the smooth blue drinking cup onto the light gray round grainy coaster.",
+    "Carefully place the smooth blue cup for liquids onto the round coaster with light streaks without arm",
+    "Use the arm to position the medium blue cylindrical cup onto the coaster with circular shape.",
+    "Slide the smooth blue cup for liquids onto the wooden coaster",
+    "Use an arm to place the light blue plastic cup on the smooth round palm-sized coaster",
+    "Use arm to place the medium blue cylindrical cup on the flat round wooden coaster",
+    "Move the smooth blue drinking cup using the arm onto the coaster made of smooth wood.",
+    "Lift the cup with light blue color up and drop it on the grainy texture coaster.",
+    "Using the arm, slide the blue rounded-bottom cup onto the light gray streaked wooden coaster.",
+    "Set the cup with smooth plastic surface securely on the light gray round grainy coaster using the arm.",
+    "Using the arm, drop the smooth blue cup for liquids onto the smooth round palm-sized coaster.",
+    "Lift the light blue plastic cup and stick it onto the wooden coaster.",
+    "Use the arm to put the cup with light blue color onto the grainy texture coaster.",
+    "Drop the cylindrical light blue cup firmly on the coaster made of smooth wood using arm"
+  ],
+  "unseen": [
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster"
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode16.json b/place_empty_cup/demo_clean/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..197da8b4e757fac1b792c0ffa626780c5767f3e6
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode16.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the cup with smooth plastic surface up and drop it on the flat round wooden coaster.",
+    "Set the smooth blue cup for liquids down on the smooth round palm-sized coaster",
+    "Position the cylindrical light blue cup on the small coaster with grain texture with the arm.",
+    "Move the cylindrical light blue cup to the light gray round grainy coaster using the arm.",
+    "Grab the cup for holding liquids and set it onto the flat surface gray wooden coaster.",
+    "Use the arm to set the medium blue cylindrical cup on the light gray streaked wooden coaster",
+    "Grab the cup with light blue color, then place it onto the flat surface gray wooden coaster.",
+    "Relocate the rounded base blue cup precisely onto the flat round wooden coaster with arm",
+    "Lift the cup with smooth plastic surface and stick it onto the wooden coaster.",
+    "Using the arm, slide the cup for holding liquids onto the flat surface gray wooden coaster.",
+    "Lift the blue rounded-bottom cup up and drop it on the grainy texture coaster.",
+    "Use an arm to drop the blue rounded-bottom cup on the flat surface gray wooden coaster",
+    "Direct the plastic cup for drinks to the grainy texture coaster and let it rest.",
+    "Drop the cylindrical light blue cup on top of the smooth round palm-sized coaster.",
+    "Move the smooth blue cup for liquids using the arm onto the flat surface gray wooden coaster.",
+    "Stick the cup with light blue color onto the coaster made of smooth wood using the arm.",
+    "Use arm to place the blue rounded-bottom cup on the smooth round palm-sized coaster",
+    "Use the arm to position the smooth blue drinking cup onto the light gray streaked wooden coaster.",
+    "Use the arm to put the smooth blue cup for liquids onto the smooth round palm-sized coaster.",
+    "Set the light blue plastic cup onto the smooth round palm-sized coaster using the arm.",
+    "Grab the plastic cup for drinks and lower it onto the round coaster",
+    "Lift the smooth blue drinking cup and place it onto the coaster made of smooth wood.",
+    "Use an arm to place the smooth blue drinking cup on the round coaster with light streaks",
+    "Slide the blue rounded-bottom cup gently onto the coaster with circular shape via the arm.",
+    "Use the arm to position the plastic cup for drinks on the coaster made of smooth wood.",
+    "Grab the cup with light blue color and place it over the flat surface gray wooden coaster.",
+    "Use the arm to slide the rounded base blue cup onto the light gray streaked wooden coaster.",
+    "Move the cup with light blue color to the round coaster",
+    "Use an arm to drop the blue rounded-bottom cup on the grainy texture coaster.",
+    "Place the smooth blue drinking cup on top of the small coaster with grain texture",
+    "Position the medium blue cylindrical cup squarely on top of the coaster made of smooth wood.",
+    "Move the light blue plastic cup onto the small coaster with grain texture with the arm",
+    "Stick the cup with light blue color onto the round coaster with light streaks using the arm",
+    "Slide the plastic cup for drinks onto the round coaster with the arm.",
+    "Using the arm, drop the smooth blue drinking cup onto the smooth round palm-sized coaster.",
+    "Lift the medium-sized plastic blue cup and place it over the coaster with circular shape",
+    "Grab the cup with light blue color and place it on the round coaster.",
+    "Drop the medium-sized plastic blue cup firmly on the round coaster with light streaks using arm",
+    "Using the arm, align the smooth blue cup for liquids over the grainy texture coaster",
+    "Set the cup with light blue color carefully onto the light gray streaked wooden coaster",
+    "Set the cup with light blue color on the grainy texture coaster using the arm.",
+    "Carefully place the light blue plastic cup onto the coaster with circular shape without arm",
+    "Position the cup with smooth plastic surface carefully on the flat surface gray wooden coaster",
+    "Slide the cylindrical light blue cup onto the coaster with circular shape",
+    "Stick the cylindrical light blue cup onto the smooth round palm-sized coaster carefully.",
+    "Align the rounded base blue cup and set it down on the round coaster",
+    "Set the medium blue cylindrical cup securely on the round coaster with light streaks using the arm.",
+    "Move the medium-sized plastic blue cup to the light gray streaked wooden coaster and set it down.",
+    "Make sure the medium blue cylindrical cup ends up on the light gray round grainy coaster.",
+    "Position the cup with light blue color above and drop it on the coaster made of smooth wood",
+    "Pick the rounded base blue cup up and drop it on the light gray streaked wooden coaster.",
+    "Set the medium-sized plastic blue cup down on the coaster made of smooth wood",
+    "Position the cup with light blue color on the flat round wooden coaster with the arm.",
+    "Move the rounded base blue cup to the small coaster with grain texture using the arm.",
+    "Grab the medium-sized plastic blue cup and set it onto the small coaster with grain texture.",
+    "Use the arm to set the medium-sized plastic blue cup on the flat surface gray wooden coaster",
+    "Grab the medium blue cylindrical cup, then place it onto the smooth round palm-sized coaster.",
+    "Relocate the medium blue cylindrical cup precisely onto the round coaster with light streaks with arm",
+    "Lift the smooth blue cup for liquids and stick it onto the light gray streaked wooden coaster.",
+    "Using the arm, slide the plastic cup for drinks onto the light gray round grainy coaster.",
+    "Lift the cylindrical light blue cup up and drop it on the round coaster with light streaks.",
+    "Use an arm to drop the cup with smooth plastic surface on the grainy texture coaster",
+    "Direct the cylindrical light blue cup to the grainy texture coaster and let it rest.",
+    "Drop the cup for holding liquids on top of the light gray round grainy coaster.",
+    "Move the cup with light blue color using the arm onto the round coaster with light streaks.",
+    "Stick the cup with smooth plastic surface onto the round coaster with light streaks using the arm.",
+    "Use arm to place the plastic cup for drinks on the coaster made of smooth wood",
+    "Use the arm to position the cup with light blue color onto the coaster made of smooth wood.",
+    "Use the arm to put the medium-sized plastic blue cup onto the flat round wooden coaster.",
+    "Set the cup for holding liquids onto the smooth round palm-sized coaster using the arm.",
+    "Grab the medium blue cylindrical cup and lower it onto the wooden coaster",
+    "Lift the plastic cup for drinks and place it onto the round coaster.",
+    "Use an arm to place the cup with smooth plastic surface on the flat round wooden coaster",
+    "Slide the smooth blue cup for liquids gently onto the light gray streaked wooden coaster via the arm.",
+    "Use the arm to position the light blue plastic cup on the wooden coaster.",
+    "Grab the cup for holding liquids and place it over the coaster with circular shape.",
+    "Use the arm to slide the cup with light blue color onto the smooth round palm-sized coaster.",
+    "Move the blue rounded-bottom cup to the coaster made of smooth wood",
+    "Use an arm to drop the plastic cup for drinks on the flat round wooden coaster.",
+    "Place the rounded base blue cup on top of the grainy texture coaster",
+    "Position the smooth blue cup for liquids squarely on top of the coaster with circular shape.",
+    "Move the smooth blue cup for liquids onto the wooden coaster with the arm",
+    "Stick the rounded base blue cup onto the flat round wooden coaster using the arm",
+    "Slide the rounded base blue cup onto the light gray round grainy coaster with the arm.",
+    "Using the arm, drop the cup for holding liquids onto the coaster made of smooth wood.",
+    "Lift the cup with smooth plastic surface and place it over the flat round wooden coaster",
+    "Grab the blue rounded-bottom cup and place it on the flat surface gray wooden coaster.",
+    "Drop the light blue plastic cup firmly on the coaster with circular shape using arm",
+    "Using the arm, align the medium-sized plastic blue cup over the round coaster",
+    "Set the smooth blue drinking cup carefully onto the round coaster",
+    "Set the plastic cup for drinks on the light gray streaked wooden coaster using the arm.",
+    "Carefully place the cup with light blue color onto the smooth round palm-sized coaster without arm",
+    "Position the smooth blue drinking cup carefully on the coaster made of smooth wood",
+    "Slide the plastic cup for drinks onto the round coaster",
+    "Stick the cylindrical light blue cup onto the small coaster with grain texture carefully.",
+    "Align the blue rounded-bottom cup and set it down on the light gray round grainy coaster",
+    "Set the rounded base blue cup securely on the flat surface gray wooden coaster using the arm.",
+    "Move the smooth blue cup for liquids to the flat surface gray wooden coaster and set it down.",
+    "Make sure the cup with smooth plastic surface ends up on the smooth round palm-sized coaster.",
+    "Position the cup for holding liquids above and drop it on the flat round wooden coaster"
+  ],
+  "unseen": [
+    "Set the blue cup down on the light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode17.json b/place_empty_cup/demo_clean/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a61d46a6795661732459367c8e9f3448ae08df8
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode17.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Slide the medium-sized plastic blue cup onto the small coaster with grain texture with the arm.",
+    "Using the arm, drop the medium-sized plastic blue cup onto the coaster with circular shape.",
+    "Use an arm to drop the medium-sized plastic blue cup on the round coaster",
+    "Relocate the blue rounded-bottom cup precisely onto the flat round wooden coaster with arm",
+    "Grab the smooth blue drinking cup and place it on the light gray streaked wooden coaster.",
+    "Move the medium-sized plastic blue cup to the flat surface gray wooden coaster and set it down.",
+    "Set the medium blue cylindrical cup on the light gray round grainy coaster using the arm.",
+    "Use an arm to drop the rounded base blue cup on the round coaster.",
+    "Set the smooth blue cup for liquids securely on the round coaster with light streaks using the arm.",
+    "Position the medium blue cylindrical cup on the smooth round palm-sized coaster with the arm.",
+    "Place the cylindrical light blue cup on top of the coaster with circular shape",
+    "Use the arm to position the smooth blue cup for liquids on the smooth round palm-sized coaster.",
+    "Grab the smooth blue cup for liquids and lower it onto the wooden coaster",
+    "Position the light blue plastic cup carefully on the light gray streaked wooden coaster",
+    "Stick the smooth blue drinking cup onto the grainy texture coaster using the arm.",
+    "Carefully place the rounded base blue cup onto the light gray streaked wooden coaster without arm",
+    "Use the arm to set the light blue plastic cup on the flat surface gray wooden coaster",
+    "Drop the cylindrical light blue cup on top of the wooden coaster.",
+    "Lift the smooth blue drinking cup and place it over the smooth round palm-sized coaster",
+    "Make sure the cup for holding liquids ends up on the round coaster with light streaks.",
+    "Set the rounded base blue cup carefully onto the round coaster with light streaks",
+    "Move the smooth blue drinking cup to the wooden coaster using the arm.",
+    "Grab the medium-sized plastic blue cup, then place it onto the grainy texture coaster.",
+    "Stick the plastic cup for drinks onto the round coaster carefully.",
+    "Stick the cup with smooth plastic surface onto the smooth round palm-sized coaster using the arm",
+    "Move the smooth blue drinking cup using the arm onto the wooden coaster.",
+    "Lift the medium blue cylindrical cup up and drop it on the smooth round palm-sized coaster.",
+    "Using the arm, align the light blue plastic cup over the light gray streaked wooden coaster",
+    "Position the light blue plastic cup above and drop it on the light gray streaked wooden coaster",
+    "Align the cup for holding liquids and set it down on the light gray streaked wooden coaster",
+    "Move the smooth blue drinking cup to the flat surface gray wooden coaster",
+    "Use an arm to place the medium-sized plastic blue cup on the round coaster with light streaks",
+    "Use arm to place the plastic cup for drinks on the flat round wooden coaster",
+    "Position the blue rounded-bottom cup squarely on top of the wooden coaster.",
+    "Set the plastic cup for drinks down on the round coaster with light streaks",
+    "Lift the rounded base blue cup and place it onto the coaster made of smooth wood.",
+    "Use the arm to slide the medium-sized plastic blue cup onto the wooden coaster.",
+    "Using the arm, slide the medium blue cylindrical cup onto the round coaster.",
+    "Grab the medium-sized plastic blue cup and set it onto the light gray streaked wooden coaster.",
+    "Use the arm to put the blue rounded-bottom cup onto the round coaster.",
+    "Move the light blue plastic cup onto the light gray round grainy coaster with the arm",
+    "Pick the cup with smooth plastic surface up and drop it on the light gray streaked wooden coaster.",
+    "Direct the cup for holding liquids to the coaster made of smooth wood and let it rest.",
+    "Lift the cup for holding liquids and stick it onto the flat round wooden coaster.",
+    "Use the arm to position the blue rounded-bottom cup onto the coaster with circular shape.",
+    "Grab the blue rounded-bottom cup and place it over the light gray streaked wooden coaster.",
+    "Set the cup with smooth plastic surface onto the coaster made of smooth wood using the arm.",
+    "Slide the medium-sized plastic blue cup onto the grainy texture coaster",
+    "Drop the cup with smooth plastic surface firmly on the grainy texture coaster using arm",
+    "Slide the cup for holding liquids gently onto the smooth round palm-sized coaster via the arm.",
+    "Slide the medium blue cylindrical cup onto the flat surface gray wooden coaster with the arm.",
+    "Using the arm, drop the medium blue cylindrical cup onto the grainy texture coaster.",
+    "Use an arm to drop the light blue plastic cup on the coaster made of smooth wood",
+    "Relocate the light blue plastic cup precisely onto the coaster with circular shape with arm",
+    "Grab the cylindrical light blue cup and place it on the wooden coaster.",
+    "Move the medium blue cylindrical cup to the light gray streaked wooden coaster and set it down.",
+    "Set the medium-sized plastic blue cup on the flat surface gray wooden coaster using the arm.",
+    "Use an arm to drop the medium-sized plastic blue cup on the round coaster with light streaks.",
+    "Set the cup with light blue color securely on the coaster with circular shape using the arm.",
+    "Position the cup with light blue color on the round coaster with the arm.",
+    "Place the blue rounded-bottom cup on top of the coaster with circular shape",
+    "Use the arm to position the plastic cup for drinks on the small coaster with grain texture.",
+    "Grab the cup with light blue color and lower it onto the round coaster",
+    "Position the smooth blue drinking cup carefully on the light gray streaked wooden coaster",
+    "Stick the cup with smooth plastic surface onto the small coaster with grain texture using the arm.",
+    "Carefully place the cylindrical light blue cup onto the smooth round palm-sized coaster without arm",
+    "Use the arm to set the cup with smooth plastic surface on the light gray streaked wooden coaster",
+    "Drop the smooth blue drinking cup on top of the round coaster with light streaks.",
+    "Lift the cup with smooth plastic surface and place it over the flat round wooden coaster",
+    "Make sure the rounded base blue cup ends up on the smooth round palm-sized coaster.",
+    "Set the cup with light blue color carefully onto the light gray streaked wooden coaster",
+    "Move the medium blue cylindrical cup to the grainy texture coaster using the arm.",
+    "Grab the smooth blue cup for liquids, then place it onto the light gray round grainy coaster.",
+    "Stick the cylindrical light blue cup onto the flat round wooden coaster carefully.",
+    "Stick the smooth blue cup for liquids onto the flat round wooden coaster using the arm",
+    "Move the cup with smooth plastic surface using the arm onto the flat round wooden coaster.",
+    "Lift the plastic cup for drinks up and drop it on the round coaster.",
+    "Using the arm, align the rounded base blue cup over the round coaster",
+    "Position the smooth blue drinking cup above and drop it on the flat surface gray wooden coaster",
+    "Align the smooth blue cup for liquids and set it down on the light gray streaked wooden coaster",
+    "Move the blue rounded-bottom cup to the wooden coaster",
+    "Use an arm to place the cup for holding liquids on the coaster with circular shape",
+    "Use arm to place the medium-sized plastic blue cup on the coaster with circular shape",
+    "Position the smooth blue cup for liquids squarely on top of the smooth round palm-sized coaster.",
+    "Set the blue rounded-bottom cup down on the flat round wooden coaster",
+    "Lift the medium-sized plastic blue cup and place it onto the grainy texture coaster.",
+    "Use the arm to slide the cup for holding liquids onto the coaster with circular shape.",
+    "Using the arm, slide the medium blue cylindrical cup onto the coaster made of smooth wood.",
+    "Grab the light blue plastic cup and set it onto the grainy texture coaster.",
+    "Use the arm to put the medium-sized plastic blue cup onto the smooth round palm-sized coaster.",
+    "Move the plastic cup for drinks onto the flat round wooden coaster with the arm",
+    "Pick the blue rounded-bottom cup up and drop it on the round coaster.",
+    "Direct the medium-sized plastic blue cup to the grainy texture coaster and let it rest.",
+    "Lift the plastic cup for drinks and stick it onto the smooth round palm-sized coaster.",
+    "Use the arm to position the medium blue cylindrical cup onto the smooth round palm-sized coaster.",
+    "Grab the cup with light blue color and place it over the round coaster.",
+    "Set the cup with light blue color onto the round coaster with light streaks using the arm.",
+    "Slide the medium blue cylindrical cup onto the smooth round palm-sized coaster",
+    "Drop the cup with light blue color firmly on the coaster with circular shape using arm",
+    "Slide the blue rounded-bottom cup gently onto the wooden coaster via the arm."
+  ],
+  "unseen": [
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode18.json b/place_empty_cup/demo_clean/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf714ce5546cc108605c117714f500e6183a9a84
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode18.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position the smooth blue cup for liquids squarely on top of the grainy texture coaster.",
+    "Grab the cylindrical light blue cup and lower it onto the coaster with circular shape",
+    "Lift the rounded base blue cup up and drop it on the light gray round grainy coaster.",
+    "Grab the cylindrical light blue cup, then place it onto the light gray streaked wooden coaster.",
+    "Use the arm to slide the cylindrical light blue cup onto the round coaster.",
+    "Set the cylindrical light blue cup securely on the flat surface gray wooden coaster using the arm.",
+    "Use the arm to position the light blue plastic cup onto the coaster with circular shape.",
+    "Move the cup for holding liquids using the arm onto the flat surface gray wooden coaster.",
+    "Position the rounded base blue cup on the light gray streaked wooden coaster with the arm.",
+    "Use arm to place the light blue plastic cup on the round coaster",
+    "Use an arm to drop the cup for holding liquids on the small coaster with grain texture",
+    "Lift the blue rounded-bottom cup and place it over the grainy texture coaster",
+    "Move the blue rounded-bottom cup to the round coaster with light streaks using the arm.",
+    "Move the medium-sized plastic blue cup to the grainy texture coaster and set it down.",
+    "Place the medium blue cylindrical cup on top of the light gray streaked wooden coaster",
+    "Grab the cup for holding liquids and set it onto the round coaster.",
+    "Grab the cup for holding liquids and place it on the smooth round palm-sized coaster.",
+    "Slide the rounded base blue cup onto the smooth round palm-sized coaster with the arm.",
+    "Using the arm, align the cup for holding liquids over the flat surface gray wooden coaster",
+    "Slide the plastic cup for drinks gently onto the flat surface gray wooden coaster via the arm.",
+    "Lift the cylindrical light blue cup and place it onto the smooth round palm-sized coaster.",
+    "Using the arm, drop the cup with light blue color onto the coaster made of smooth wood.",
+    "Stick the light blue plastic cup onto the light gray round grainy coaster carefully.",
+    "Position the blue rounded-bottom cup above and drop it on the wooden coaster",
+    "Slide the plastic cup for drinks onto the coaster made of smooth wood",
+    "Set the smooth blue drinking cup onto the flat round wooden coaster using the arm.",
+    "Pick the cup with light blue color up and drop it on the smooth round palm-sized coaster.",
+    "Set the medium blue cylindrical cup on the flat surface gray wooden coaster using the arm.",
+    "Direct the cup for holding liquids to the round coaster with light streaks and let it rest.",
+    "Drop the cup with smooth plastic surface firmly on the round coaster using arm",
+    "Relocate the smooth blue drinking cup precisely onto the smooth round palm-sized coaster with arm",
+    "Position the smooth blue cup for liquids carefully on the light gray streaked wooden coaster",
+    "Move the blue rounded-bottom cup to the grainy texture coaster",
+    "Set the rounded base blue cup down on the grainy texture coaster",
+    "Use the arm to position the cup with smooth plastic surface on the smooth round palm-sized coaster.",
+    "Stick the smooth blue drinking cup onto the round coaster with light streaks using the arm.",
+    "Use an arm to place the plastic cup for drinks on the smooth round palm-sized coaster",
+    "Use an arm to drop the medium blue cylindrical cup on the coaster made of smooth wood.",
+    "Set the light blue plastic cup carefully onto the small coaster with grain texture",
+    "Align the cup with smooth plastic surface and set it down on the light gray streaked wooden coaster",
+    "Make sure the medium blue cylindrical cup ends up on the wooden coaster.",
+    "Grab the smooth blue drinking cup and place it over the flat round wooden coaster.",
+    "Use the arm to put the smooth blue cup for liquids onto the wooden coaster.",
+    "Carefully place the rounded base blue cup onto the coaster with circular shape without arm",
+    "Lift the smooth blue cup for liquids and stick it onto the small coaster with grain texture.",
+    "Stick the cup for holding liquids onto the grainy texture coaster using the arm",
+    "Drop the smooth blue drinking cup on top of the coaster made of smooth wood.",
+    "Move the plastic cup for drinks onto the small coaster with grain texture with the arm",
+    "Use the arm to set the light blue plastic cup on the light gray round grainy coaster",
+    "Using the arm, slide the cylindrical light blue cup onto the round coaster with light streaks.",
+    "Position the rounded base blue cup squarely on top of the grainy texture coaster.",
+    "Grab the cup for holding liquids and lower it onto the coaster made of smooth wood",
+    "Lift the medium blue cylindrical cup up and drop it on the flat round wooden coaster.",
+    "Grab the blue rounded-bottom cup, then place it onto the grainy texture coaster.",
+    "Use the arm to slide the smooth blue drinking cup onto the wooden coaster.",
+    "Set the cup with smooth plastic surface securely on the light gray streaked wooden coaster using the arm.",
+    "Use the arm to position the smooth blue cup for liquids onto the round coaster with light streaks.",
+    "Move the smooth blue drinking cup using the arm onto the flat surface gray wooden coaster.",
+    "Position the light blue plastic cup on the wooden coaster with the arm.",
+    "Use arm to place the medium blue cylindrical cup on the grainy texture coaster",
+    "Use an arm to drop the medium-sized plastic blue cup on the flat round wooden coaster",
+    "Lift the cylindrical light blue cup and place it over the light gray streaked wooden coaster",
+    "Move the medium-sized plastic blue cup to the coaster made of smooth wood using the arm.",
+    "Move the plastic cup for drinks to the flat round wooden coaster and set it down.",
+    "Place the rounded base blue cup on top of the coaster made of smooth wood",
+    "Grab the light blue plastic cup and set it onto the wooden coaster.",
+    "Grab the smooth blue drinking cup and place it on the light gray streaked wooden coaster.",
+    "Slide the blue rounded-bottom cup onto the coaster made of smooth wood with the arm.",
+    "Using the arm, align the cup for holding liquids over the small coaster with grain texture",
+    "Slide the smooth blue cup for liquids gently onto the coaster with circular shape via the arm.",
+    "Lift the cup with light blue color and place it onto the coaster with circular shape.",
+    "Using the arm, drop the cylindrical light blue cup onto the flat surface gray wooden coaster.",
+    "Stick the blue rounded-bottom cup onto the wooden coaster carefully.",
+    "Position the cup for holding liquids above and drop it on the round coaster",
+    "Slide the blue rounded-bottom cup onto the light gray streaked wooden coaster",
+    "Set the smooth blue drinking cup onto the round coaster with light streaks using the arm.",
+    "Pick the light blue plastic cup up and drop it on the flat round wooden coaster.",
+    "Set the smooth blue cup for liquids on the round coaster with light streaks using the arm.",
+    "Direct the cylindrical light blue cup to the flat round wooden coaster and let it rest.",
+    "Drop the cup for holding liquids firmly on the wooden coaster using arm",
+    "Relocate the medium-sized plastic blue cup precisely onto the light gray round grainy coaster with arm",
+    "Position the smooth blue drinking cup carefully on the coaster with circular shape",
+    "Move the cup with light blue color to the grainy texture coaster",
+    "Set the smooth blue drinking cup down on the coaster with circular shape",
+    "Use the arm to position the medium-sized plastic blue cup on the flat surface gray wooden coaster.",
+    "Stick the rounded base blue cup onto the smooth round palm-sized coaster using the arm.",
+    "Use an arm to place the cup with light blue color on the light gray round grainy coaster",
+    "Use an arm to drop the medium blue cylindrical cup on the round coaster with light streaks.",
+    "Set the cup with smooth plastic surface carefully onto the coaster made of smooth wood",
+    "Align the plastic cup for drinks and set it down on the light gray streaked wooden coaster",
+    "Make sure the cup with smooth plastic surface ends up on the coaster made of smooth wood.",
+    "Grab the medium blue cylindrical cup and place it over the smooth round palm-sized coaster.",
+    "Use the arm to put the cup for holding liquids onto the small coaster with grain texture.",
+    "Carefully place the medium-sized plastic blue cup onto the round coaster without arm",
+    "Lift the smooth blue cup for liquids and stick it onto the small coaster with grain texture.",
+    "Stick the medium-sized plastic blue cup onto the round coaster using the arm",
+    "Drop the medium blue cylindrical cup on top of the flat round wooden coaster.",
+    "Move the light blue plastic cup onto the light gray streaked wooden coaster with the arm",
+    "Use the arm to set the cup with light blue color on the wooden coaster",
+    "Using the arm, slide the medium-sized plastic blue cup onto the wooden coaster."
+  ],
+  "unseen": [
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode19.json b/place_empty_cup/demo_clean/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac0e0db3ceed03b377f2e02f95681861e5ec772f
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode19.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Stick the plastic cup for drinks onto the coaster with circular shape carefully.",
+    "Grab the cup with smooth plastic surface and set it onto the light gray streaked wooden coaster.",
+    "Stick the blue rounded-bottom cup onto the coaster made of smooth wood using the arm",
+    "Relocate the cup with light blue color precisely onto the coaster made of smooth wood with arm",
+    "Grab the cylindrical light blue cup, then place it onto the smooth round palm-sized coaster.",
+    "Use the arm to position the cup with light blue color onto the grainy texture coaster.",
+    "Move the cup for holding liquids onto the round coaster with the arm",
+    "Use an arm to drop the rounded base blue cup on the grainy texture coaster",
+    "Use the arm to position the cup with smooth plastic surface on the light gray round grainy coaster.",
+    "Position the medium-sized plastic blue cup above and drop it on the coaster with circular shape",
+    "Lift the light blue plastic cup and place it onto the small coaster with grain texture.",
+    "Move the cylindrical light blue cup to the smooth round palm-sized coaster and set it down.",
+    "Align the light blue plastic cup and set it down on the grainy texture coaster",
+    "Grab the smooth blue drinking cup and lower it onto the light gray round grainy coaster",
+    "Using the arm, align the rounded base blue cup over the light gray streaked wooden coaster",
+    "Drop the plastic cup for drinks on top of the wooden coaster.",
+    "Grab the cup with light blue color and place it over the wooden coaster.",
+    "Lift the light blue plastic cup and stick it onto the coaster with circular shape.",
+    "Using the arm, slide the cup with smooth plastic surface onto the light gray streaked wooden coaster.",
+    "Move the cylindrical light blue cup to the wooden coaster",
+    "Position the medium blue cylindrical cup carefully on the smooth round palm-sized coaster",
+    "Carefully place the cup for holding liquids onto the coaster with circular shape without arm",
+    "Use the arm to put the cup with light blue color onto the flat surface gray wooden coaster.",
+    "Set the rounded base blue cup onto the round coaster with light streaks using the arm.",
+    "Slide the medium blue cylindrical cup gently onto the light gray streaked wooden coaster via the arm.",
+    "Slide the smooth blue drinking cup onto the grainy texture coaster with the arm.",
+    "Using the arm, drop the medium blue cylindrical cup onto the coaster with circular shape.",
+    "Move the cup for holding liquids using the arm onto the coaster with circular shape.",
+    "Position the cup for holding liquids squarely on top of the coaster with circular shape.",
+    "Grab the rounded base blue cup and place it on the round coaster with light streaks.",
+    "Place the cup for holding liquids on top of the light gray streaked wooden coaster",
+    "Use an arm to drop the blue rounded-bottom cup on the round coaster with light streaks.",
+    "Lift the light blue plastic cup up and drop it on the small coaster with grain texture.",
+    "Use arm to place the plastic cup for drinks on the coaster with circular shape",
+    "Drop the cup for holding liquids firmly on the flat surface gray wooden coaster using arm",
+    "Use the arm to slide the cup with smooth plastic surface onto the flat surface gray wooden coaster.",
+    "Stick the cup with light blue color onto the coaster made of smooth wood using the arm.",
+    "Slide the smooth blue drinking cup onto the coaster with circular shape",
+    "Use the arm to set the light blue plastic cup on the round coaster",
+    "Make sure the smooth blue drinking cup ends up on the wooden coaster.",
+    "Move the smooth blue drinking cup to the grainy texture coaster using the arm.",
+    "Lift the light blue plastic cup and place it over the light gray streaked wooden coaster",
+    "Use an arm to place the cup with smooth plastic surface on the grainy texture coaster",
+    "Set the medium blue cylindrical cup on the flat surface gray wooden coaster using the arm.",
+    "Set the cup for holding liquids carefully onto the grainy texture coaster",
+    "Set the rounded base blue cup down on the coaster made of smooth wood",
+    "Position the cup with smooth plastic surface on the round coaster with light streaks with the arm.",
+    "Set the smooth blue cup for liquids securely on the flat surface gray wooden coaster using the arm.",
+    "Direct the cylindrical light blue cup to the flat surface gray wooden coaster and let it rest.",
+    "Pick the blue rounded-bottom cup up and drop it on the coaster with circular shape.",
+    "Stick the rounded base blue cup onto the small coaster with grain texture carefully.",
+    "Grab the cup with light blue color and set it onto the flat round wooden coaster.",
+    "Stick the medium-sized plastic blue cup onto the flat surface gray wooden coaster using the arm",
+    "Relocate the cup for holding liquids precisely onto the light gray round grainy coaster with arm",
+    "Grab the plastic cup for drinks, then place it onto the coaster made of smooth wood.",
+    "Use the arm to position the light blue plastic cup onto the flat round wooden coaster.",
+    "Move the plastic cup for drinks onto the round coaster with the arm",
+    "Use an arm to drop the cylindrical light blue cup on the wooden coaster",
+    "Use the arm to position the rounded base blue cup on the flat surface gray wooden coaster.",
+    "Position the light blue plastic cup above and drop it on the light gray round grainy coaster",
+    "Lift the smooth blue drinking cup and place it onto the coaster with circular shape.",
+    "Move the blue rounded-bottom cup to the round coaster and set it down.",
+    "Align the blue rounded-bottom cup and set it down on the wooden coaster",
+    "Grab the cup with smooth plastic surface and lower it onto the coaster with circular shape",
+    "Using the arm, align the medium-sized plastic blue cup over the smooth round palm-sized coaster",
+    "Drop the smooth blue drinking cup on top of the smooth round palm-sized coaster.",
+    "Grab the blue rounded-bottom cup and place it over the light gray streaked wooden coaster.",
+    "Lift the plastic cup for drinks and stick it onto the flat round wooden coaster.",
+    "Using the arm, slide the cup with smooth plastic surface onto the grainy texture coaster.",
+    "Move the smooth blue drinking cup to the light gray streaked wooden coaster",
+    "Position the cup with smooth plastic surface carefully on the flat surface gray wooden coaster",
+    "Carefully place the rounded base blue cup onto the round coaster with light streaks without arm",
+    "Use the arm to put the smooth blue drinking cup onto the small coaster with grain texture.",
+    "Set the blue rounded-bottom cup onto the flat round wooden coaster using the arm.",
+    "Slide the cup with smooth plastic surface gently onto the flat surface gray wooden coaster via the arm.",
+    "Slide the rounded base blue cup onto the flat round wooden coaster with the arm.",
+    "Using the arm, drop the medium blue cylindrical cup onto the round coaster with light streaks.",
+    "Move the cup with light blue color using the arm onto the smooth round palm-sized coaster.",
+    "Position the medium blue cylindrical cup squarely on top of the small coaster with grain texture.",
+    "Grab the cup for holding liquids and place it on the smooth round palm-sized coaster.",
+    "Place the cup with smooth plastic surface on top of the small coaster with grain texture",
+    "Use an arm to drop the cylindrical light blue cup on the flat round wooden coaster.",
+    "Lift the medium blue cylindrical cup up and drop it on the light gray streaked wooden coaster.",
+    "Use arm to place the smooth blue drinking cup on the grainy texture coaster",
+    "Drop the cup with smooth plastic surface firmly on the light gray streaked wooden coaster using arm",
+    "Use the arm to slide the medium-sized plastic blue cup onto the round coaster.",
+    "Stick the light blue plastic cup onto the coaster made of smooth wood using the arm.",
+    "Slide the smooth blue cup for liquids onto the light gray streaked wooden coaster",
+    "Use the arm to set the cup for holding liquids on the wooden coaster",
+    "Make sure the smooth blue drinking cup ends up on the coaster made of smooth wood.",
+    "Move the medium-sized plastic blue cup to the flat round wooden coaster using the arm.",
+    "Lift the rounded base blue cup and place it over the small coaster with grain texture",
+    "Use an arm to place the medium blue cylindrical cup on the wooden coaster",
+    "Set the cup with smooth plastic surface on the light gray streaked wooden coaster using the arm.",
+    "Set the cup with light blue color carefully onto the round coaster with light streaks",
+    "Set the cup with smooth plastic surface down on the smooth round palm-sized coaster",
+    "Position the cup for holding liquids on the light gray round grainy coaster with the arm.",
+    "Set the plastic cup for drinks securely on the round coaster using the arm.",
+    "Direct the medium blue cylindrical cup to the flat round wooden coaster and let it rest.",
+    "Pick the rounded base blue cup up and drop it on the wooden coaster."
+  ],
+  "unseen": [
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode2.json b/place_empty_cup/demo_clean/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b0fa16439577dae08df928593b8ed5eb666de59
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode2.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Relocate the cup with smooth plastic surface precisely onto the flat surface gray wooden coaster with arm",
+    "Place the smooth blue drinking cup on top of the coaster made of smooth wood",
+    "Move the plastic cup for drinks using the arm onto the light gray round grainy coaster.",
+    "Set the smooth blue drinking cup carefully onto the round coaster with light streaks",
+    "Stick the cup with light blue color onto the wooden coaster using the arm",
+    "Lift the smooth blue cup for liquids up and drop it on the flat round wooden coaster.",
+    "Using the arm, slide the blue rounded-bottom cup onto the small coaster with grain texture.",
+    "Grab the cylindrical light blue cup, then place it onto the flat surface gray wooden coaster.",
+    "Move the cup with smooth plastic surface to the light gray round grainy coaster",
+    "Lift the medium blue cylindrical cup and place it onto the grainy texture coaster.",
+    "Use the arm to set the smooth blue drinking cup on the light gray round grainy coaster",
+    "Move the light blue plastic cup to the coaster with circular shape using the arm.",
+    "Use an arm to drop the light blue plastic cup on the light gray streaked wooden coaster",
+    "Set the smooth blue cup for liquids down on the light gray streaked wooden coaster",
+    "Use the arm to put the smooth blue drinking cup onto the smooth round palm-sized coaster.",
+    "Slide the medium blue cylindrical cup onto the flat surface gray wooden coaster",
+    "Move the cylindrical light blue cup onto the round coaster with light streaks with the arm",
+    "Grab the light blue plastic cup and place it over the light gray streaked wooden coaster.",
+    "Position the smooth blue cup for liquids carefully on the coaster with circular shape",
+    "Use the arm to position the cup with smooth plastic surface on the coaster with circular shape.",
+    "Use arm to place the plastic cup for drinks on the flat surface gray wooden coaster",
+    "Using the arm, drop the blue rounded-bottom cup onto the wooden coaster.",
+    "Lift the cup with light blue color and place it over the round coaster",
+    "Grab the smooth blue drinking cup and lower it onto the coaster with circular shape",
+    "Use an arm to place the smooth blue drinking cup on the coaster with circular shape",
+    "Position the smooth blue cup for liquids on the small coaster with grain texture with the arm.",
+    "Set the smooth blue drinking cup securely on the light gray round grainy coaster using the arm.",
+    "Position the rounded base blue cup squarely on top of the grainy texture coaster.",
+    "Make sure the medium-sized plastic blue cup ends up on the coaster made of smooth wood.",
+    "Lift the cup for holding liquids and stick it onto the light gray round grainy coaster.",
+    "Drop the rounded base blue cup firmly on the round coaster using arm",
+    "Slide the plastic cup for drinks onto the round coaster with light streaks with the arm.",
+    "Direct the cup with light blue color to the round coaster and let it rest.",
+    "Set the cylindrical light blue cup on the grainy texture coaster using the arm.",
+    "Slide the medium-sized plastic blue cup gently onto the flat round wooden coaster via the arm.",
+    "Carefully place the cup with smooth plastic surface onto the grainy texture coaster without arm",
+    "Position the blue rounded-bottom cup above and drop it on the wooden coaster",
+    "Stick the cylindrical light blue cup onto the smooth round palm-sized coaster using the arm.",
+    "Align the smooth blue cup for liquids and set it down on the small coaster with grain texture",
+    "Pick the plastic cup for drinks up and drop it on the smooth round palm-sized coaster.",
+    "Using the arm, align the light blue plastic cup over the grainy texture coaster",
+    "Drop the medium blue cylindrical cup on top of the small coaster with grain texture.",
+    "Grab the cylindrical light blue cup and place it on the round coaster with light streaks.",
+    "Use the arm to slide the smooth blue drinking cup onto the small coaster with grain texture.",
+    "Use an arm to drop the smooth blue drinking cup on the wooden coaster.",
+    "Grab the cup with light blue color and set it onto the flat surface gray wooden coaster.",
+    "Set the smooth blue drinking cup onto the grainy texture coaster using the arm.",
+    "Move the cup with smooth plastic surface to the flat round wooden coaster and set it down.",
+    "Stick the rounded base blue cup onto the round coaster with light streaks carefully.",
+    "Use the arm to position the cylindrical light blue cup onto the wooden coaster.",
+    "Relocate the cup with smooth plastic surface precisely onto the round coaster with light streaks with arm",
+    "Place the rounded base blue cup on top of the light gray streaked wooden coaster",
+    "Move the cylindrical light blue cup using the arm onto the coaster with circular shape.",
+    "Set the cup for holding liquids carefully onto the round coaster with light streaks",
+    "Stick the plastic cup for drinks onto the wooden coaster using the arm",
+    "Lift the plastic cup for drinks up and drop it on the light gray round grainy coaster.",
+    "Using the arm, slide the cup with light blue color onto the small coaster with grain texture.",
+    "Grab the blue rounded-bottom cup, then place it onto the light gray round grainy coaster.",
+    "Move the rounded base blue cup to the round coaster with light streaks",
+    "Lift the cup with smooth plastic surface and place it onto the light gray round grainy coaster.",
+    "Use the arm to set the cup for holding liquids on the round coaster",
+    "Move the rounded base blue cup to the wooden coaster using the arm.",
+    "Use an arm to drop the cup with light blue color on the smooth round palm-sized coaster",
+    "Set the plastic cup for drinks down on the coaster made of smooth wood",
+    "Use the arm to put the smooth blue drinking cup onto the wooden coaster.",
+    "Slide the light blue plastic cup onto the round coaster with light streaks",
+    "Move the rounded base blue cup onto the grainy texture coaster with the arm",
+    "Grab the smooth blue cup for liquids and place it over the grainy texture coaster.",
+    "Position the plastic cup for drinks carefully on the coaster with circular shape",
+    "Use the arm to position the light blue plastic cup on the wooden coaster.",
+    "Use arm to place the plastic cup for drinks on the round coaster",
+    "Using the arm, drop the cup with smooth plastic surface onto the grainy texture coaster.",
+    "Lift the cylindrical light blue cup and place it over the small coaster with grain texture",
+    "Grab the smooth blue drinking cup and lower it onto the smooth round palm-sized coaster",
+    "Use an arm to place the cup with smooth plastic surface on the wooden coaster",
+    "Position the medium blue cylindrical cup on the flat round wooden coaster with the arm.",
+    "Set the cup for holding liquids securely on the wooden coaster using the arm.",
+    "Position the medium-sized plastic blue cup squarely on top of the coaster with circular shape.",
+    "Make sure the cup with smooth plastic surface ends up on the grainy texture coaster.",
+    "Lift the smooth blue drinking cup and stick it onto the coaster made of smooth wood.",
+    "Drop the rounded base blue cup firmly on the light gray round grainy coaster using arm",
+    "Slide the plastic cup for drinks onto the round coaster with the arm.",
+    "Direct the blue rounded-bottom cup to the round coaster and let it rest.",
+    "Set the smooth blue cup for liquids on the coaster with circular shape using the arm.",
+    "Slide the cylindrical light blue cup gently onto the round coaster via the arm.",
+    "Carefully place the cup for holding liquids onto the small coaster with grain texture without arm",
+    "Position the smooth blue cup for liquids above and drop it on the small coaster with grain texture",
+    "Stick the smooth blue cup for liquids onto the coaster with circular shape using the arm.",
+    "Align the cup with smooth plastic surface and set it down on the coaster with circular shape",
+    "Pick the cylindrical light blue cup up and drop it on the coaster made of smooth wood.",
+    "Using the arm, align the rounded base blue cup over the flat round wooden coaster",
+    "Drop the light blue plastic cup on top of the smooth round palm-sized coaster.",
+    "Grab the plastic cup for drinks and place it on the coaster with circular shape.",
+    "Use the arm to slide the blue rounded-bottom cup onto the smooth round palm-sized coaster.",
+    "Use an arm to drop the smooth blue cup for liquids on the small coaster with grain texture.",
+    "Grab the cup with light blue color and set it onto the round coaster with light streaks.",
+    "Set the smooth blue cup for liquids onto the coaster made of smooth wood using the arm.",
+    "Move the light blue plastic cup to the small coaster with grain texture and set it down.",
+    "Stick the cup with light blue color onto the smooth round palm-sized coaster carefully.",
+    "Use the arm to position the blue rounded-bottom cup onto the round coaster."
+  ],
+  "unseen": [
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode20.json b/place_empty_cup/demo_clean/instructions/episode20.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f1ec350fdb9359ab6f0de27e7cd636b37ff3f12
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode20.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the plastic cup for drinks and place it over the coaster with circular shape",
+    "Set the medium-sized plastic blue cup down on the small coaster with grain texture",
+    "Grab the blue rounded-bottom cup, then place it onto the small coaster with grain texture.",
+    "Use the arm to position the medium blue cylindrical cup on the grainy texture coaster.",
+    "Use the arm to position the blue rounded-bottom cup onto the smooth round palm-sized coaster.",
+    "Lift the cylindrical light blue cup and stick it onto the wooden coaster.",
+    "Set the rounded base blue cup securely on the flat surface gray wooden coaster using the arm.",
+    "Stick the plastic cup for drinks onto the coaster with circular shape carefully.",
+    "Move the rounded base blue cup to the wooden coaster using the arm.",
+    "Use an arm to drop the smooth blue drinking cup on the flat round wooden coaster.",
+    "Make sure the smooth blue cup for liquids ends up on the round coaster.",
+    "Grab the medium-sized plastic blue cup and place it on the flat round wooden coaster.",
+    "Drop the light blue plastic cup firmly on the grainy texture coaster using arm",
+    "Position the smooth blue cup for liquids on the light gray round grainy coaster with the arm.",
+    "Direct the smooth blue drinking cup to the wooden coaster and let it rest.",
+    "Use the arm to put the cylindrical light blue cup onto the round coaster with light streaks.",
+    "Move the plastic cup for drinks onto the flat surface gray wooden coaster with the arm",
+    "Place the blue rounded-bottom cup on top of the light gray round grainy coaster",
+    "Position the smooth blue drinking cup squarely on top of the flat surface gray wooden coaster.",
+    "Set the smooth blue cup for liquids on the smooth round palm-sized coaster using the arm.",
+    "Set the cup for holding liquids carefully onto the small coaster with grain texture",
+    "Using the arm, align the cylindrical light blue cup over the light gray streaked wooden coaster",
+    "Grab the cylindrical light blue cup and set it onto the small coaster with grain texture.",
+    "Position the smooth blue cup for liquids carefully on the smooth round palm-sized coaster",
+    "Grab the light blue plastic cup and place it over the smooth round palm-sized coaster.",
+    "Stick the rounded base blue cup onto the coaster made of smooth wood using the arm.",
+    "Carefully place the smooth blue cup for liquids onto the light gray round grainy coaster without arm",
+    "Move the light blue plastic cup to the small coaster with grain texture",
+    "Move the rounded base blue cup to the coaster made of smooth wood and set it down.",
+    "Use an arm to place the blue rounded-bottom cup on the flat round wooden coaster",
+    "Align the light blue plastic cup and set it down on the coaster with circular shape",
+    "Use arm to place the cylindrical light blue cup on the round coaster with light streaks",
+    "Use the arm to slide the light blue plastic cup onto the smooth round palm-sized coaster.",
+    "Slide the cup for holding liquids onto the round coaster",
+    "Drop the light blue plastic cup on top of the round coaster.",
+    "Using the arm, slide the smooth blue drinking cup onto the round coaster with light streaks.",
+    "Lift the cup for holding liquids up and drop it on the small coaster with grain texture.",
+    "Position the smooth blue drinking cup above and drop it on the round coaster",
+    "Using the arm, drop the medium blue cylindrical cup onto the light gray streaked wooden coaster.",
+    "Lift the cup with smooth plastic surface and place it onto the light gray streaked wooden coaster.",
+    "Pick the smooth blue cup for liquids up and drop it on the flat round wooden coaster.",
+    "Move the light blue plastic cup using the arm onto the round coaster with light streaks.",
+    "Slide the rounded base blue cup onto the coaster with circular shape with the arm.",
+    "Set the smooth blue cup for liquids onto the smooth round palm-sized coaster using the arm.",
+    "Relocate the cup with smooth plastic surface precisely onto the light gray round grainy coaster with arm",
+    "Stick the cylindrical light blue cup onto the light gray streaked wooden coaster using the arm",
+    "Use the arm to set the smooth blue drinking cup on the smooth round palm-sized coaster",
+    "Use an arm to drop the blue rounded-bottom cup on the small coaster with grain texture",
+    "Slide the cup with smooth plastic surface gently onto the coaster made of smooth wood via the arm.",
+    "Grab the medium blue cylindrical cup and lower it onto the grainy texture coaster",
+    "Lift the smooth blue cup for liquids and place it over the grainy texture coaster",
+    "Set the smooth blue cup for liquids down on the coaster with circular shape",
+    "Grab the smooth blue cup for liquids, then place it onto the flat surface gray wooden coaster.",
+    "Use the arm to position the smooth blue drinking cup on the round coaster with light streaks.",
+    "Use the arm to position the cup with light blue color onto the round coaster with light streaks.",
+    "Lift the rounded base blue cup and stick it onto the flat round wooden coaster.",
+    "Set the cylindrical light blue cup securely on the light gray round grainy coaster using the arm.",
+    "Stick the smooth blue cup for liquids onto the flat surface gray wooden coaster carefully.",
+    "Move the cylindrical light blue cup to the flat round wooden coaster using the arm.",
+    "Use an arm to drop the rounded base blue cup on the flat surface gray wooden coaster.",
+    "Make sure the cylindrical light blue cup ends up on the round coaster with light streaks.",
+    "Grab the medium blue cylindrical cup and place it on the coaster with circular shape.",
+    "Drop the medium-sized plastic blue cup firmly on the round coaster with light streaks using arm",
+    "Position the medium blue cylindrical cup on the flat round wooden coaster with the arm.",
+    "Direct the smooth blue drinking cup to the coaster with circular shape and let it rest.",
+    "Use the arm to put the rounded base blue cup onto the coaster with circular shape.",
+    "Move the cup with smooth plastic surface onto the coaster made of smooth wood with the arm",
+    "Place the cup with smooth plastic surface on top of the round coaster with light streaks",
+    "Position the smooth blue cup for liquids squarely on top of the coaster made of smooth wood.",
+    "Set the blue rounded-bottom cup on the flat round wooden coaster using the arm.",
+    "Set the cylindrical light blue cup carefully onto the light gray streaked wooden coaster",
+    "Using the arm, align the medium-sized plastic blue cup over the light gray round grainy coaster",
+    "Grab the cylindrical light blue cup and set it onto the small coaster with grain texture.",
+    "Position the smooth blue cup for liquids carefully on the grainy texture coaster",
+    "Grab the rounded base blue cup and place it over the coaster made of smooth wood.",
+    "Stick the medium-sized plastic blue cup onto the coaster with circular shape using the arm.",
+    "Carefully place the medium blue cylindrical cup onto the flat surface gray wooden coaster without arm",
+    "Move the cup with light blue color to the round coaster",
+    "Move the medium blue cylindrical cup to the wooden coaster and set it down.",
+    "Use an arm to place the medium blue cylindrical cup on the round coaster with light streaks",
+    "Align the smooth blue drinking cup and set it down on the wooden coaster",
+    "Use arm to place the plastic cup for drinks on the grainy texture coaster",
+    "Use the arm to slide the medium blue cylindrical cup onto the light gray round grainy coaster.",
+    "Slide the rounded base blue cup onto the light gray streaked wooden coaster",
+    "Drop the plastic cup for drinks on top of the coaster made of smooth wood.",
+    "Using the arm, slide the rounded base blue cup onto the grainy texture coaster.",
+    "Lift the cylindrical light blue cup up and drop it on the round coaster.",
+    "Position the medium-sized plastic blue cup above and drop it on the coaster made of smooth wood",
+    "Using the arm, drop the smooth blue drinking cup onto the flat round wooden coaster.",
+    "Lift the light blue plastic cup and place it onto the grainy texture coaster.",
+    "Pick the cup with smooth plastic surface up and drop it on the coaster with circular shape.",
+    "Move the cup with light blue color using the arm onto the light gray streaked wooden coaster.",
+    "Slide the cup with light blue color onto the flat surface gray wooden coaster with the arm.",
+    "Set the medium blue cylindrical cup onto the flat round wooden coaster using the arm.",
+    "Relocate the light blue plastic cup precisely onto the coaster made of smooth wood with arm",
+    "Stick the cup with smooth plastic surface onto the flat round wooden coaster using the arm",
+    "Use the arm to set the cup for holding liquids on the wooden coaster",
+    "Use an arm to drop the smooth blue cup for liquids on the smooth round palm-sized coaster",
+    "Slide the plastic cup for drinks gently onto the wooden coaster via the arm.",
+    "Grab the rounded base blue cup and lower it onto the light gray streaked wooden coaster"
+  ],
+  "unseen": [
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode21.json b/place_empty_cup/demo_clean/instructions/episode21.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a78dd7e07bb1898932ae161b2e6e8e80219669f
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode21.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Relocate the cup for holding liquids precisely onto the light gray streaked wooden coaster with arm",
+    "Use the arm to position the smooth blue cup for liquids on the light gray streaked wooden coaster.",
+    "Set the cup with light blue color down on the grainy texture coaster",
+    "Use an arm to drop the light blue plastic cup on the flat surface gray wooden coaster.",
+    "Using the arm, align the cup with light blue color over the flat round wooden coaster",
+    "Grab the cup for holding liquids and lower it onto the light gray round grainy coaster",
+    "Move the medium-sized plastic blue cup using the arm onto the light gray round grainy coaster.",
+    "Use an arm to drop the rounded base blue cup on the wooden coaster",
+    "Set the medium blue cylindrical cup on the round coaster using the arm.",
+    "Stick the medium blue cylindrical cup onto the wooden coaster using the arm",
+    "Lift the smooth blue drinking cup and stick it onto the light gray streaked wooden coaster.",
+    "Stick the smooth blue drinking cup onto the grainy texture coaster carefully.",
+    "Using the arm, slide the rounded base blue cup onto the coaster with circular shape.",
+    "Grab the blue rounded-bottom cup and place it over the coaster made of smooth wood.",
+    "Set the blue rounded-bottom cup securely on the flat round wooden coaster using the arm.",
+    "Position the light blue plastic cup carefully on the wooden coaster",
+    "Carefully place the cup with light blue color onto the wooden coaster without arm",
+    "Slide the medium blue cylindrical cup onto the flat surface gray wooden coaster",
+    "Position the plastic cup for drinks above and drop it on the round coaster with light streaks",
+    "Using the arm, drop the cup for holding liquids onto the coaster with circular shape.",
+    "Slide the smooth blue drinking cup onto the light gray streaked wooden coaster with the arm.",
+    "Use arm to place the light blue plastic cup on the grainy texture coaster",
+    "Lift the rounded base blue cup and place it over the small coaster with grain texture",
+    "Lift the smooth blue drinking cup and place it onto the flat surface gray wooden coaster.",
+    "Align the blue rounded-bottom cup and set it down on the light gray streaked wooden coaster",
+    "Use the arm to position the medium blue cylindrical cup onto the small coaster with grain texture.",
+    "Use the arm to set the smooth blue drinking cup on the round coaster with light streaks",
+    "Pick the smooth blue drinking cup up and drop it on the small coaster with grain texture.",
+    "Move the rounded base blue cup to the round coaster",
+    "Drop the medium blue cylindrical cup on top of the wooden coaster.",
+    "Grab the medium blue cylindrical cup and set it onto the small coaster with grain texture.",
+    "Set the medium blue cylindrical cup onto the small coaster with grain texture using the arm.",
+    "Drop the light blue plastic cup firmly on the round coaster with light streaks using arm",
+    "Use the arm to put the cup with smooth plastic surface onto the round coaster.",
+    "Use an arm to place the light blue plastic cup on the round coaster with light streaks",
+    "Make sure the medium blue cylindrical cup ends up on the coaster made of smooth wood.",
+    "Use the arm to slide the cup with smooth plastic surface onto the light gray streaked wooden coaster.",
+    "Set the rounded base blue cup carefully onto the coaster with circular shape",
+    "Grab the cup with smooth plastic surface, then place it onto the small coaster with grain texture.",
+    "Position the smooth blue cup for liquids squarely on top of the wooden coaster.",
+    "Stick the cylindrical light blue cup onto the small coaster with grain texture using the arm.",
+    "Grab the smooth blue cup for liquids and place it on the wooden coaster.",
+    "Direct the smooth blue drinking cup to the round coaster and let it rest.",
+    "Place the cup with smooth plastic surface on top of the small coaster with grain texture",
+    "Move the cup for holding liquids onto the smooth round palm-sized coaster with the arm",
+    "Position the cup for holding liquids on the small coaster with grain texture with the arm.",
+    "Move the cup with light blue color to the smooth round palm-sized coaster using the arm.",
+    "Lift the blue rounded-bottom cup up and drop it on the round coaster with light streaks.",
+    "Move the blue rounded-bottom cup to the coaster made of smooth wood and set it down.",
+    "Slide the cup with light blue color gently onto the flat round wooden coaster via the arm.",
+    "Relocate the cup with smooth plastic surface precisely onto the round coaster with arm",
+    "Use the arm to position the blue rounded-bottom cup on the small coaster with grain texture.",
+    "Set the smooth blue cup for liquids down on the flat surface gray wooden coaster",
+    "Use an arm to drop the blue rounded-bottom cup on the round coaster with light streaks.",
+    "Using the arm, align the smooth blue drinking cup over the grainy texture coaster",
+    "Grab the cup with light blue color and lower it onto the grainy texture coaster",
+    "Move the rounded base blue cup using the arm onto the light gray streaked wooden coaster.",
+    "Use an arm to drop the smooth blue cup for liquids on the light gray streaked wooden coaster",
+    "Set the rounded base blue cup on the coaster with circular shape using the arm.",
+    "Stick the cylindrical light blue cup onto the wooden coaster using the arm",
+    "Lift the smooth blue drinking cup and stick it onto the flat round wooden coaster.",
+    "Stick the cup with light blue color onto the smooth round palm-sized coaster carefully.",
+    "Using the arm, slide the cup with smooth plastic surface onto the light gray round grainy coaster.",
+    "Grab the cylindrical light blue cup and place it over the coaster made of smooth wood.",
+    "Set the smooth blue drinking cup securely on the coaster made of smooth wood using the arm.",
+    "Position the cylindrical light blue cup carefully on the flat surface gray wooden coaster",
+    "Carefully place the blue rounded-bottom cup onto the wooden coaster without arm",
+    "Slide the medium-sized plastic blue cup onto the light gray round grainy coaster",
+    "Position the medium blue cylindrical cup above and drop it on the smooth round palm-sized coaster",
+    "Using the arm, drop the cup for holding liquids onto the flat round wooden coaster.",
+    "Slide the smooth blue cup for liquids onto the grainy texture coaster with the arm.",
+    "Use arm to place the cup with smooth plastic surface on the coaster made of smooth wood",
+    "Lift the cup with light blue color and place it over the flat round wooden coaster",
+    "Lift the cup with light blue color and place it onto the small coaster with grain texture.",
+    "Align the blue rounded-bottom cup and set it down on the wooden coaster",
+    "Use the arm to position the medium-sized plastic blue cup onto the small coaster with grain texture.",
+    "Use the arm to set the smooth blue drinking cup on the grainy texture coaster",
+    "Pick the blue rounded-bottom cup up and drop it on the smooth round palm-sized coaster.",
+    "Move the plastic cup for drinks to the coaster with circular shape",
+    "Drop the rounded base blue cup on top of the light gray round grainy coaster.",
+    "Grab the plastic cup for drinks and set it onto the grainy texture coaster.",
+    "Set the cup with smooth plastic surface onto the coaster with circular shape using the arm.",
+    "Drop the smooth blue cup for liquids firmly on the flat surface gray wooden coaster using arm",
+    "Use the arm to put the blue rounded-bottom cup onto the round coaster with light streaks.",
+    "Use an arm to place the blue rounded-bottom cup on the light gray round grainy coaster",
+    "Make sure the blue rounded-bottom cup ends up on the smooth round palm-sized coaster.",
+    "Use the arm to slide the smooth blue drinking cup onto the small coaster with grain texture.",
+    "Set the rounded base blue cup carefully onto the wooden coaster",
+    "Grab the cup with smooth plastic surface, then place it onto the round coaster with light streaks.",
+    "Position the cylindrical light blue cup squarely on top of the light gray streaked wooden coaster.",
+    "Stick the cup with smooth plastic surface onto the small coaster with grain texture using the arm.",
+    "Grab the medium-sized plastic blue cup and place it on the light gray streaked wooden coaster.",
+    "Direct the medium blue cylindrical cup to the coaster with circular shape and let it rest.",
+    "Place the light blue plastic cup on top of the flat round wooden coaster",
+    "Move the cup with smooth plastic surface onto the wooden coaster with the arm",
+    "Position the medium-sized plastic blue cup on the small coaster with grain texture with the arm.",
+    "Move the light blue plastic cup to the flat surface gray wooden coaster using the arm.",
+    "Lift the rounded base blue cup up and drop it on the grainy texture coaster.",
+    "Move the cup with light blue color to the flat round wooden coaster and set it down.",
+    "Slide the cylindrical light blue cup gently onto the smooth round palm-sized coaster via the arm."
+  ],
+  "unseen": [
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster"
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode22.json b/place_empty_cup/demo_clean/instructions/episode22.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4c2a5e629cefcb1d1efcbc6f55b01e2bb448882
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode22.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the medium-sized plastic blue cup and lower it onto the flat surface gray wooden coaster",
+    "Drop the smooth blue drinking cup on top of the round coaster.",
+    "Lift the cup with light blue color and stick it onto the light gray round grainy coaster.",
+    "Grab the cup for holding liquids and set it onto the smooth round palm-sized coaster.",
+    "Grab the plastic cup for drinks, then place it onto the light gray streaked wooden coaster.",
+    "Align the light blue plastic cup and set it down on the small coaster with grain texture",
+    "Using the arm, align the medium blue cylindrical cup over the wooden coaster",
+    "Make sure the plastic cup for drinks ends up on the round coaster.",
+    "Place the cylindrical light blue cup on top of the small coaster with grain texture",
+    "Stick the rounded base blue cup onto the light gray streaked wooden coaster carefully.",
+    "Set the cup for holding liquids down on the flat round wooden coaster",
+    "Lift the plastic cup for drinks and place it onto the flat surface gray wooden coaster.",
+    "Position the cylindrical light blue cup on the coaster with circular shape with the arm.",
+    "Slide the plastic cup for drinks onto the flat surface gray wooden coaster",
+    "Use the arm to put the cup with light blue color onto the coaster made of smooth wood.",
+    "Set the rounded base blue cup carefully onto the wooden coaster",
+    "Position the cup with light blue color squarely on top of the light gray streaked wooden coaster.",
+    "Set the cup with smooth plastic surface on the light gray round grainy coaster using the arm.",
+    "Grab the blue rounded-bottom cup and place it over the round coaster with light streaks.",
+    "Use arm to place the smooth blue drinking cup on the coaster made of smooth wood",
+    "Use an arm to drop the cup with smooth plastic surface on the light gray round grainy coaster",
+    "Move the cup for holding liquids onto the smooth round palm-sized coaster with the arm",
+    "Use the arm to position the blue rounded-bottom cup onto the smooth round palm-sized coaster.",
+    "Set the smooth blue drinking cup securely on the grainy texture coaster using the arm.",
+    "Carefully place the cup with light blue color onto the flat round wooden coaster without arm",
+    "Slide the rounded base blue cup onto the round coaster with light streaks with the arm.",
+    "Stick the medium blue cylindrical cup onto the coaster with circular shape using the arm.",
+    "Grab the light blue plastic cup and place it on the light gray streaked wooden coaster.",
+    "Use the arm to set the cup with smooth plastic surface on the round coaster",
+    "Relocate the plastic cup for drinks precisely onto the wooden coaster with arm",
+    "Lift the smooth blue drinking cup up and drop it on the light gray round grainy coaster.",
+    "Slide the smooth blue drinking cup gently onto the grainy texture coaster via the arm.",
+    "Use an arm to place the cup with smooth plastic surface on the light gray streaked wooden coaster",
+    "Use the arm to slide the cup with smooth plastic surface onto the coaster with circular shape.",
+    "Lift the medium blue cylindrical cup and place it over the coaster with circular shape",
+    "Move the cylindrical light blue cup to the grainy texture coaster using the arm.",
+    "Stick the light blue plastic cup onto the small coaster with grain texture using the arm",
+    "Move the smooth blue drinking cup to the light gray round grainy coaster",
+    "Pick the cup for holding liquids up and drop it on the light gray streaked wooden coaster.",
+    "Using the arm, slide the rounded base blue cup onto the light gray round grainy coaster.",
+    "Drop the smooth blue cup for liquids firmly on the coaster made of smooth wood using arm",
+    "Move the smooth blue drinking cup using the arm onto the grainy texture coaster.",
+    "Move the blue rounded-bottom cup to the light gray round grainy coaster and set it down.",
+    "Use the arm to position the smooth blue drinking cup on the flat surface gray wooden coaster.",
+    "Using the arm, drop the cup for holding liquids onto the light gray round grainy coaster.",
+    "Use an arm to drop the cup for holding liquids on the small coaster with grain texture.",
+    "Position the plastic cup for drinks carefully on the wooden coaster",
+    "Position the blue rounded-bottom cup above and drop it on the flat surface gray wooden coaster",
+    "Set the cup for holding liquids onto the flat round wooden coaster using the arm.",
+    "Direct the plastic cup for drinks to the coaster made of smooth wood and let it rest.",
+    "Grab the cup for holding liquids and lower it onto the round coaster with light streaks",
+    "Drop the smooth blue cup for liquids on top of the wooden coaster.",
+    "Lift the rounded base blue cup and stick it onto the smooth round palm-sized coaster.",
+    "Grab the light blue plastic cup and set it onto the coaster made of smooth wood.",
+    "Grab the medium blue cylindrical cup, then place it onto the light gray streaked wooden coaster.",
+    "Align the cup with light blue color and set it down on the round coaster",
+    "Using the arm, align the medium blue cylindrical cup over the smooth round palm-sized coaster",
+    "Make sure the cylindrical light blue cup ends up on the flat surface gray wooden coaster.",
+    "Place the medium blue cylindrical cup on top of the round coaster",
+    "Stick the smooth blue cup for liquids onto the wooden coaster carefully.",
+    "Set the cup with smooth plastic surface down on the coaster made of smooth wood",
+    "Lift the smooth blue drinking cup and place it onto the wooden coaster.",
+    "Position the light blue plastic cup on the round coaster with light streaks with the arm.",
+    "Slide the smooth blue drinking cup onto the light gray streaked wooden coaster",
+    "Use the arm to put the medium-sized plastic blue cup onto the grainy texture coaster.",
+    "Set the smooth blue cup for liquids carefully onto the small coaster with grain texture",
+    "Position the blue rounded-bottom cup squarely on top of the light gray streaked wooden coaster.",
+    "Set the cup with smooth plastic surface on the smooth round palm-sized coaster using the arm.",
+    "Grab the smooth blue drinking cup and place it over the grainy texture coaster.",
+    "Use arm to place the rounded base blue cup on the flat surface gray wooden coaster",
+    "Use an arm to drop the rounded base blue cup on the light gray streaked wooden coaster",
+    "Move the smooth blue cup for liquids onto the small coaster with grain texture with the arm",
+    "Use the arm to position the cup with light blue color onto the flat round wooden coaster.",
+    "Set the smooth blue drinking cup securely on the smooth round palm-sized coaster using the arm.",
+    "Carefully place the rounded base blue cup onto the round coaster with light streaks without arm",
+    "Slide the plastic cup for drinks onto the wooden coaster with the arm.",
+    "Stick the medium-sized plastic blue cup onto the coaster made of smooth wood using the arm.",
+    "Grab the rounded base blue cup and place it on the smooth round palm-sized coaster.",
+    "Use the arm to set the plastic cup for drinks on the light gray streaked wooden coaster",
+    "Relocate the cylindrical light blue cup precisely onto the flat round wooden coaster with arm",
+    "Lift the light blue plastic cup up and drop it on the light gray streaked wooden coaster.",
+    "Slide the medium blue cylindrical cup gently onto the wooden coaster via the arm.",
+    "Use an arm to place the blue rounded-bottom cup on the smooth round palm-sized coaster",
+    "Use the arm to slide the smooth blue drinking cup onto the light gray round grainy coaster.",
+    "Lift the blue rounded-bottom cup and place it over the coaster made of smooth wood",
+    "Move the cylindrical light blue cup to the smooth round palm-sized coaster using the arm.",
+    "Stick the smooth blue drinking cup onto the round coaster with light streaks using the arm",
+    "Move the cup with light blue color to the light gray round grainy coaster",
+    "Pick the smooth blue cup for liquids up and drop it on the coaster with circular shape.",
+    "Using the arm, slide the smooth blue cup for liquids onto the coaster made of smooth wood.",
+    "Drop the cup for holding liquids firmly on the wooden coaster using arm",
+    "Move the smooth blue cup for liquids using the arm onto the wooden coaster.",
+    "Move the medium-sized plastic blue cup to the round coaster with light streaks and set it down.",
+    "Use the arm to position the smooth blue cup for liquids on the smooth round palm-sized coaster.",
+    "Using the arm, drop the medium blue cylindrical cup onto the wooden coaster.",
+    "Use an arm to drop the plastic cup for drinks on the coaster made of smooth wood.",
+    "Position the light blue plastic cup carefully on the small coaster with grain texture",
+    "Position the medium blue cylindrical cup above and drop it on the wooden coaster",
+    "Set the smooth blue cup for liquids onto the wooden coaster using the arm.",
+    "Direct the blue rounded-bottom cup to the wooden coaster and let it rest."
+  ],
+  "unseen": [
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode23.json b/place_empty_cup/demo_clean/instructions/episode23.json
new file mode 100644
index 0000000000000000000000000000000000000000..3aa3cd7bfb974aa55169b2fb32d41739bdf598fc
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode23.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Direct the cup with smooth plastic surface to the small coaster with grain texture and let it rest.",
+    "Use the arm to put the rounded base blue cup onto the light gray streaked wooden coaster.",
+    "Lift the medium-sized plastic blue cup and place it over the round coaster",
+    "Grab the smooth blue cup for liquids and place it on the grainy texture coaster.",
+    "Use an arm to drop the smooth blue cup for liquids on the flat surface gray wooden coaster",
+    "Lift the blue rounded-bottom cup and place it onto the flat round wooden coaster.",
+    "Stick the medium-sized plastic blue cup onto the coaster made of smooth wood using the arm",
+    "Move the cup with smooth plastic surface to the grainy texture coaster and set it down.",
+    "Using the arm, drop the smooth blue drinking cup onto the wooden coaster.",
+    "Slide the medium-sized plastic blue cup onto the grainy texture coaster",
+    "Relocate the medium blue cylindrical cup precisely onto the small coaster with grain texture with arm",
+    "Use an arm to drop the medium blue cylindrical cup on the light gray round grainy coaster.",
+    "Set the smooth blue cup for liquids carefully onto the flat round wooden coaster",
+    "Move the blue rounded-bottom cup to the grainy texture coaster using the arm.",
+    "Grab the medium-sized plastic blue cup, then place it onto the coaster with circular shape.",
+    "Carefully place the smooth blue drinking cup onto the coaster made of smooth wood without arm",
+    "Drop the medium blue cylindrical cup firmly on the wooden coaster using arm",
+    "Use arm to place the smooth blue drinking cup on the round coaster",
+    "Make sure the medium-sized plastic blue cup ends up on the round coaster.",
+    "Stick the medium-sized plastic blue cup onto the coaster with circular shape using the arm.",
+    "Align the cup with smooth plastic surface and set it down on the grainy texture coaster",
+    "Set the medium-sized plastic blue cup securely on the grainy texture coaster using the arm.",
+    "Using the arm, slide the cup with smooth plastic surface onto the small coaster with grain texture.",
+    "Position the medium-sized plastic blue cup above and drop it on the light gray round grainy coaster",
+    "Position the cup with smooth plastic surface carefully on the smooth round palm-sized coaster",
+    "Move the smooth blue drinking cup to the coaster made of smooth wood",
+    "Drop the cup with smooth plastic surface on top of the coaster with circular shape.",
+    "Use the arm to slide the cup with light blue color onto the small coaster with grain texture.",
+    "Pick the light blue plastic cup up and drop it on the coaster made of smooth wood.",
+    "Slide the cup with smooth plastic surface gently onto the light gray streaked wooden coaster via the arm.",
+    "Move the plastic cup for drinks using the arm onto the smooth round palm-sized coaster.",
+    "Use the arm to set the medium-sized plastic blue cup on the smooth round palm-sized coaster",
+    "Use an arm to place the blue rounded-bottom cup on the wooden coaster",
+    "Set the plastic cup for drinks onto the wooden coaster using the arm.",
+    "Set the cup with light blue color on the round coaster with light streaks using the arm.",
+    "Lift the rounded base blue cup up and drop it on the grainy texture coaster.",
+    "Grab the plastic cup for drinks and set it onto the round coaster with light streaks.",
+    "Place the smooth blue cup for liquids on top of the flat round wooden coaster",
+    "Grab the cylindrical light blue cup and lower it onto the round coaster",
+    "Use the arm to position the blue rounded-bottom cup on the light gray streaked wooden coaster.",
+    "Use the arm to position the rounded base blue cup onto the coaster with circular shape.",
+    "Using the arm, align the rounded base blue cup over the coaster with circular shape",
+    "Slide the plastic cup for drinks onto the small coaster with grain texture with the arm.",
+    "Lift the cup for holding liquids and stick it onto the light gray streaked wooden coaster.",
+    "Position the rounded base blue cup on the round coaster with the arm.",
+    "Set the smooth blue cup for liquids down on the round coaster with light streaks",
+    "Grab the smooth blue cup for liquids and place it over the small coaster with grain texture.",
+    "Position the light blue plastic cup squarely on top of the round coaster.",
+    "Stick the rounded base blue cup onto the smooth round palm-sized coaster carefully.",
+    "Move the cup for holding liquids onto the round coaster with the arm",
+    "Direct the cup with light blue color to the coaster with circular shape and let it rest.",
+    "Use the arm to put the cup for holding liquids onto the coaster made of smooth wood.",
+    "Lift the cup for holding liquids and place it over the light gray streaked wooden coaster",
+    "Grab the smooth blue cup for liquids and place it on the small coaster with grain texture.",
+    "Use an arm to drop the medium blue cylindrical cup on the round coaster",
+    "Lift the cup with smooth plastic surface and place it onto the grainy texture coaster.",
+    "Stick the plastic cup for drinks onto the flat round wooden coaster using the arm",
+    "Move the blue rounded-bottom cup to the flat round wooden coaster and set it down.",
+    "Using the arm, drop the rounded base blue cup onto the light gray round grainy coaster.",
+    "Slide the rounded base blue cup onto the grainy texture coaster",
+    "Relocate the rounded base blue cup precisely onto the round coaster with arm",
+    "Use an arm to drop the medium blue cylindrical cup on the round coaster.",
+    "Set the smooth blue cup for liquids carefully onto the smooth round palm-sized coaster",
+    "Move the cup for holding liquids to the light gray streaked wooden coaster using the arm.",
+    "Grab the cup with smooth plastic surface, then place it onto the small coaster with grain texture.",
+    "Carefully place the cup for holding liquids onto the small coaster with grain texture without arm",
+    "Drop the blue rounded-bottom cup firmly on the wooden coaster using arm",
+    "Use arm to place the medium-sized plastic blue cup on the smooth round palm-sized coaster",
+    "Make sure the smooth blue cup for liquids ends up on the flat round wooden coaster.",
+    "Stick the plastic cup for drinks onto the flat surface gray wooden coaster using the arm.",
+    "Align the smooth blue drinking cup and set it down on the small coaster with grain texture",
+    "Set the cup for holding liquids securely on the flat surface gray wooden coaster using the arm.",
+    "Using the arm, slide the blue rounded-bottom cup onto the flat surface gray wooden coaster.",
+    "Position the rounded base blue cup above and drop it on the coaster made of smooth wood",
+    "Position the light blue plastic cup carefully on the coaster with circular shape",
+    "Move the cup with light blue color to the small coaster with grain texture",
+    "Drop the cup with smooth plastic surface on top of the coaster with circular shape.",
+    "Use the arm to slide the smooth blue drinking cup onto the round coaster.",
+    "Pick the medium blue cylindrical cup up and drop it on the flat round wooden coaster.",
+    "Slide the medium-sized plastic blue cup gently onto the wooden coaster via the arm.",
+    "Move the medium blue cylindrical cup using the arm onto the flat round wooden coaster.",
+    "Use the arm to set the cylindrical light blue cup on the round coaster with light streaks",
+    "Use an arm to place the smooth blue drinking cup on the round coaster",
+    "Set the smooth blue drinking cup onto the small coaster with grain texture using the arm.",
+    "Set the blue rounded-bottom cup on the smooth round palm-sized coaster using the arm.",
+    "Lift the plastic cup for drinks up and drop it on the coaster made of smooth wood.",
+    "Grab the blue rounded-bottom cup and set it onto the light gray streaked wooden coaster.",
+    "Place the plastic cup for drinks on top of the round coaster with light streaks",
+    "Grab the cup with light blue color and lower it onto the grainy texture coaster",
+    "Use the arm to position the cup with light blue color on the flat round wooden coaster.",
+    "Use the arm to position the rounded base blue cup onto the round coaster with light streaks.",
+    "Using the arm, align the blue rounded-bottom cup over the flat round wooden coaster",
+    "Slide the medium blue cylindrical cup onto the round coaster with the arm.",
+    "Lift the plastic cup for drinks and stick it onto the light gray streaked wooden coaster.",
+    "Position the light blue plastic cup on the wooden coaster with the arm.",
+    "Set the medium blue cylindrical cup down on the round coaster with light streaks",
+    "Grab the rounded base blue cup and place it over the flat round wooden coaster.",
+    "Position the blue rounded-bottom cup squarely on top of the flat round wooden coaster.",
+    "Stick the smooth blue drinking cup onto the flat surface gray wooden coaster carefully.",
+    "Move the smooth blue drinking cup onto the flat surface gray wooden coaster with the arm"
+  ],
+  "unseen": [
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster gently."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode24.json b/place_empty_cup/demo_clean/instructions/episode24.json
new file mode 100644
index 0000000000000000000000000000000000000000..691826d1d8af5885402c2adb8c7b19940d815742
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode24.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Relocate the cup with light blue color precisely onto the grainy texture coaster with arm",
+    "Use an arm to drop the smooth blue drinking cup on the grainy texture coaster.",
+    "Lift the cup with light blue color and stick it onto the coaster made of smooth wood.",
+    "Position the light blue plastic cup above and drop it on the round coaster with light streaks",
+    "Grab the medium-sized plastic blue cup and place it over the round coaster.",
+    "Using the arm, drop the cup with smooth plastic surface onto the coaster made of smooth wood.",
+    "Use the arm to position the smooth blue cup for liquids on the flat surface gray wooden coaster.",
+    "Stick the smooth blue cup for liquids onto the round coaster with light streaks using the arm",
+    "Align the cup for holding liquids and set it down on the coaster with circular shape",
+    "Slide the medium blue cylindrical cup onto the flat surface gray wooden coaster",
+    "Use the arm to put the blue rounded-bottom cup onto the wooden coaster.",
+    "Grab the medium-sized plastic blue cup and place it on the smooth round palm-sized coaster.",
+    "Set the light blue plastic cup down on the round coaster",
+    "Make sure the cup for holding liquids ends up on the coaster with circular shape.",
+    "Use the arm to position the light blue plastic cup onto the flat surface gray wooden coaster.",
+    "Drop the medium blue cylindrical cup firmly on the wooden coaster using arm",
+    "Slide the cup with light blue color onto the flat surface gray wooden coaster with the arm.",
+    "Using the arm, slide the smooth blue drinking cup onto the coaster with circular shape.",
+    "Use the arm to slide the cup with light blue color onto the grainy texture coaster.",
+    "Lift the rounded base blue cup and place it over the round coaster",
+    "Stick the smooth blue drinking cup onto the light gray round grainy coaster using the arm.",
+    "Place the smooth blue drinking cup on top of the round coaster",
+    "Lift the cup with smooth plastic surface up and drop it on the flat surface gray wooden coaster.",
+    "Drop the light blue plastic cup on top of the light gray streaked wooden coaster.",
+    "Move the blue rounded-bottom cup onto the flat round wooden coaster with the arm",
+    "Move the plastic cup for drinks to the flat surface gray wooden coaster using the arm.",
+    "Use an arm to place the light blue plastic cup on the round coaster",
+    "Position the medium blue cylindrical cup on the flat round wooden coaster with the arm.",
+    "Move the cup with smooth plastic surface using the arm onto the round coaster.",
+    "Slide the smooth blue drinking cup gently onto the flat surface gray wooden coaster via the arm.",
+    "Using the arm, align the medium-sized plastic blue cup over the wooden coaster",
+    "Use arm to place the light blue plastic cup on the smooth round palm-sized coaster",
+    "Carefully place the smooth blue drinking cup onto the round coaster with light streaks without arm",
+    "Grab the light blue plastic cup and lower it onto the coaster made of smooth wood",
+    "Position the medium-sized plastic blue cup carefully on the smooth round palm-sized coaster",
+    "Move the plastic cup for drinks to the smooth round palm-sized coaster",
+    "Stick the cup with light blue color onto the round coaster carefully.",
+    "Set the smooth blue cup for liquids on the light gray round grainy coaster using the arm.",
+    "Set the cup with smooth plastic surface onto the smooth round palm-sized coaster using the arm.",
+    "Grab the plastic cup for drinks and set it onto the flat surface gray wooden coaster.",
+    "Lift the plastic cup for drinks and place it onto the round coaster with light streaks.",
+    "Use an arm to drop the rounded base blue cup on the flat surface gray wooden coaster",
+    "Grab the cylindrical light blue cup, then place it onto the round coaster.",
+    "Pick the smooth blue cup for liquids up and drop it on the round coaster with light streaks.",
+    "Position the cup with light blue color squarely on top of the coaster made of smooth wood.",
+    "Direct the blue rounded-bottom cup to the grainy texture coaster and let it rest.",
+    "Set the medium blue cylindrical cup carefully onto the grainy texture coaster",
+    "Move the rounded base blue cup to the round coaster with light streaks and set it down.",
+    "Set the cylindrical light blue cup securely on the flat round wooden coaster using the arm.",
+    "Use the arm to set the smooth blue drinking cup on the flat surface gray wooden coaster",
+    "Relocate the cup for holding liquids precisely onto the small coaster with grain texture with arm",
+    "Use an arm to drop the cup for holding liquids on the round coaster.",
+    "Lift the smooth blue drinking cup and stick it onto the flat surface gray wooden coaster.",
+    "Position the cup with light blue color above and drop it on the small coaster with grain texture",
+    "Grab the medium blue cylindrical cup and place it over the coaster made of smooth wood.",
+    "Using the arm, drop the blue rounded-bottom cup onto the light gray round grainy coaster.",
+    "Use the arm to position the medium-sized plastic blue cup on the wooden coaster.",
+    "Stick the medium-sized plastic blue cup onto the light gray round grainy coaster using the arm",
+    "Align the medium-sized plastic blue cup and set it down on the wooden coaster",
+    "Slide the light blue plastic cup onto the flat surface gray wooden coaster",
+    "Use the arm to put the light blue plastic cup onto the small coaster with grain texture.",
+    "Grab the cylindrical light blue cup and place it on the grainy texture coaster.",
+    "Set the rounded base blue cup down on the light gray streaked wooden coaster",
+    "Make sure the smooth blue cup for liquids ends up on the flat surface gray wooden coaster.",
+    "Use the arm to position the blue rounded-bottom cup onto the round coaster with light streaks.",
+    "Drop the smooth blue cup for liquids firmly on the light gray round grainy coaster using arm",
+    "Slide the plastic cup for drinks onto the wooden coaster with the arm.",
+    "Using the arm, slide the cylindrical light blue cup onto the smooth round palm-sized coaster.",
+    "Use the arm to slide the cylindrical light blue cup onto the flat round wooden coaster.",
+    "Lift the cup with light blue color and place it over the small coaster with grain texture",
+    "Stick the cup with smooth plastic surface onto the light gray streaked wooden coaster using the arm.",
+    "Place the cylindrical light blue cup on top of the coaster with circular shape",
+    "Lift the cup for holding liquids up and drop it on the coaster with circular shape.",
+    "Drop the cup with light blue color on top of the coaster made of smooth wood.",
+    "Move the cup with light blue color onto the light gray round grainy coaster with the arm",
+    "Move the blue rounded-bottom cup to the small coaster with grain texture using the arm.",
+    "Use an arm to place the medium blue cylindrical cup on the light gray streaked wooden coaster",
+    "Position the light blue plastic cup on the round coaster with light streaks with the arm.",
+    "Move the rounded base blue cup using the arm onto the light gray round grainy coaster.",
+    "Slide the light blue plastic cup gently onto the wooden coaster via the arm.",
+    "Using the arm, align the cup with light blue color over the wooden coaster",
+    "Use arm to place the cup with smooth plastic surface on the light gray streaked wooden coaster",
+    "Carefully place the cup for holding liquids onto the wooden coaster without arm",
+    "Grab the smooth blue cup for liquids and lower it onto the flat round wooden coaster",
+    "Position the rounded base blue cup carefully on the coaster with circular shape",
+    "Move the smooth blue cup for liquids to the flat round wooden coaster",
+    "Stick the smooth blue cup for liquids onto the small coaster with grain texture carefully.",
+    "Set the cup with smooth plastic surface on the smooth round palm-sized coaster using the arm.",
+    "Set the cup with smooth plastic surface onto the round coaster using the arm.",
+    "Grab the smooth blue cup for liquids and set it onto the flat surface gray wooden coaster.",
+    "Lift the smooth blue cup for liquids and place it onto the wooden coaster.",
+    "Use an arm to drop the cup with smooth plastic surface on the smooth round palm-sized coaster",
+    "Grab the smooth blue drinking cup, then place it onto the light gray streaked wooden coaster.",
+    "Pick the plastic cup for drinks up and drop it on the flat surface gray wooden coaster.",
+    "Position the cup for holding liquids squarely on top of the wooden coaster.",
+    "Direct the light blue plastic cup to the small coaster with grain texture and let it rest.",
+    "Set the blue rounded-bottom cup carefully onto the coaster with circular shape",
+    "Move the medium blue cylindrical cup to the grainy texture coaster and set it down.",
+    "Set the smooth blue cup for liquids securely on the light gray round grainy coaster using the arm.",
+    "Use the arm to set the rounded base blue cup on the coaster made of smooth wood"
+  ],
+  "unseen": [
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster"
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode25.json b/place_empty_cup/demo_clean/instructions/episode25.json
new file mode 100644
index 0000000000000000000000000000000000000000..044c933457aa32be61c2754308e3542434c4e06f
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode25.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the smooth blue cup for liquids onto the smooth round palm-sized coaster with the arm",
+    "Position the blue rounded-bottom cup squarely on top of the flat round wooden coaster.",
+    "Using the arm, slide the medium-sized plastic blue cup onto the flat surface gray wooden coaster.",
+    "Grab the medium-sized plastic blue cup and lower it onto the flat surface gray wooden coaster",
+    "Slide the blue rounded-bottom cup onto the light gray streaked wooden coaster",
+    "Use an arm to drop the cylindrical light blue cup on the smooth round palm-sized coaster",
+    "Stick the cup with smooth plastic surface onto the small coaster with grain texture using the arm",
+    "Move the medium-sized plastic blue cup using the arm onto the flat surface gray wooden coaster.",
+    "Lift the cylindrical light blue cup and place it over the grainy texture coaster",
+    "Move the medium blue cylindrical cup to the round coaster using the arm.",
+    "Pick the smooth blue drinking cup up and drop it on the grainy texture coaster.",
+    "Set the cup with light blue color on the flat round wooden coaster using the arm.",
+    "Drop the cup with smooth plastic surface on top of the round coaster.",
+    "Position the smooth blue cup for liquids on the flat round wooden coaster with the arm.",
+    "Grab the medium-sized plastic blue cup, then place it onto the light gray streaked wooden coaster.",
+    "Move the cup with smooth plastic surface to the coaster with circular shape",
+    "Drop the cup with light blue color firmly on the coaster with circular shape using arm",
+    "Position the cup with light blue color above and drop it on the smooth round palm-sized coaster",
+    "Align the light blue plastic cup and set it down on the light gray round grainy coaster",
+    "Stick the smooth blue cup for liquids onto the flat round wooden coaster carefully.",
+    "Grab the smooth blue cup for liquids and set it onto the grainy texture coaster.",
+    "Make sure the plastic cup for drinks ends up on the coaster made of smooth wood.",
+    "Grab the smooth blue cup for liquids and place it over the small coaster with grain texture.",
+    "Use an arm to place the medium blue cylindrical cup on the grainy texture coaster",
+    "Using the arm, align the rounded base blue cup over the round coaster",
+    "Use the arm to set the light blue plastic cup on the round coaster",
+    "Slide the cup for holding liquids onto the light gray round grainy coaster with the arm.",
+    "Use the arm to put the medium blue cylindrical cup onto the smooth round palm-sized coaster.",
+    "Relocate the cup with light blue color precisely onto the coaster made of smooth wood with arm",
+    "Using the arm, drop the blue rounded-bottom cup onto the grainy texture coaster.",
+    "Lift the blue rounded-bottom cup and stick it onto the wooden coaster.",
+    "Grab the cup for holding liquids and place it on the coaster made of smooth wood.",
+    "Use the arm to position the cup with smooth plastic surface onto the grainy texture coaster.",
+    "Use arm to place the cup for holding liquids on the coaster with circular shape",
+    "Use the arm to position the plastic cup for drinks on the grainy texture coaster.",
+    "Stick the medium-sized plastic blue cup onto the smooth round palm-sized coaster using the arm.",
+    "Slide the plastic cup for drinks gently onto the coaster made of smooth wood via the arm.",
+    "Direct the light blue plastic cup to the wooden coaster and let it rest.",
+    "Use an arm to drop the cup with smooth plastic surface on the flat surface gray wooden coaster.",
+    "Set the plastic cup for drinks down on the light gray streaked wooden coaster",
+    "Lift the cylindrical light blue cup up and drop it on the light gray round grainy coaster.",
+    "Carefully place the cylindrical light blue cup onto the coaster with circular shape without arm",
+    "Place the cup for holding liquids on top of the flat round wooden coaster",
+    "Set the plastic cup for drinks carefully onto the coaster made of smooth wood",
+    "Position the cup with light blue color carefully on the light gray round grainy coaster",
+    "Move the light blue plastic cup to the coaster made of smooth wood and set it down.",
+    "Set the smooth blue cup for liquids securely on the wooden coaster using the arm.",
+    "Set the cup with smooth plastic surface onto the coaster with circular shape using the arm.",
+    "Lift the blue rounded-bottom cup and place it onto the coaster made of smooth wood.",
+    "Use the arm to slide the cylindrical light blue cup onto the flat surface gray wooden coaster.",
+    "Move the smooth blue drinking cup onto the small coaster with grain texture with the arm",
+    "Position the blue rounded-bottom cup squarely on top of the round coaster with light streaks.",
+    "Using the arm, slide the rounded base blue cup onto the smooth round palm-sized coaster.",
+    "Grab the light blue plastic cup and lower it onto the smooth round palm-sized coaster",
+    "Slide the plastic cup for drinks onto the grainy texture coaster",
+    "Use an arm to drop the smooth blue drinking cup on the light gray round grainy coaster",
+    "Stick the smooth blue cup for liquids onto the light gray streaked wooden coaster using the arm",
+    "Move the smooth blue cup for liquids using the arm onto the coaster made of smooth wood.",
+    "Lift the smooth blue cup for liquids and place it over the grainy texture coaster",
+    "Move the cup with smooth plastic surface to the small coaster with grain texture using the arm.",
+    "Pick the blue rounded-bottom cup up and drop it on the flat surface gray wooden coaster.",
+    "Set the blue rounded-bottom cup on the light gray streaked wooden coaster using the arm.",
+    "Drop the light blue plastic cup on top of the flat surface gray wooden coaster.",
+    "Position the cup with light blue color on the light gray streaked wooden coaster with the arm.",
+    "Grab the cup with light blue color, then place it onto the light gray round grainy coaster.",
+    "Move the cup for holding liquids to the light gray streaked wooden coaster",
+    "Drop the blue rounded-bottom cup firmly on the light gray streaked wooden coaster using arm",
+    "Position the rounded base blue cup above and drop it on the small coaster with grain texture",
+    "Align the rounded base blue cup and set it down on the flat round wooden coaster",
+    "Stick the cup with light blue color onto the smooth round palm-sized coaster carefully.",
+    "Grab the cylindrical light blue cup and set it onto the grainy texture coaster.",
+    "Make sure the medium-sized plastic blue cup ends up on the round coaster with light streaks.",
+    "Grab the blue rounded-bottom cup and place it over the flat surface gray wooden coaster.",
+    "Use an arm to place the plastic cup for drinks on the light gray round grainy coaster",
+    "Using the arm, align the cup with light blue color over the flat round wooden coaster",
+    "Use the arm to set the smooth blue cup for liquids on the round coaster with light streaks",
+    "Slide the medium blue cylindrical cup onto the wooden coaster with the arm.",
+    "Use the arm to put the light blue plastic cup onto the small coaster with grain texture.",
+    "Relocate the blue rounded-bottom cup precisely onto the light gray round grainy coaster with arm",
+    "Using the arm, drop the blue rounded-bottom cup onto the flat surface gray wooden coaster.",
+    "Lift the cylindrical light blue cup and stick it onto the coaster made of smooth wood.",
+    "Grab the blue rounded-bottom cup and place it on the flat round wooden coaster.",
+    "Use the arm to position the medium-sized plastic blue cup onto the small coaster with grain texture.",
+    "Use arm to place the cup with light blue color on the round coaster with light streaks",
+    "Use the arm to position the cup with light blue color on the coaster with circular shape.",
+    "Stick the blue rounded-bottom cup onto the flat round wooden coaster using the arm.",
+    "Slide the cup with smooth plastic surface gently onto the wooden coaster via the arm.",
+    "Direct the plastic cup for drinks to the light gray streaked wooden coaster and let it rest.",
+    "Use an arm to drop the cup with smooth plastic surface on the flat surface gray wooden coaster.",
+    "Set the cup for holding liquids down on the coaster with circular shape",
+    "Lift the light blue plastic cup up and drop it on the round coaster.",
+    "Carefully place the smooth blue drinking cup onto the smooth round palm-sized coaster without arm",
+    "Place the medium-sized plastic blue cup on top of the flat surface gray wooden coaster",
+    "Set the rounded base blue cup carefully onto the wooden coaster",
+    "Position the rounded base blue cup carefully on the smooth round palm-sized coaster",
+    "Move the smooth blue cup for liquids to the wooden coaster and set it down.",
+    "Set the rounded base blue cup securely on the smooth round palm-sized coaster using the arm.",
+    "Set the cup with light blue color onto the small coaster with grain texture using the arm.",
+    "Lift the medium blue cylindrical cup and place it onto the round coaster.",
+    "Use the arm to slide the medium blue cylindrical cup onto the grainy texture coaster."
+  ],
+  "unseen": [
+    "Place the small smooth cup onto the light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster"
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode26.json b/place_empty_cup/demo_clean/instructions/episode26.json
new file mode 100644
index 0000000000000000000000000000000000000000..93fd5aa87b39999c1ac8b651ab482a64692f8313
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode26.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position the rounded base blue cup above and drop it on the small coaster with grain texture",
+    "Stick the light blue plastic cup onto the grainy texture coaster using the arm.",
+    "Place the cup with light blue color on top of the round coaster",
+    "Slide the blue rounded-bottom cup onto the round coaster",
+    "Move the medium blue cylindrical cup to the round coaster with light streaks",
+    "Use the arm to slide the plastic cup for drinks onto the light gray round grainy coaster.",
+    "Move the rounded base blue cup to the round coaster with light streaks and set it down.",
+    "Set the rounded base blue cup down on the smooth round palm-sized coaster",
+    "Drop the cup for holding liquids on top of the flat round wooden coaster.",
+    "Use an arm to drop the medium blue cylindrical cup on the round coaster",
+    "Grab the cup with smooth plastic surface and lower it onto the grainy texture coaster",
+    "Make sure the plastic cup for drinks ends up on the light gray round grainy coaster.",
+    "Using the arm, slide the cup with light blue color onto the small coaster with grain texture.",
+    "Use the arm to position the cup with light blue color onto the small coaster with grain texture.",
+    "Use arm to place the cylindrical light blue cup on the coaster made of smooth wood",
+    "Slide the medium-sized plastic blue cup gently onto the small coaster with grain texture via the arm.",
+    "Drop the medium blue cylindrical cup firmly on the flat surface gray wooden coaster using arm",
+    "Lift the cup with smooth plastic surface and place it onto the coaster made of smooth wood.",
+    "Stick the cup for holding liquids onto the flat round wooden coaster using the arm",
+    "Move the smooth blue cup for liquids to the round coaster using the arm.",
+    "Grab the light blue plastic cup and place it over the flat round wooden coaster.",
+    "Lift the smooth blue drinking cup and place it over the smooth round palm-sized coaster",
+    "Grab the medium-sized plastic blue cup, then place it onto the grainy texture coaster.",
+    "Position the smooth blue drinking cup carefully on the small coaster with grain texture",
+    "Slide the blue rounded-bottom cup onto the round coaster with the arm.",
+    "Set the blue rounded-bottom cup onto the coaster made of smooth wood using the arm.",
+    "Use the arm to position the rounded base blue cup on the smooth round palm-sized coaster.",
+    "Using the arm, drop the blue rounded-bottom cup onto the flat round wooden coaster.",
+    "Position the rounded base blue cup on the small coaster with grain texture with the arm.",
+    "Lift the cup for holding liquids up and drop it on the flat surface gray wooden coaster.",
+    "Position the cup with smooth plastic surface squarely on top of the small coaster with grain texture.",
+    "Carefully place the light blue plastic cup onto the flat round wooden coaster without arm",
+    "Move the rounded base blue cup onto the light gray round grainy coaster with the arm",
+    "Align the smooth blue cup for liquids and set it down on the round coaster with light streaks",
+    "Direct the plastic cup for drinks to the flat surface gray wooden coaster and let it rest.",
+    "Set the smooth blue cup for liquids on the coaster with circular shape using the arm.",
+    "Use the arm to put the cup for holding liquids onto the light gray streaked wooden coaster.",
+    "Grab the blue rounded-bottom cup and set it onto the coaster made of smooth wood.",
+    "Using the arm, align the medium blue cylindrical cup over the light gray streaked wooden coaster",
+    "Set the rounded base blue cup securely on the round coaster with light streaks using the arm.",
+    "Use an arm to place the cylindrical light blue cup on the grainy texture coaster",
+    "Grab the cup with smooth plastic surface and place it on the smooth round palm-sized coaster.",
+    "Relocate the medium-sized plastic blue cup precisely onto the light gray round grainy coaster with arm",
+    "Set the rounded base blue cup carefully onto the light gray streaked wooden coaster",
+    "Move the smooth blue cup for liquids using the arm onto the flat round wooden coaster.",
+    "Use an arm to drop the cup with light blue color on the flat round wooden coaster.",
+    "Use the arm to set the cup with light blue color on the round coaster",
+    "Pick the smooth blue drinking cup up and drop it on the light gray streaked wooden coaster.",
+    "Lift the smooth blue cup for liquids and stick it onto the flat surface gray wooden coaster.",
+    "Stick the cup with smooth plastic surface onto the flat round wooden coaster carefully.",
+    "Position the plastic cup for drinks above and drop it on the flat round wooden coaster",
+    "Stick the cylindrical light blue cup onto the smooth round palm-sized coaster using the arm.",
+    "Place the light blue plastic cup on top of the wooden coaster",
+    "Slide the smooth blue drinking cup onto the light gray round grainy coaster",
+    "Move the light blue plastic cup to the round coaster",
+    "Use the arm to slide the cup for holding liquids onto the light gray streaked wooden coaster.",
+    "Move the cup with smooth plastic surface to the coaster made of smooth wood and set it down.",
+    "Set the plastic cup for drinks down on the flat round wooden coaster",
+    "Drop the blue rounded-bottom cup on top of the light gray streaked wooden coaster.",
+    "Use an arm to drop the rounded base blue cup on the light gray streaked wooden coaster",
+    "Grab the cylindrical light blue cup and lower it onto the flat round wooden coaster",
+    "Make sure the smooth blue drinking cup ends up on the smooth round palm-sized coaster.",
+    "Using the arm, slide the rounded base blue cup onto the coaster with circular shape.",
+    "Use the arm to position the cylindrical light blue cup onto the light gray streaked wooden coaster.",
+    "Use arm to place the light blue plastic cup on the round coaster",
+    "Slide the cup for holding liquids gently onto the smooth round palm-sized coaster via the arm.",
+    "Drop the rounded base blue cup firmly on the round coaster with light streaks using arm",
+    "Lift the smooth blue drinking cup and place it onto the grainy texture coaster.",
+    "Stick the cup with smooth plastic surface onto the coaster made of smooth wood using the arm",
+    "Move the cup with smooth plastic surface to the coaster with circular shape using the arm.",
+    "Grab the cup for holding liquids and place it over the light gray streaked wooden coaster.",
+    "Lift the medium blue cylindrical cup and place it over the light gray round grainy coaster",
+    "Grab the cup with smooth plastic surface, then place it onto the coaster made of smooth wood.",
+    "Position the cup with smooth plastic surface carefully on the coaster made of smooth wood",
+    "Slide the cup with light blue color onto the round coaster with light streaks with the arm.",
+    "Set the medium-sized plastic blue cup onto the grainy texture coaster using the arm.",
+    "Use the arm to position the blue rounded-bottom cup on the small coaster with grain texture.",
+    "Using the arm, drop the plastic cup for drinks onto the smooth round palm-sized coaster.",
+    "Position the cylindrical light blue cup on the flat round wooden coaster with the arm.",
+    "Lift the cup for holding liquids up and drop it on the light gray round grainy coaster.",
+    "Position the medium blue cylindrical cup squarely on top of the coaster with circular shape.",
+    "Carefully place the medium blue cylindrical cup onto the round coaster without arm",
+    "Move the cup with light blue color onto the light gray round grainy coaster with the arm",
+    "Align the cylindrical light blue cup and set it down on the light gray streaked wooden coaster",
+    "Direct the cup for holding liquids to the coaster with circular shape and let it rest.",
+    "Set the cylindrical light blue cup on the grainy texture coaster using the arm.",
+    "Use the arm to put the cylindrical light blue cup onto the round coaster.",
+    "Grab the smooth blue drinking cup and set it onto the coaster made of smooth wood.",
+    "Using the arm, align the smooth blue cup for liquids over the grainy texture coaster",
+    "Set the cylindrical light blue cup securely on the flat round wooden coaster using the arm.",
+    "Use an arm to place the medium-sized plastic blue cup on the round coaster",
+    "Grab the blue rounded-bottom cup and place it on the small coaster with grain texture.",
+    "Relocate the medium-sized plastic blue cup precisely onto the flat surface gray wooden coaster with arm",
+    "Set the cup with light blue color carefully onto the flat round wooden coaster",
+    "Move the cup with light blue color using the arm onto the light gray streaked wooden coaster.",
+    "Use an arm to drop the rounded base blue cup on the wooden coaster.",
+    "Use the arm to set the blue rounded-bottom cup on the light gray streaked wooden coaster",
+    "Pick the blue rounded-bottom cup up and drop it on the round coaster.",
+    "Lift the smooth blue drinking cup and stick it onto the flat surface gray wooden coaster.",
+    "Stick the rounded base blue cup onto the coaster with circular shape carefully."
+  ],
+  "unseen": [
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup down on the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode27.json b/place_empty_cup/demo_clean/instructions/episode27.json
new file mode 100644
index 0000000000000000000000000000000000000000..282d9099da32b3de2de404ed96a8b648628cd3a5
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode27.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Direct the smooth blue cup for liquids to the grainy texture coaster and let it rest.",
+    "Set the rounded base blue cup on the small coaster with grain texture using the arm.",
+    "Set the smooth blue cup for liquids down on the light gray round grainy coaster",
+    "Stick the medium-sized plastic blue cup onto the round coaster using the arm.",
+    "Use the arm to slide the plastic cup for drinks onto the wooden coaster.",
+    "Use an arm to drop the light blue plastic cup on the small coaster with grain texture",
+    "Use an arm to place the cup with light blue color on the wooden coaster",
+    "Drop the blue rounded-bottom cup on top of the flat surface gray wooden coaster.",
+    "Move the smooth blue drinking cup to the small coaster with grain texture using the arm.",
+    "Grab the cup for holding liquids, then place it onto the grainy texture coaster.",
+    "Using the arm, drop the cylindrical light blue cup onto the wooden coaster.",
+    "Slide the smooth blue cup for liquids onto the coaster with circular shape with the arm.",
+    "Use arm to place the cup for holding liquids on the coaster made of smooth wood",
+    "Move the smooth blue cup for liquids onto the flat surface gray wooden coaster with the arm",
+    "Grab the cup for holding liquids and place it on the coaster with circular shape.",
+    "Position the light blue plastic cup squarely on top of the round coaster.",
+    "Use the arm to position the medium blue cylindrical cup onto the round coaster.",
+    "Lift the medium blue cylindrical cup and place it over the light gray streaked wooden coaster",
+    "Use the arm to put the cup for holding liquids onto the round coaster with light streaks.",
+    "Drop the smooth blue cup for liquids firmly on the light gray streaked wooden coaster using arm",
+    "Position the cup with smooth plastic surface carefully on the coaster made of smooth wood",
+    "Slide the light blue plastic cup onto the flat surface gray wooden coaster",
+    "Stick the plastic cup for drinks onto the light gray round grainy coaster carefully.",
+    "Position the light blue plastic cup on the small coaster with grain texture with the arm.",
+    "Move the medium-sized plastic blue cup to the round coaster with light streaks and set it down.",
+    "Grab the medium-sized plastic blue cup and lower it onto the light gray round grainy coaster",
+    "Pick the light blue plastic cup up and drop it on the wooden coaster.",
+    "Grab the cup with light blue color and set it onto the coaster with circular shape.",
+    "Place the cup with light blue color on top of the coaster with circular shape",
+    "Slide the smooth blue cup for liquids gently onto the round coaster with light streaks via the arm.",
+    "Use an arm to drop the cup for holding liquids on the grainy texture coaster.",
+    "Use the arm to position the rounded base blue cup on the round coaster.",
+    "Relocate the cup for holding liquids precisely onto the coaster made of smooth wood with arm",
+    "Make sure the cylindrical light blue cup ends up on the coaster made of smooth wood.",
+    "Lift the cup with light blue color up and drop it on the wooden coaster.",
+    "Stick the rounded base blue cup onto the grainy texture coaster using the arm",
+    "Set the cup with light blue color securely on the grainy texture coaster using the arm.",
+    "Move the light blue plastic cup to the round coaster",
+    "Grab the rounded base blue cup and place it over the light gray round grainy coaster.",
+    "Set the blue rounded-bottom cup carefully onto the grainy texture coaster",
+    "Set the medium blue cylindrical cup onto the small coaster with grain texture using the arm.",
+    "Position the rounded base blue cup above and drop it on the flat round wooden coaster",
+    "Use the arm to set the light blue plastic cup on the coaster with circular shape",
+    "Using the arm, slide the cup for holding liquids onto the flat surface gray wooden coaster.",
+    "Lift the rounded base blue cup and stick it onto the round coaster.",
+    "Using the arm, align the medium blue cylindrical cup over the round coaster",
+    "Carefully place the cup with light blue color onto the flat round wooden coaster without arm",
+    "Align the smooth blue cup for liquids and set it down on the round coaster with light streaks",
+    "Lift the cup for holding liquids and place it onto the small coaster with grain texture.",
+    "Move the cup for holding liquids using the arm onto the small coaster with grain texture.",
+    "Direct the medium-sized plastic blue cup to the flat round wooden coaster and let it rest.",
+    "Set the light blue plastic cup on the grainy texture coaster using the arm.",
+    "Set the cup with light blue color down on the light gray streaked wooden coaster",
+    "Stick the smooth blue drinking cup onto the grainy texture coaster using the arm.",
+    "Use the arm to slide the light blue plastic cup onto the coaster made of smooth wood.",
+    "Use an arm to drop the plastic cup for drinks on the grainy texture coaster",
+    "Use an arm to place the light blue plastic cup on the round coaster with light streaks",
+    "Drop the rounded base blue cup on top of the grainy texture coaster.",
+    "Move the cup for holding liquids to the light gray streaked wooden coaster using the arm.",
+    "Grab the cup with smooth plastic surface, then place it onto the round coaster with light streaks.",
+    "Using the arm, drop the light blue plastic cup onto the round coaster.",
+    "Slide the cup with light blue color onto the wooden coaster with the arm.",
+    "Use arm to place the light blue plastic cup on the round coaster with light streaks",
+    "Move the cup with light blue color onto the smooth round palm-sized coaster with the arm",
+    "Grab the medium blue cylindrical cup and place it on the round coaster.",
+    "Position the cup for holding liquids squarely on top of the coaster made of smooth wood.",
+    "Use the arm to position the cup for holding liquids onto the round coaster.",
+    "Lift the light blue plastic cup and place it over the wooden coaster",
+    "Use the arm to put the plastic cup for drinks onto the grainy texture coaster.",
+    "Drop the medium-sized plastic blue cup firmly on the light gray streaked wooden coaster using arm",
+    "Position the smooth blue cup for liquids carefully on the grainy texture coaster",
+    "Slide the light blue plastic cup onto the light gray round grainy coaster",
+    "Stick the medium blue cylindrical cup onto the light gray streaked wooden coaster carefully.",
+    "Position the light blue plastic cup on the small coaster with grain texture with the arm.",
+    "Move the cylindrical light blue cup to the round coaster with light streaks and set it down.",
+    "Grab the cup with light blue color and lower it onto the light gray streaked wooden coaster",
+    "Pick the cylindrical light blue cup up and drop it on the round coaster.",
+    "Grab the plastic cup for drinks and set it onto the light gray round grainy coaster.",
+    "Place the cylindrical light blue cup on top of the flat round wooden coaster",
+    "Slide the blue rounded-bottom cup gently onto the round coaster via the arm.",
+    "Use an arm to drop the medium-sized plastic blue cup on the coaster made of smooth wood.",
+    "Use the arm to position the smooth blue cup for liquids on the small coaster with grain texture.",
+    "Relocate the smooth blue drinking cup precisely onto the light gray streaked wooden coaster with arm",
+    "Make sure the cup for holding liquids ends up on the coaster made of smooth wood.",
+    "Lift the medium blue cylindrical cup up and drop it on the light gray round grainy coaster.",
+    "Stick the cylindrical light blue cup onto the light gray streaked wooden coaster using the arm",
+    "Set the cylindrical light blue cup securely on the smooth round palm-sized coaster using the arm.",
+    "Move the medium blue cylindrical cup to the grainy texture coaster",
+    "Grab the smooth blue drinking cup and place it over the smooth round palm-sized coaster.",
+    "Set the cup for holding liquids carefully onto the light gray streaked wooden coaster",
+    "Set the rounded base blue cup onto the small coaster with grain texture using the arm.",
+    "Position the cup with light blue color above and drop it on the light gray streaked wooden coaster",
+    "Use the arm to set the smooth blue cup for liquids on the smooth round palm-sized coaster",
+    "Using the arm, slide the light blue plastic cup onto the light gray streaked wooden coaster.",
+    "Lift the medium-sized plastic blue cup and stick it onto the round coaster.",
+    "Using the arm, align the plastic cup for drinks over the grainy texture coaster",
+    "Carefully place the smooth blue cup for liquids onto the smooth round palm-sized coaster without arm",
+    "Align the cylindrical light blue cup and set it down on the flat round wooden coaster",
+    "Lift the cylindrical light blue cup and place it onto the round coaster with light streaks.",
+    "Move the medium-sized plastic blue cup using the arm onto the round coaster."
+  ],
+  "unseen": [
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster"
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode28.json b/place_empty_cup/demo_clean/instructions/episode28.json
new file mode 100644
index 0000000000000000000000000000000000000000..41dac13e1d46e3d5f855fe0eb011109f87e9b0aa
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode28.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Stick the cylindrical light blue cup onto the light gray round grainy coaster using the arm.",
+    "Stick the cylindrical light blue cup onto the coaster made of smooth wood carefully.",
+    "Using the arm, align the smooth blue cup for liquids over the small coaster with grain texture",
+    "Position the cup for holding liquids on the smooth round palm-sized coaster with the arm.",
+    "Use the arm to slide the medium-sized plastic blue cup onto the round coaster.",
+    "Lift the blue rounded-bottom cup and place it over the smooth round palm-sized coaster",
+    "Make sure the medium blue cylindrical cup ends up on the small coaster with grain texture.",
+    "Stick the cup with light blue color onto the light gray streaked wooden coaster using the arm",
+    "Using the arm, drop the cup with smooth plastic surface onto the smooth round palm-sized coaster.",
+    "Lift the smooth blue cup for liquids up and drop it on the light gray round grainy coaster.",
+    "Drop the medium-sized plastic blue cup on top of the wooden coaster.",
+    "Position the smooth blue cup for liquids squarely on top of the grainy texture coaster.",
+    "Move the cylindrical light blue cup to the smooth round palm-sized coaster and set it down.",
+    "Grab the cup for holding liquids, then place it onto the light gray streaked wooden coaster.",
+    "Move the cylindrical light blue cup using the arm onto the light gray round grainy coaster.",
+    "Lift the cylindrical light blue cup and stick it onto the round coaster.",
+    "Use the arm to set the smooth blue drinking cup on the smooth round palm-sized coaster",
+    "Slide the blue rounded-bottom cup onto the round coaster",
+    "Set the cup for holding liquids securely on the small coaster with grain texture using the arm.",
+    "Lift the rounded base blue cup and place it onto the round coaster with light streaks.",
+    "Use the arm to put the plastic cup for drinks onto the light gray round grainy coaster.",
+    "Use an arm to drop the blue rounded-bottom cup on the coaster made of smooth wood.",
+    "Carefully place the light blue plastic cup onto the flat surface gray wooden coaster without arm",
+    "Set the cup with smooth plastic surface down on the light gray round grainy coaster",
+    "Use arm to place the cup for holding liquids on the light gray streaked wooden coaster",
+    "Slide the cylindrical light blue cup onto the round coaster with light streaks with the arm.",
+    "Place the medium blue cylindrical cup on top of the round coaster with light streaks",
+    "Use the arm to position the smooth blue drinking cup onto the smooth round palm-sized coaster.",
+    "Relocate the smooth blue drinking cup precisely onto the small coaster with grain texture with arm",
+    "Set the cylindrical light blue cup on the flat round wooden coaster using the arm.",
+    "Grab the plastic cup for drinks and lower it onto the light gray streaked wooden coaster",
+    "Set the medium blue cylindrical cup onto the small coaster with grain texture using the arm.",
+    "Use the arm to position the medium-sized plastic blue cup on the light gray streaked wooden coaster.",
+    "Position the light blue plastic cup carefully on the smooth round palm-sized coaster",
+    "Pick the cup for holding liquids up and drop it on the coaster made of smooth wood.",
+    "Use an arm to place the cup with smooth plastic surface on the round coaster",
+    "Set the smooth blue cup for liquids carefully onto the smooth round palm-sized coaster",
+    "Slide the rounded base blue cup gently onto the smooth round palm-sized coaster via the arm.",
+    "Move the medium-sized plastic blue cup to the small coaster with grain texture",
+    "Drop the blue rounded-bottom cup firmly on the light gray round grainy coaster using arm",
+    "Use an arm to drop the blue rounded-bottom cup on the light gray round grainy coaster",
+    "Grab the blue rounded-bottom cup and place it over the round coaster with light streaks.",
+    "Align the cup for holding liquids and set it down on the wooden coaster",
+    "Position the smooth blue drinking cup above and drop it on the flat round wooden coaster",
+    "Direct the rounded base blue cup to the grainy texture coaster and let it rest.",
+    "Grab the cup for holding liquids and place it on the flat surface gray wooden coaster.",
+    "Grab the cup with light blue color and set it onto the smooth round palm-sized coaster.",
+    "Move the cup for holding liquids onto the smooth round palm-sized coaster with the arm",
+    "Move the cylindrical light blue cup to the grainy texture coaster using the arm.",
+    "Using the arm, slide the cup with smooth plastic surface onto the coaster with circular shape.",
+    "Stick the cup with light blue color onto the round coaster using the arm.",
+    "Stick the smooth blue drinking cup onto the coaster made of smooth wood carefully.",
+    "Using the arm, align the cup for holding liquids over the round coaster with light streaks",
+    "Position the cup with smooth plastic surface on the wooden coaster with the arm.",
+    "Use the arm to slide the light blue plastic cup onto the grainy texture coaster.",
+    "Lift the cup with light blue color and place it over the grainy texture coaster",
+    "Make sure the cup with light blue color ends up on the small coaster with grain texture.",
+    "Stick the smooth blue drinking cup onto the wooden coaster using the arm",
+    "Using the arm, drop the blue rounded-bottom cup onto the light gray round grainy coaster.",
+    "Lift the medium blue cylindrical cup up and drop it on the light gray streaked wooden coaster.",
+    "Drop the medium blue cylindrical cup on top of the round coaster with light streaks.",
+    "Position the plastic cup for drinks squarely on top of the flat round wooden coaster.",
+    "Move the smooth blue cup for liquids to the wooden coaster and set it down.",
+    "Grab the smooth blue drinking cup, then place it onto the coaster with circular shape.",
+    "Move the medium blue cylindrical cup using the arm onto the round coaster with light streaks.",
+    "Lift the cup with smooth plastic surface and stick it onto the coaster made of smooth wood.",
+    "Use the arm to set the rounded base blue cup on the coaster with circular shape",
+    "Slide the rounded base blue cup onto the wooden coaster",
+    "Set the medium-sized plastic blue cup securely on the flat round wooden coaster using the arm.",
+    "Lift the light blue plastic cup and place it onto the wooden coaster.",
+    "Use the arm to put the cylindrical light blue cup onto the wooden coaster.",
+    "Use an arm to drop the cup with light blue color on the round coaster with light streaks.",
+    "Carefully place the rounded base blue cup onto the light gray round grainy coaster without arm",
+    "Set the rounded base blue cup down on the coaster with circular shape",
+    "Use arm to place the smooth blue cup for liquids on the round coaster",
+    "Slide the smooth blue drinking cup onto the round coaster with light streaks with the arm.",
+    "Place the cup for holding liquids on top of the flat round wooden coaster",
+    "Use the arm to position the cup with smooth plastic surface onto the small coaster with grain texture.",
+    "Relocate the light blue plastic cup precisely onto the round coaster with light streaks with arm",
+    "Set the cylindrical light blue cup on the wooden coaster using the arm.",
+    "Grab the smooth blue cup for liquids and lower it onto the flat round wooden coaster",
+    "Set the medium-sized plastic blue cup onto the small coaster with grain texture using the arm.",
+    "Use the arm to position the cup with light blue color on the round coaster with light streaks.",
+    "Position the rounded base blue cup carefully on the flat round wooden coaster",
+    "Pick the cup with smooth plastic surface up and drop it on the coaster with circular shape.",
+    "Use an arm to place the cup with light blue color on the smooth round palm-sized coaster",
+    "Set the rounded base blue cup carefully onto the flat surface gray wooden coaster",
+    "Slide the rounded base blue cup gently onto the coaster with circular shape via the arm.",
+    "Move the rounded base blue cup to the round coaster",
+    "Drop the light blue plastic cup firmly on the light gray round grainy coaster using arm",
+    "Use an arm to drop the blue rounded-bottom cup on the wooden coaster",
+    "Grab the medium-sized plastic blue cup and place it over the grainy texture coaster.",
+    "Align the blue rounded-bottom cup and set it down on the round coaster",
+    "Position the cup with light blue color above and drop it on the round coaster",
+    "Direct the plastic cup for drinks to the coaster made of smooth wood and let it rest.",
+    "Grab the blue rounded-bottom cup and place it on the round coaster with light streaks.",
+    "Grab the cup with smooth plastic surface and set it onto the smooth round palm-sized coaster.",
+    "Move the smooth blue cup for liquids onto the round coaster with the arm",
+    "Move the cup for holding liquids to the coaster made of smooth wood using the arm.",
+    "Using the arm, slide the light blue plastic cup onto the wooden coaster."
+  ],
+  "unseen": [
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode29.json b/place_empty_cup/demo_clean/instructions/episode29.json
new file mode 100644
index 0000000000000000000000000000000000000000..13f3d5c5201d95f46dbda8d623a20926cc6ad15b
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode29.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use an arm to place the smooth blue drinking cup on the light gray streaked wooden coaster",
+    "Use the arm to position the smooth blue cup for liquids on the flat surface gray wooden coaster.",
+    "Lift the blue rounded-bottom cup and place it onto the coaster made of smooth wood.",
+    "Set the cup with smooth plastic surface carefully onto the coaster with circular shape",
+    "Using the arm, drop the blue rounded-bottom cup onto the light gray round grainy coaster.",
+    "Drop the cup with light blue color on top of the grainy texture coaster.",
+    "Position the light blue plastic cup on the round coaster with light streaks with the arm.",
+    "Slide the rounded base blue cup onto the grainy texture coaster",
+    "Slide the blue rounded-bottom cup onto the smooth round palm-sized coaster with the arm.",
+    "Grab the medium-sized plastic blue cup and place it over the light gray streaked wooden coaster.",
+    "Grab the light blue plastic cup and place it on the grainy texture coaster.",
+    "Move the cup with smooth plastic surface to the flat round wooden coaster using the arm.",
+    "Use an arm to drop the medium-sized plastic blue cup on the light gray streaked wooden coaster.",
+    "Set the cup with smooth plastic surface on the round coaster with light streaks using the arm.",
+    "Lift the cup for holding liquids up and drop it on the light gray streaked wooden coaster.",
+    "Position the plastic cup for drinks above and drop it on the light gray streaked wooden coaster",
+    "Slide the cup with smooth plastic surface gently onto the coaster with circular shape via the arm.",
+    "Set the plastic cup for drinks onto the coaster with circular shape using the arm.",
+    "Direct the medium blue cylindrical cup to the coaster with circular shape and let it rest.",
+    "Lift the cup for holding liquids and stick it onto the small coaster with grain texture.",
+    "Move the cup for holding liquids to the flat surface gray wooden coaster and set it down.",
+    "Position the smooth blue drinking cup squarely on top of the small coaster with grain texture.",
+    "Use the arm to put the cylindrical light blue cup onto the coaster made of smooth wood.",
+    "Use an arm to drop the cup for holding liquids on the light gray streaked wooden coaster",
+    "Place the cylindrical light blue cup on top of the small coaster with grain texture",
+    "Relocate the medium blue cylindrical cup precisely onto the flat round wooden coaster with arm",
+    "Align the cup with light blue color and set it down on the light gray round grainy coaster",
+    "Using the arm, slide the cup with light blue color onto the small coaster with grain texture.",
+    "Set the smooth blue cup for liquids securely on the small coaster with grain texture using the arm.",
+    "Pick the blue rounded-bottom cup up and drop it on the coaster with circular shape.",
+    "Use arm to place the cup with light blue color on the small coaster with grain texture",
+    "Move the medium-sized plastic blue cup using the arm onto the smooth round palm-sized coaster.",
+    "Use the arm to set the cup for holding liquids on the light gray round grainy coaster",
+    "Grab the cup with light blue color, then place it onto the smooth round palm-sized coaster.",
+    "Using the arm, align the blue rounded-bottom cup over the flat round wooden coaster",
+    "Stick the medium-sized plastic blue cup onto the round coaster carefully.",
+    "Make sure the smooth blue drinking cup ends up on the coaster made of smooth wood.",
+    "Grab the blue rounded-bottom cup and lower it onto the light gray streaked wooden coaster",
+    "Set the blue rounded-bottom cup down on the light gray round grainy coaster",
+    "Use the arm to slide the plastic cup for drinks onto the light gray streaked wooden coaster.",
+    "Carefully place the medium-sized plastic blue cup onto the light gray round grainy coaster without arm",
+    "Lift the rounded base blue cup and place it over the round coaster with light streaks",
+    "Grab the cup with light blue color and set it onto the coaster made of smooth wood.",
+    "Use the arm to position the medium-sized plastic blue cup onto the coaster with circular shape.",
+    "Move the cup with smooth plastic surface to the small coaster with grain texture",
+    "Stick the blue rounded-bottom cup onto the light gray round grainy coaster using the arm",
+    "Drop the smooth blue cup for liquids firmly on the smooth round palm-sized coaster using arm",
+    "Move the cup with light blue color onto the round coaster with light streaks with the arm",
+    "Position the blue rounded-bottom cup carefully on the coaster made of smooth wood",
+    "Stick the smooth blue cup for liquids onto the flat surface gray wooden coaster using the arm.",
+    "Use an arm to place the medium-sized plastic blue cup on the coaster with circular shape",
+    "Use the arm to position the cup for holding liquids on the flat surface gray wooden coaster.",
+    "Lift the blue rounded-bottom cup and place it onto the flat surface gray wooden coaster.",
+    "Set the rounded base blue cup carefully onto the smooth round palm-sized coaster",
+    "Using the arm, drop the cup with light blue color onto the grainy texture coaster.",
+    "Drop the blue rounded-bottom cup on top of the light gray streaked wooden coaster.",
+    "Position the medium-sized plastic blue cup on the coaster made of smooth wood with the arm.",
+    "Slide the smooth blue cup for liquids onto the light gray streaked wooden coaster",
+    "Slide the smooth blue cup for liquids onto the flat round wooden coaster with the arm.",
+    "Grab the cup for holding liquids and place it over the wooden coaster.",
+    "Grab the medium blue cylindrical cup and place it on the flat round wooden coaster.",
+    "Move the smooth blue cup for liquids to the smooth round palm-sized coaster using the arm.",
+    "Use an arm to drop the medium blue cylindrical cup on the light gray round grainy coaster.",
+    "Set the medium-sized plastic blue cup on the small coaster with grain texture using the arm.",
+    "Lift the rounded base blue cup up and drop it on the light gray streaked wooden coaster.",
+    "Position the blue rounded-bottom cup above and drop it on the flat round wooden coaster",
+    "Slide the rounded base blue cup gently onto the light gray streaked wooden coaster via the arm.",
+    "Set the light blue plastic cup onto the round coaster using the arm.",
+    "Direct the cup with light blue color to the wooden coaster and let it rest.",
+    "Lift the medium blue cylindrical cup and stick it onto the light gray streaked wooden coaster.",
+    "Move the cylindrical light blue cup to the small coaster with grain texture and set it down.",
+    "Position the medium blue cylindrical cup squarely on top of the small coaster with grain texture.",
+    "Use the arm to put the cup with smooth plastic surface onto the grainy texture coaster.",
+    "Use an arm to drop the medium-sized plastic blue cup on the small coaster with grain texture",
+    "Place the rounded base blue cup on top of the light gray streaked wooden coaster",
+    "Relocate the medium-sized plastic blue cup precisely onto the smooth round palm-sized coaster with arm",
+    "Align the rounded base blue cup and set it down on the coaster made of smooth wood",
+    "Using the arm, slide the rounded base blue cup onto the round coaster with light streaks.",
+    "Set the smooth blue cup for liquids securely on the round coaster with light streaks using the arm.",
+    "Pick the smooth blue drinking cup up and drop it on the light gray streaked wooden coaster.",
+    "Use arm to place the cylindrical light blue cup on the light gray round grainy coaster",
+    "Move the smooth blue cup for liquids using the arm onto the smooth round palm-sized coaster.",
+    "Use the arm to set the cylindrical light blue cup on the coaster made of smooth wood",
+    "Grab the plastic cup for drinks, then place it onto the small coaster with grain texture.",
+    "Using the arm, align the rounded base blue cup over the light gray round grainy coaster",
+    "Stick the smooth blue drinking cup onto the smooth round palm-sized coaster carefully.",
+    "Make sure the blue rounded-bottom cup ends up on the coaster made of smooth wood.",
+    "Grab the plastic cup for drinks and lower it onto the coaster made of smooth wood",
+    "Set the smooth blue cup for liquids down on the small coaster with grain texture",
+    "Use the arm to slide the smooth blue cup for liquids onto the coaster with circular shape.",
+    "Carefully place the smooth blue drinking cup onto the flat round wooden coaster without arm",
+    "Lift the plastic cup for drinks and place it over the wooden coaster",
+    "Grab the blue rounded-bottom cup and set it onto the round coaster with light streaks.",
+    "Use the arm to position the smooth blue drinking cup onto the light gray round grainy coaster.",
+    "Move the light blue plastic cup to the wooden coaster",
+    "Stick the smooth blue cup for liquids onto the round coaster with light streaks using the arm",
+    "Drop the blue rounded-bottom cup firmly on the light gray round grainy coaster using arm",
+    "Move the plastic cup for drinks onto the light gray streaked wooden coaster with the arm",
+    "Position the blue rounded-bottom cup carefully on the coaster made of smooth wood",
+    "Stick the blue rounded-bottom cup onto the coaster with circular shape using the arm."
+  ],
+  "unseen": [
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode3.json b/place_empty_cup/demo_clean/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b5f087e0acf2cb7452e2d5e2745d3d2bc4199cd
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode3.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Stick the smooth blue cup for liquids onto the light gray round grainy coaster carefully.",
+    "Slide the medium-sized plastic blue cup onto the grainy texture coaster",
+    "Align the cup for holding liquids and set it down on the flat surface gray wooden coaster",
+    "Lift the plastic cup for drinks and place it onto the wooden coaster.",
+    "Use an arm to drop the smooth blue cup for liquids on the round coaster.",
+    "Use the arm to put the cup with smooth plastic surface onto the smooth round palm-sized coaster.",
+    "Lift the light blue plastic cup and stick it onto the coaster with circular shape.",
+    "Lift the smooth blue cup for liquids up and drop it on the coaster made of smooth wood.",
+    "Stick the blue rounded-bottom cup onto the small coaster with grain texture using the arm.",
+    "Use an arm to place the medium blue cylindrical cup on the wooden coaster",
+    "Position the smooth blue cup for liquids above and drop it on the flat round wooden coaster",
+    "Direct the cup with smooth plastic surface to the small coaster with grain texture and let it rest.",
+    "Use the arm to set the rounded base blue cup on the light gray round grainy coaster",
+    "Set the smooth blue drinking cup onto the round coaster with light streaks using the arm.",
+    "Use arm to place the medium-sized plastic blue cup on the flat round wooden coaster",
+    "Position the smooth blue drinking cup squarely on top of the smooth round palm-sized coaster.",
+    "Move the cup for holding liquids to the smooth round palm-sized coaster",
+    "Use an arm to drop the light blue plastic cup on the light gray streaked wooden coaster",
+    "Make sure the plastic cup for drinks ends up on the flat surface gray wooden coaster.",
+    "Grab the medium-sized plastic blue cup and place it on the coaster with circular shape.",
+    "Set the medium blue cylindrical cup on the small coaster with grain texture using the arm.",
+    "Slide the cylindrical light blue cup onto the flat surface gray wooden coaster with the arm.",
+    "Using the arm, align the light blue plastic cup over the flat surface gray wooden coaster",
+    "Drop the rounded base blue cup on top of the small coaster with grain texture.",
+    "Pick the cup for holding liquids up and drop it on the light gray streaked wooden coaster.",
+    "Position the cylindrical light blue cup carefully on the grainy texture coaster",
+    "Move the rounded base blue cup using the arm onto the wooden coaster.",
+    "Place the smooth blue drinking cup on top of the small coaster with grain texture",
+    "Use the arm to position the smooth blue drinking cup onto the small coaster with grain texture.",
+    "Set the cup for holding liquids securely on the coaster with circular shape using the arm.",
+    "Using the arm, slide the blue rounded-bottom cup onto the round coaster.",
+    "Stick the cup for holding liquids onto the flat round wooden coaster using the arm",
+    "Grab the medium blue cylindrical cup and lower it onto the light gray streaked wooden coaster",
+    "Use the arm to slide the rounded base blue cup onto the grainy texture coaster.",
+    "Slide the medium-sized plastic blue cup gently onto the flat surface gray wooden coaster via the arm.",
+    "Use the arm to position the cup with smooth plastic surface on the grainy texture coaster.",
+    "Position the plastic cup for drinks on the round coaster with light streaks with the arm.",
+    "Set the medium-sized plastic blue cup carefully onto the flat round wooden coaster",
+    "Grab the medium-sized plastic blue cup and set it onto the flat round wooden coaster.",
+    "Relocate the plastic cup for drinks precisely onto the wooden coaster with arm",
+    "Move the medium blue cylindrical cup to the coaster with circular shape using the arm.",
+    "Grab the cylindrical light blue cup and place it over the flat surface gray wooden coaster.",
+    "Move the cup with light blue color to the flat surface gray wooden coaster and set it down.",
+    "Lift the cup with smooth plastic surface and place it over the round coaster with light streaks",
+    "Move the medium blue cylindrical cup onto the wooden coaster with the arm",
+    "Using the arm, drop the blue rounded-bottom cup onto the light gray streaked wooden coaster.",
+    "Set the smooth blue cup for liquids down on the round coaster",
+    "Carefully place the smooth blue drinking cup onto the round coaster with light streaks without arm",
+    "Grab the rounded base blue cup, then place it onto the wooden coaster.",
+    "Drop the medium-sized plastic blue cup firmly on the light gray streaked wooden coaster using arm",
+    "Stick the medium blue cylindrical cup onto the wooden coaster carefully.",
+    "Slide the medium blue cylindrical cup onto the smooth round palm-sized coaster",
+    "Align the cup for holding liquids and set it down on the coaster with circular shape",
+    "Lift the rounded base blue cup and place it onto the coaster made of smooth wood.",
+    "Use an arm to drop the medium blue cylindrical cup on the flat surface gray wooden coaster.",
+    "Use the arm to put the cup with light blue color onto the smooth round palm-sized coaster.",
+    "Lift the plastic cup for drinks and stick it onto the coaster made of smooth wood.",
+    "Lift the cup with light blue color up and drop it on the smooth round palm-sized coaster.",
+    "Stick the smooth blue drinking cup onto the light gray streaked wooden coaster using the arm.",
+    "Use an arm to place the smooth blue drinking cup on the flat round wooden coaster",
+    "Position the smooth blue cup for liquids above and drop it on the coaster with circular shape",
+    "Direct the cup with light blue color to the round coaster and let it rest.",
+    "Use the arm to set the smooth blue drinking cup on the flat round wooden coaster",
+    "Set the cup with light blue color onto the coaster made of smooth wood using the arm.",
+    "Use arm to place the medium-sized plastic blue cup on the round coaster with light streaks",
+    "Position the cup with light blue color squarely on top of the smooth round palm-sized coaster.",
+    "Move the cylindrical light blue cup to the coaster with circular shape",
+    "Use an arm to drop the blue rounded-bottom cup on the flat surface gray wooden coaster",
+    "Make sure the smooth blue drinking cup ends up on the round coaster.",
+    "Grab the medium blue cylindrical cup and place it on the round coaster with light streaks.",
+    "Set the cup for holding liquids on the light gray streaked wooden coaster using the arm.",
+    "Slide the rounded base blue cup onto the flat round wooden coaster with the arm.",
+    "Using the arm, align the cup with smooth plastic surface over the round coaster with light streaks",
+    "Drop the light blue plastic cup on top of the smooth round palm-sized coaster.",
+    "Pick the plastic cup for drinks up and drop it on the small coaster with grain texture.",
+    "Position the plastic cup for drinks carefully on the small coaster with grain texture",
+    "Move the rounded base blue cup using the arm onto the flat round wooden coaster.",
+    "Place the smooth blue cup for liquids on top of the coaster with circular shape",
+    "Use the arm to position the medium-sized plastic blue cup onto the light gray round grainy coaster.",
+    "Set the medium blue cylindrical cup securely on the smooth round palm-sized coaster using the arm.",
+    "Using the arm, slide the smooth blue drinking cup onto the small coaster with grain texture.",
+    "Stick the cup with smooth plastic surface onto the flat surface gray wooden coaster using the arm",
+    "Grab the cup for holding liquids and lower it onto the small coaster with grain texture",
+    "Use the arm to slide the cup with smooth plastic surface onto the round coaster.",
+    "Slide the blue rounded-bottom cup gently onto the grainy texture coaster via the arm.",
+    "Use the arm to position the smooth blue cup for liquids on the round coaster with light streaks.",
+    "Position the cup with smooth plastic surface on the round coaster with light streaks with the arm.",
+    "Set the rounded base blue cup carefully onto the coaster made of smooth wood",
+    "Grab the medium-sized plastic blue cup and set it onto the wooden coaster.",
+    "Relocate the plastic cup for drinks precisely onto the light gray streaked wooden coaster with arm",
+    "Move the blue rounded-bottom cup to the light gray streaked wooden coaster using the arm.",
+    "Grab the medium-sized plastic blue cup and place it over the coaster with circular shape.",
+    "Move the cup for holding liquids to the grainy texture coaster and set it down.",
+    "Lift the medium-sized plastic blue cup and place it over the smooth round palm-sized coaster",
+    "Move the light blue plastic cup onto the light gray round grainy coaster with the arm",
+    "Using the arm, drop the rounded base blue cup onto the coaster with circular shape.",
+    "Set the cylindrical light blue cup down on the coaster made of smooth wood",
+    "Carefully place the smooth blue drinking cup onto the round coaster with light streaks without arm",
+    "Grab the blue rounded-bottom cup, then place it onto the coaster with circular shape.",
+    "Drop the cylindrical light blue cup firmly on the coaster with circular shape using arm"
+  ],
+  "unseen": [
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode30.json b/place_empty_cup/demo_clean/instructions/episode30.json
new file mode 100644
index 0000000000000000000000000000000000000000..af2ecf7dbe337d14d94701eaa2620dd4792ce52e
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode30.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the plastic cup for drinks up and drop it on the light gray streaked wooden coaster.",
+    "Align the medium-sized plastic blue cup and set it down on the flat round wooden coaster",
+    "Slide the cup with smooth plastic surface onto the grainy texture coaster with the arm.",
+    "Position the medium-sized plastic blue cup on the flat surface gray wooden coaster with the arm.",
+    "Position the rounded base blue cup carefully on the light gray round grainy coaster",
+    "Drop the cup for holding liquids firmly on the light gray streaked wooden coaster using arm",
+    "Direct the rounded base blue cup to the coaster with circular shape and let it rest.",
+    "Use an arm to drop the blue rounded-bottom cup on the coaster with circular shape.",
+    "Drop the medium blue cylindrical cup on top of the round coaster with light streaks.",
+    "Grab the medium-sized plastic blue cup and place it over the flat surface gray wooden coaster.",
+    "Grab the smooth blue cup for liquids, then place it onto the round coaster.",
+    "Use arm to place the blue rounded-bottom cup on the flat round wooden coaster",
+    "Set the smooth blue drinking cup carefully onto the round coaster",
+    "Use the arm to set the cup for holding liquids on the smooth round palm-sized coaster",
+    "Move the cylindrical light blue cup using the arm onto the round coaster with light streaks.",
+    "Using the arm, drop the smooth blue cup for liquids onto the coaster with circular shape.",
+    "Set the smooth blue cup for liquids on the flat round wooden coaster using the arm.",
+    "Carefully place the rounded base blue cup onto the wooden coaster without arm",
+    "Set the cup with smooth plastic surface onto the light gray streaked wooden coaster using the arm.",
+    "Use an arm to place the cylindrical light blue cup on the light gray streaked wooden coaster",
+    "Slide the blue rounded-bottom cup gently onto the small coaster with grain texture via the arm.",
+    "Grab the rounded base blue cup and set it onto the flat round wooden coaster.",
+    "Set the plastic cup for drinks securely on the coaster with circular shape using the arm.",
+    "Using the arm, align the cup with smooth plastic surface over the flat surface gray wooden coaster",
+    "Use the arm to slide the cup with light blue color onto the grainy texture coaster.",
+    "Position the plastic cup for drinks above and drop it on the light gray streaked wooden coaster",
+    "Position the light blue plastic cup squarely on top of the wooden coaster.",
+    "Move the blue rounded-bottom cup to the flat round wooden coaster using the arm.",
+    "Move the rounded base blue cup to the smooth round palm-sized coaster and set it down.",
+    "Place the cylindrical light blue cup on top of the smooth round palm-sized coaster",
+    "Move the rounded base blue cup onto the flat surface gray wooden coaster with the arm",
+    "Move the light blue plastic cup to the round coaster with light streaks",
+    "Stick the light blue plastic cup onto the flat surface gray wooden coaster carefully.",
+    "Make sure the cup for holding liquids ends up on the coaster with circular shape.",
+    "Lift the blue rounded-bottom cup up and drop it on the round coaster.",
+    "Use an arm to drop the cup with light blue color on the light gray round grainy coaster",
+    "Grab the medium blue cylindrical cup and place it on the flat surface gray wooden coaster.",
+    "Lift the smooth blue cup for liquids and stick it onto the small coaster with grain texture.",
+    "Stick the smooth blue drinking cup onto the coaster made of smooth wood using the arm.",
+    "Using the arm, slide the cup with smooth plastic surface onto the flat round wooden coaster.",
+    "Use the arm to position the medium-sized plastic blue cup onto the wooden coaster.",
+    "Grab the smooth blue cup for liquids and lower it onto the light gray streaked wooden coaster",
+    "Set the cup with light blue color down on the light gray streaked wooden coaster",
+    "Stick the cylindrical light blue cup onto the coaster made of smooth wood using the arm",
+    "Relocate the medium blue cylindrical cup precisely onto the small coaster with grain texture with arm",
+    "Lift the smooth blue drinking cup and place it onto the grainy texture coaster.",
+    "Lift the light blue plastic cup and place it over the light gray round grainy coaster",
+    "Use the arm to put the cup with smooth plastic surface onto the light gray round grainy coaster.",
+    "Slide the smooth blue cup for liquids onto the small coaster with grain texture",
+    "Use the arm to position the cup with light blue color on the round coaster with light streaks.",
+    "Pick the smooth blue cup for liquids up and drop it on the coaster made of smooth wood.",
+    "Align the cup for holding liquids and set it down on the light gray streaked wooden coaster",
+    "Slide the plastic cup for drinks onto the smooth round palm-sized coaster with the arm.",
+    "Position the smooth blue cup for liquids on the smooth round palm-sized coaster with the arm.",
+    "Position the cup with light blue color carefully on the round coaster with light streaks",
+    "Drop the smooth blue cup for liquids firmly on the small coaster with grain texture using arm",
+    "Direct the blue rounded-bottom cup to the round coaster with light streaks and let it rest.",
+    "Use an arm to drop the plastic cup for drinks on the coaster with circular shape.",
+    "Drop the light blue plastic cup on top of the small coaster with grain texture.",
+    "Grab the blue rounded-bottom cup and place it over the grainy texture coaster.",
+    "Grab the cup with light blue color, then place it onto the light gray round grainy coaster.",
+    "Use arm to place the cup for holding liquids on the smooth round palm-sized coaster",
+    "Set the cylindrical light blue cup carefully onto the light gray round grainy coaster",
+    "Use the arm to set the smooth blue cup for liquids on the round coaster with light streaks",
+    "Move the smooth blue drinking cup using the arm onto the flat surface gray wooden coaster.",
+    "Using the arm, drop the medium-sized plastic blue cup onto the coaster with circular shape.",
+    "Set the smooth blue cup for liquids on the coaster made of smooth wood using the arm.",
+    "Carefully place the medium blue cylindrical cup onto the round coaster with light streaks without arm",
+    "Set the cup for holding liquids onto the round coaster using the arm.",
+    "Use an arm to place the plastic cup for drinks on the coaster with circular shape",
+    "Slide the rounded base blue cup gently onto the light gray streaked wooden coaster via the arm.",
+    "Grab the cup for holding liquids and set it onto the light gray streaked wooden coaster.",
+    "Set the cup with light blue color securely on the small coaster with grain texture using the arm.",
+    "Using the arm, align the cylindrical light blue cup over the wooden coaster",
+    "Use the arm to slide the plastic cup for drinks onto the small coaster with grain texture.",
+    "Position the plastic cup for drinks above and drop it on the small coaster with grain texture",
+    "Position the blue rounded-bottom cup squarely on top of the flat round wooden coaster.",
+    "Move the light blue plastic cup to the wooden coaster using the arm.",
+    "Move the light blue plastic cup to the coaster with circular shape and set it down.",
+    "Place the cup with smooth plastic surface on top of the flat round wooden coaster",
+    "Move the medium blue cylindrical cup onto the light gray streaked wooden coaster with the arm",
+    "Move the smooth blue cup for liquids to the coaster made of smooth wood",
+    "Stick the blue rounded-bottom cup onto the light gray round grainy coaster carefully.",
+    "Make sure the plastic cup for drinks ends up on the wooden coaster.",
+    "Lift the plastic cup for drinks up and drop it on the round coaster with light streaks.",
+    "Use an arm to drop the medium blue cylindrical cup on the round coaster",
+    "Grab the medium-sized plastic blue cup and place it on the coaster made of smooth wood.",
+    "Lift the smooth blue cup for liquids and stick it onto the smooth round palm-sized coaster.",
+    "Stick the cylindrical light blue cup onto the grainy texture coaster using the arm.",
+    "Using the arm, slide the smooth blue cup for liquids onto the light gray streaked wooden coaster.",
+    "Use the arm to position the medium blue cylindrical cup onto the flat round wooden coaster.",
+    "Grab the cup with smooth plastic surface and lower it onto the wooden coaster",
+    "Set the smooth blue cup for liquids down on the round coaster with light streaks",
+    "Stick the cup with light blue color onto the flat surface gray wooden coaster using the arm",
+    "Relocate the cup for holding liquids precisely onto the small coaster with grain texture with arm",
+    "Lift the medium-sized plastic blue cup and place it onto the small coaster with grain texture.",
+    "Lift the smooth blue cup for liquids and place it over the light gray round grainy coaster",
+    "Use the arm to put the smooth blue drinking cup onto the grainy texture coaster.",
+    "Slide the cup for holding liquids onto the round coaster with light streaks",
+    "Use the arm to position the blue rounded-bottom cup on the coaster made of smooth wood."
+  ],
+  "unseen": [
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup on top of the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode31.json b/place_empty_cup/demo_clean/instructions/episode31.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e885af96976e1cddb74c0dac2e80b131064cda4
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode31.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the smooth blue drinking cup to the light gray round grainy coaster",
+    "Move the medium blue cylindrical cup onto the smooth round palm-sized coaster with the arm",
+    "Grab the medium blue cylindrical cup and set it onto the grainy texture coaster.",
+    "Lift the light blue plastic cup up and drop it on the light gray streaked wooden coaster.",
+    "Stick the smooth blue drinking cup onto the flat round wooden coaster using the arm.",
+    "Drop the cup with light blue color firmly on the coaster with circular shape using arm",
+    "Drop the medium blue cylindrical cup on top of the round coaster.",
+    "Use the arm to position the cylindrical light blue cup onto the grainy texture coaster.",
+    "Use the arm to put the cylindrical light blue cup onto the flat round wooden coaster.",
+    "Lift the plastic cup for drinks and place it onto the light gray round grainy coaster.",
+    "Pick the light blue plastic cup up and drop it on the round coaster with light streaks.",
+    "Lift the cup with light blue color and stick it onto the wooden coaster.",
+    "Set the smooth blue drinking cup securely on the round coaster with light streaks using the arm.",
+    "Slide the cylindrical light blue cup gently onto the smooth round palm-sized coaster via the arm.",
+    "Position the blue rounded-bottom cup carefully on the light gray streaked wooden coaster",
+    "Slide the smooth blue drinking cup onto the light gray streaked wooden coaster",
+    "Use an arm to place the cup for holding liquids on the light gray round grainy coaster",
+    "Set the cup with smooth plastic surface onto the flat surface gray wooden coaster using the arm.",
+    "Use arm to place the medium blue cylindrical cup on the smooth round palm-sized coaster",
+    "Position the light blue plastic cup above and drop it on the smooth round palm-sized coaster",
+    "Slide the cup for holding liquids onto the smooth round palm-sized coaster with the arm.",
+    "Place the rounded base blue cup on top of the round coaster with light streaks",
+    "Grab the plastic cup for drinks, then place it onto the flat round wooden coaster.",
+    "Using the arm, drop the cup with light blue color onto the flat round wooden coaster.",
+    "Grab the blue rounded-bottom cup and place it on the coaster with circular shape.",
+    "Set the blue rounded-bottom cup carefully onto the flat round wooden coaster",
+    "Move the cup with smooth plastic surface to the flat surface gray wooden coaster using the arm.",
+    "Move the medium-sized plastic blue cup using the arm onto the smooth round palm-sized coaster.",
+    "Use the arm to set the cylindrical light blue cup on the flat surface gray wooden coaster",
+    "Move the light blue plastic cup to the round coaster and set it down.",
+    "Direct the smooth blue cup for liquids to the flat surface gray wooden coaster and let it rest.",
+    "Use an arm to drop the plastic cup for drinks on the coaster with circular shape",
+    "Position the cup with smooth plastic surface squarely on top of the coaster with circular shape.",
+    "Lift the cup for holding liquids and place it over the flat surface gray wooden coaster",
+    "Use an arm to drop the cup with light blue color on the small coaster with grain texture.",
+    "Use the arm to position the smooth blue cup for liquids on the light gray streaked wooden coaster.",
+    "Set the cylindrical light blue cup down on the flat round wooden coaster",
+    "Using the arm, align the rounded base blue cup over the round coaster with light streaks",
+    "Use the arm to slide the cup for holding liquids onto the grainy texture coaster.",
+    "Align the plastic cup for drinks and set it down on the smooth round palm-sized coaster",
+    "Stick the medium blue cylindrical cup onto the flat round wooden coaster carefully.",
+    "Using the arm, slide the cup with smooth plastic surface onto the wooden coaster.",
+    "Grab the rounded base blue cup and lower it onto the flat round wooden coaster",
+    "Relocate the blue rounded-bottom cup precisely onto the coaster made of smooth wood with arm",
+    "Carefully place the cylindrical light blue cup onto the small coaster with grain texture without arm",
+    "Grab the plastic cup for drinks and place it over the coaster with circular shape.",
+    "Position the smooth blue cup for liquids on the round coaster with the arm.",
+    "Set the cylindrical light blue cup on the wooden coaster using the arm.",
+    "Make sure the blue rounded-bottom cup ends up on the flat round wooden coaster.",
+    "Stick the cup with smooth plastic surface onto the coaster with circular shape using the arm",
+    "Move the medium-sized plastic blue cup to the smooth round palm-sized coaster",
+    "Move the cup with light blue color onto the flat round wooden coaster with the arm",
+    "Grab the light blue plastic cup and set it onto the grainy texture coaster.",
+    "Lift the cup for holding liquids up and drop it on the coaster made of smooth wood.",
+    "Stick the smooth blue drinking cup onto the grainy texture coaster using the arm.",
+    "Drop the cylindrical light blue cup firmly on the grainy texture coaster using arm",
+    "Drop the cup with light blue color on top of the flat round wooden coaster.",
+    "Use the arm to position the cylindrical light blue cup onto the flat round wooden coaster.",
+    "Use the arm to put the cup with smooth plastic surface onto the smooth round palm-sized coaster.",
+    "Lift the plastic cup for drinks and place it onto the grainy texture coaster.",
+    "Pick the medium-sized plastic blue cup up and drop it on the light gray round grainy coaster.",
+    "Lift the light blue plastic cup and stick it onto the flat round wooden coaster.",
+    "Set the medium-sized plastic blue cup securely on the grainy texture coaster using the arm.",
+    "Slide the rounded base blue cup gently onto the light gray round grainy coaster via the arm.",
+    "Position the plastic cup for drinks carefully on the light gray round grainy coaster",
+    "Slide the cylindrical light blue cup onto the grainy texture coaster",
+    "Use an arm to place the cup with light blue color on the coaster with circular shape",
+    "Set the plastic cup for drinks onto the small coaster with grain texture using the arm.",
+    "Use arm to place the smooth blue drinking cup on the flat surface gray wooden coaster",
+    "Position the rounded base blue cup above and drop it on the flat round wooden coaster",
+    "Slide the rounded base blue cup onto the small coaster with grain texture with the arm.",
+    "Place the medium-sized plastic blue cup on top of the flat round wooden coaster",
+    "Grab the cup with light blue color, then place it onto the flat round wooden coaster.",
+    "Using the arm, drop the light blue plastic cup onto the smooth round palm-sized coaster.",
+    "Grab the cup with smooth plastic surface and place it on the flat surface gray wooden coaster.",
+    "Set the blue rounded-bottom cup carefully onto the round coaster",
+    "Move the cup with smooth plastic surface to the light gray round grainy coaster using the arm.",
+    "Move the plastic cup for drinks using the arm onto the grainy texture coaster.",
+    "Use the arm to set the cup with light blue color on the light gray streaked wooden coaster",
+    "Move the cylindrical light blue cup to the light gray round grainy coaster and set it down.",
+    "Direct the blue rounded-bottom cup to the light gray round grainy coaster and let it rest.",
+    "Use an arm to drop the cup with smooth plastic surface on the smooth round palm-sized coaster",
+    "Position the rounded base blue cup squarely on top of the light gray round grainy coaster.",
+    "Lift the cup for holding liquids and place it over the light gray streaked wooden coaster",
+    "Use an arm to drop the cup with light blue color on the smooth round palm-sized coaster.",
+    "Use the arm to position the blue rounded-bottom cup on the small coaster with grain texture.",
+    "Set the smooth blue cup for liquids down on the round coaster",
+    "Using the arm, align the medium blue cylindrical cup over the flat surface gray wooden coaster",
+    "Use the arm to slide the smooth blue drinking cup onto the round coaster with light streaks.",
+    "Align the plastic cup for drinks and set it down on the light gray streaked wooden coaster",
+    "Stick the light blue plastic cup onto the coaster made of smooth wood carefully.",
+    "Using the arm, slide the plastic cup for drinks onto the coaster with circular shape.",
+    "Grab the light blue plastic cup and lower it onto the flat surface gray wooden coaster",
+    "Relocate the cup with light blue color precisely onto the light gray round grainy coaster with arm",
+    "Carefully place the medium blue cylindrical cup onto the round coaster without arm",
+    "Grab the medium blue cylindrical cup and place it over the small coaster with grain texture.",
+    "Position the medium blue cylindrical cup on the light gray round grainy coaster with the arm.",
+    "Set the plastic cup for drinks on the light gray streaked wooden coaster using the arm.",
+    "Make sure the smooth blue cup for liquids ends up on the flat surface gray wooden coaster.",
+    "Stick the cup with light blue color onto the wooden coaster using the arm"
+  ],
+  "unseen": [
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the blue cup down on the light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode32.json b/place_empty_cup/demo_clean/instructions/episode32.json
new file mode 100644
index 0000000000000000000000000000000000000000..126f3cf90ef24a9698abfa819f3adafc56166561
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode32.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the medium blue cylindrical cup up and drop it on the flat round wooden coaster.",
+    "Pick the cup with light blue color up and drop it on the coaster with circular shape.",
+    "Move the medium blue cylindrical cup to the round coaster using the arm.",
+    "Grab the blue rounded-bottom cup, then place it onto the round coaster.",
+    "Position the cylindrical light blue cup on the wooden coaster with the arm.",
+    "Relocate the cylindrical light blue cup precisely onto the round coaster with light streaks with arm",
+    "Direct the smooth blue drinking cup to the grainy texture coaster and let it rest.",
+    "Position the blue rounded-bottom cup squarely on top of the coaster with circular shape.",
+    "Move the cylindrical light blue cup to the round coaster and set it down.",
+    "Move the cup with light blue color to the smooth round palm-sized coaster",
+    "Stick the medium-sized plastic blue cup onto the small coaster with grain texture using the arm",
+    "Lift the cup for holding liquids and place it onto the wooden coaster.",
+    "Drop the plastic cup for drinks on top of the small coaster with grain texture.",
+    "Align the cup with light blue color and set it down on the grainy texture coaster",
+    "Move the cup with smooth plastic surface onto the light gray streaked wooden coaster with the arm",
+    "Use arm to place the smooth blue drinking cup on the light gray streaked wooden coaster",
+    "Use the arm to set the medium blue cylindrical cup on the wooden coaster",
+    "Place the medium-sized plastic blue cup on top of the flat round wooden coaster",
+    "Grab the smooth blue drinking cup and set it onto the coaster with circular shape.",
+    "Carefully place the cylindrical light blue cup onto the flat surface gray wooden coaster without arm",
+    "Grab the plastic cup for drinks and place it on the wooden coaster.",
+    "Using the arm, drop the plastic cup for drinks onto the coaster with circular shape.",
+    "Slide the blue rounded-bottom cup gently onto the small coaster with grain texture via the arm.",
+    "Make sure the cup with light blue color ends up on the wooden coaster.",
+    "Use the arm to put the light blue plastic cup onto the grainy texture coaster.",
+    "Lift the smooth blue drinking cup and place it over the coaster made of smooth wood",
+    "Set the cup with smooth plastic surface down on the smooth round palm-sized coaster",
+    "Using the arm, slide the smooth blue cup for liquids onto the wooden coaster.",
+    "Set the medium-sized plastic blue cup onto the small coaster with grain texture using the arm.",
+    "Slide the cup for holding liquids onto the round coaster with light streaks with the arm.",
+    "Slide the plastic cup for drinks onto the flat round wooden coaster",
+    "Use the arm to slide the cup for holding liquids onto the flat round wooden coaster.",
+    "Move the smooth blue cup for liquids using the arm onto the flat surface gray wooden coaster.",
+    "Position the cup with light blue color carefully on the light gray streaked wooden coaster",
+    "Drop the cup with light blue color firmly on the light gray round grainy coaster using arm",
+    "Use an arm to drop the cup for holding liquids on the round coaster.",
+    "Lift the smooth blue cup for liquids and stick it onto the flat surface gray wooden coaster.",
+    "Use an arm to drop the smooth blue drinking cup on the flat round wooden coaster",
+    "Stick the cylindrical light blue cup onto the round coaster with light streaks carefully.",
+    "Set the smooth blue drinking cup securely on the light gray round grainy coaster using the arm.",
+    "Grab the medium-sized plastic blue cup and lower it onto the light gray round grainy coaster",
+    "Position the smooth blue drinking cup above and drop it on the wooden coaster",
+    "Use the arm to position the light blue plastic cup onto the light gray streaked wooden coaster.",
+    "Set the cup for holding liquids on the light gray round grainy coaster using the arm.",
+    "Set the plastic cup for drinks carefully onto the round coaster",
+    "Grab the cup with smooth plastic surface and place it over the smooth round palm-sized coaster.",
+    "Using the arm, align the rounded base blue cup over the flat surface gray wooden coaster",
+    "Use an arm to place the plastic cup for drinks on the wooden coaster",
+    "Use the arm to position the rounded base blue cup on the grainy texture coaster.",
+    "Stick the medium-sized plastic blue cup onto the wooden coaster using the arm.",
+    "Lift the cup with smooth plastic surface up and drop it on the coaster made of smooth wood.",
+    "Pick the smooth blue cup for liquids up and drop it on the coaster with circular shape.",
+    "Move the cup for holding liquids to the light gray round grainy coaster using the arm.",
+    "Grab the blue rounded-bottom cup, then place it onto the small coaster with grain texture.",
+    "Position the smooth blue cup for liquids on the flat surface gray wooden coaster with the arm.",
+    "Relocate the medium-sized plastic blue cup precisely onto the flat round wooden coaster with arm",
+    "Direct the medium-sized plastic blue cup to the smooth round palm-sized coaster and let it rest.",
+    "Position the medium blue cylindrical cup squarely on top of the round coaster.",
+    "Move the smooth blue cup for liquids to the coaster made of smooth wood and set it down.",
+    "Move the cup with light blue color to the coaster made of smooth wood",
+    "Stick the medium-sized plastic blue cup onto the smooth round palm-sized coaster using the arm",
+    "Lift the medium blue cylindrical cup and place it onto the round coaster with light streaks.",
+    "Drop the cylindrical light blue cup on top of the small coaster with grain texture.",
+    "Align the blue rounded-bottom cup and set it down on the coaster with circular shape",
+    "Move the cylindrical light blue cup onto the light gray streaked wooden coaster with the arm",
+    "Use arm to place the smooth blue drinking cup on the smooth round palm-sized coaster",
+    "Use the arm to set the smooth blue cup for liquids on the light gray streaked wooden coaster",
+    "Place the cylindrical light blue cup on top of the wooden coaster",
+    "Grab the smooth blue drinking cup and set it onto the flat round wooden coaster.",
+    "Carefully place the cup for holding liquids onto the round coaster without arm",
+    "Grab the rounded base blue cup and place it on the light gray streaked wooden coaster.",
+    "Using the arm, drop the smooth blue drinking cup onto the wooden coaster.",
+    "Slide the smooth blue drinking cup gently onto the light gray streaked wooden coaster via the arm.",
+    "Make sure the smooth blue cup for liquids ends up on the grainy texture coaster.",
+    "Use the arm to put the blue rounded-bottom cup onto the flat round wooden coaster.",
+    "Lift the rounded base blue cup and place it over the light gray round grainy coaster",
+    "Set the cup with light blue color down on the round coaster",
+    "Using the arm, slide the smooth blue cup for liquids onto the smooth round palm-sized coaster.",
+    "Set the smooth blue drinking cup onto the wooden coaster using the arm.",
+    "Slide the plastic cup for drinks onto the coaster made of smooth wood with the arm.",
+    "Slide the rounded base blue cup onto the round coaster",
+    "Use the arm to slide the blue rounded-bottom cup onto the smooth round palm-sized coaster.",
+    "Move the smooth blue drinking cup using the arm onto the wooden coaster.",
+    "Position the rounded base blue cup carefully on the coaster made of smooth wood",
+    "Drop the medium-sized plastic blue cup firmly on the smooth round palm-sized coaster using arm",
+    "Use an arm to drop the smooth blue drinking cup on the round coaster with light streaks.",
+    "Lift the smooth blue cup for liquids and stick it onto the smooth round palm-sized coaster.",
+    "Use an arm to drop the medium-sized plastic blue cup on the grainy texture coaster",
+    "Stick the medium blue cylindrical cup onto the light gray round grainy coaster carefully.",
+    "Set the smooth blue drinking cup securely on the round coaster with light streaks using the arm.",
+    "Grab the cup with smooth plastic surface and lower it onto the light gray streaked wooden coaster",
+    "Position the cylindrical light blue cup above and drop it on the coaster with circular shape",
+    "Use the arm to position the cup with light blue color onto the light gray round grainy coaster.",
+    "Set the cup with light blue color on the round coaster using the arm.",
+    "Set the cylindrical light blue cup carefully onto the round coaster with light streaks",
+    "Grab the cup with light blue color and place it over the flat surface gray wooden coaster.",
+    "Using the arm, align the medium blue cylindrical cup over the coaster made of smooth wood",
+    "Use an arm to place the rounded base blue cup on the grainy texture coaster",
+    "Use the arm to position the medium blue cylindrical cup on the flat round wooden coaster.",
+    "Stick the cup for holding liquids onto the coaster made of smooth wood using the arm."
+  ],
+  "unseen": [
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode33.json b/place_empty_cup/demo_clean/instructions/episode33.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5c1b0b9dcbcf99e8803bb4ede0e8cabfea5077b
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode33.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Drop the blue rounded-bottom cup on top of the grainy texture coaster.",
+    "Position the cup with smooth plastic surface above and drop it on the wooden coaster",
+    "Relocate the plastic cup for drinks precisely onto the small coaster with grain texture with arm",
+    "Using the arm, slide the rounded base blue cup onto the light gray round grainy coaster.",
+    "Using the arm, drop the cup for holding liquids onto the coaster with circular shape.",
+    "Position the medium-sized plastic blue cup carefully on the light gray streaked wooden coaster",
+    "Use the arm to slide the cup with smooth plastic surface onto the smooth round palm-sized coaster.",
+    "Position the cup for holding liquids squarely on top of the coaster with circular shape.",
+    "Grab the blue rounded-bottom cup and lower it onto the round coaster",
+    "Stick the smooth blue cup for liquids onto the smooth round palm-sized coaster using the arm.",
+    "Slide the plastic cup for drinks onto the light gray round grainy coaster with the arm.",
+    "Use the arm to position the cylindrical light blue cup onto the coaster made of smooth wood.",
+    "Carefully place the cup with smooth plastic surface onto the coaster with circular shape without arm",
+    "Lift the smooth blue drinking cup up and drop it on the wooden coaster.",
+    "Use the arm to position the smooth blue cup for liquids on the wooden coaster.",
+    "Direct the cylindrical light blue cup to the grainy texture coaster and let it rest.",
+    "Slide the smooth blue drinking cup gently onto the grainy texture coaster via the arm.",
+    "Lift the light blue plastic cup and stick it onto the smooth round palm-sized coaster.",
+    "Set the light blue plastic cup securely on the round coaster using the arm.",
+    "Grab the blue rounded-bottom cup, then place it onto the smooth round palm-sized coaster.",
+    "Use arm to place the blue rounded-bottom cup on the round coaster",
+    "Slide the blue rounded-bottom cup onto the light gray streaked wooden coaster",
+    "Use an arm to place the rounded base blue cup on the flat surface gray wooden coaster",
+    "Use the arm to put the smooth blue cup for liquids onto the coaster with circular shape.",
+    "Use the arm to set the smooth blue cup for liquids on the coaster made of smooth wood",
+    "Move the smooth blue cup for liquids to the grainy texture coaster and set it down.",
+    "Move the cylindrical light blue cup using the arm onto the smooth round palm-sized coaster.",
+    "Stick the cylindrical light blue cup onto the wooden coaster using the arm",
+    "Use an arm to drop the smooth blue cup for liquids on the coaster made of smooth wood.",
+    "Set the cylindrical light blue cup carefully onto the light gray streaked wooden coaster",
+    "Set the cylindrical light blue cup down on the round coaster with light streaks",
+    "Set the cup for holding liquids onto the light gray round grainy coaster using the arm.",
+    "Move the light blue plastic cup onto the light gray round grainy coaster with the arm",
+    "Drop the plastic cup for drinks firmly on the flat round wooden coaster using arm",
+    "Make sure the cup for holding liquids ends up on the round coaster.",
+    "Using the arm, align the blue rounded-bottom cup over the grainy texture coaster",
+    "Position the medium blue cylindrical cup on the wooden coaster with the arm.",
+    "Grab the cylindrical light blue cup and set it onto the coaster with circular shape.",
+    "Grab the rounded base blue cup and place it on the coaster with circular shape.",
+    "Stick the smooth blue drinking cup onto the wooden coaster carefully.",
+    "Use an arm to drop the smooth blue cup for liquids on the small coaster with grain texture",
+    "Lift the medium blue cylindrical cup and place it onto the light gray streaked wooden coaster.",
+    "Move the smooth blue cup for liquids to the round coaster with light streaks",
+    "Set the blue rounded-bottom cup on the coaster with circular shape using the arm.",
+    "Align the medium-sized plastic blue cup and set it down on the light gray streaked wooden coaster",
+    "Move the smooth blue cup for liquids to the flat round wooden coaster using the arm.",
+    "Lift the smooth blue cup for liquids and place it over the smooth round palm-sized coaster",
+    "Place the rounded base blue cup on top of the grainy texture coaster",
+    "Grab the rounded base blue cup and place it over the small coaster with grain texture.",
+    "Pick the cup with smooth plastic surface up and drop it on the light gray streaked wooden coaster.",
+    "Drop the smooth blue cup for liquids on top of the coaster with circular shape.",
+    "Position the cup with smooth plastic surface above and drop it on the flat surface gray wooden coaster",
+    "Relocate the smooth blue cup for liquids precisely onto the round coaster with arm",
+    "Using the arm, slide the blue rounded-bottom cup onto the flat round wooden coaster.",
+    "Using the arm, drop the light blue plastic cup onto the round coaster.",
+    "Position the blue rounded-bottom cup carefully on the flat surface gray wooden coaster",
+    "Use the arm to slide the cup for holding liquids onto the flat surface gray wooden coaster.",
+    "Position the cup for holding liquids squarely on top of the flat round wooden coaster.",
+    "Grab the blue rounded-bottom cup and lower it onto the light gray streaked wooden coaster",
+    "Stick the cup with smooth plastic surface onto the flat round wooden coaster using the arm.",
+    "Slide the medium-sized plastic blue cup onto the light gray streaked wooden coaster with the arm.",
+    "Use the arm to position the plastic cup for drinks onto the round coaster with light streaks.",
+    "Carefully place the cylindrical light blue cup onto the round coaster without arm",
+    "Lift the rounded base blue cup up and drop it on the small coaster with grain texture.",
+    "Use the arm to position the medium blue cylindrical cup on the round coaster with light streaks.",
+    "Direct the cup for holding liquids to the smooth round palm-sized coaster and let it rest.",
+    "Slide the light blue plastic cup gently onto the flat surface gray wooden coaster via the arm.",
+    "Lift the light blue plastic cup and stick it onto the light gray streaked wooden coaster.",
+    "Set the smooth blue drinking cup securely on the round coaster with light streaks using the arm.",
+    "Grab the blue rounded-bottom cup, then place it onto the coaster with circular shape.",
+    "Use arm to place the smooth blue cup for liquids on the coaster made of smooth wood",
+    "Slide the cup for holding liquids onto the wooden coaster",
+    "Use an arm to place the cup for holding liquids on the light gray streaked wooden coaster",
+    "Use the arm to put the smooth blue drinking cup onto the smooth round palm-sized coaster.",
+    "Use the arm to set the plastic cup for drinks on the round coaster with light streaks",
+    "Move the rounded base blue cup to the coaster made of smooth wood and set it down.",
+    "Move the plastic cup for drinks using the arm onto the smooth round palm-sized coaster.",
+    "Stick the rounded base blue cup onto the coaster made of smooth wood using the arm",
+    "Use an arm to drop the medium-sized plastic blue cup on the coaster with circular shape.",
+    "Set the plastic cup for drinks carefully onto the round coaster with light streaks",
+    "Set the smooth blue cup for liquids down on the wooden coaster",
+    "Set the cup with smooth plastic surface onto the round coaster with light streaks using the arm.",
+    "Move the plastic cup for drinks onto the light gray round grainy coaster with the arm",
+    "Drop the cylindrical light blue cup firmly on the wooden coaster using arm",
+    "Make sure the smooth blue drinking cup ends up on the small coaster with grain texture.",
+    "Using the arm, align the medium-sized plastic blue cup over the grainy texture coaster",
+    "Position the cup for holding liquids on the round coaster with the arm.",
+    "Grab the rounded base blue cup and set it onto the round coaster with light streaks.",
+    "Grab the rounded base blue cup and place it on the round coaster with light streaks.",
+    "Stick the light blue plastic cup onto the flat surface gray wooden coaster carefully.",
+    "Use an arm to drop the cup for holding liquids on the wooden coaster",
+    "Lift the smooth blue cup for liquids and place it onto the smooth round palm-sized coaster.",
+    "Move the smooth blue drinking cup to the grainy texture coaster",
+    "Set the blue rounded-bottom cup on the light gray streaked wooden coaster using the arm.",
+    "Align the plastic cup for drinks and set it down on the light gray streaked wooden coaster",
+    "Move the plastic cup for drinks to the light gray streaked wooden coaster using the arm.",
+    "Lift the smooth blue cup for liquids and place it over the light gray round grainy coaster",
+    "Place the cup with smooth plastic surface on top of the flat round wooden coaster",
+    "Grab the cylindrical light blue cup and place it over the flat round wooden coaster.",
+    "Pick the blue rounded-bottom cup up and drop it on the light gray round grainy coaster."
+  ],
+  "unseen": [
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster"
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode34.json b/place_empty_cup/demo_clean/instructions/episode34.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b6a2634fde673d7718dd88f5fff993b86d20dd7
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode34.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Direct the cylindrical light blue cup to the flat round wooden coaster and let it rest.",
+    "Use the arm to position the cup with light blue color on the round coaster with light streaks.",
+    "Move the cup for holding liquids to the coaster with circular shape using the arm.",
+    "Set the medium-sized plastic blue cup onto the wooden coaster using the arm.",
+    "Use the arm to set the medium blue cylindrical cup on the smooth round palm-sized coaster",
+    "Use the arm to slide the cup for holding liquids onto the small coaster with grain texture.",
+    "Move the cup with smooth plastic surface to the flat surface gray wooden coaster",
+    "Grab the smooth blue drinking cup and set it onto the flat round wooden coaster.",
+    "Set the plastic cup for drinks down on the flat round wooden coaster",
+    "Grab the medium blue cylindrical cup and place it over the small coaster with grain texture.",
+    "Make sure the light blue plastic cup ends up on the flat surface gray wooden coaster.",
+    "Lift the light blue plastic cup up and drop it on the flat surface gray wooden coaster.",
+    "Position the plastic cup for drinks on the coaster made of smooth wood with the arm.",
+    "Slide the medium blue cylindrical cup onto the wooden coaster",
+    "Set the plastic cup for drinks carefully onto the light gray streaked wooden coaster",
+    "Relocate the smooth blue drinking cup precisely onto the light gray round grainy coaster with arm",
+    "Position the blue rounded-bottom cup squarely on top of the round coaster with light streaks.",
+    "Lift the medium blue cylindrical cup and place it onto the light gray streaked wooden coaster.",
+    "Carefully place the smooth blue cup for liquids onto the round coaster without arm",
+    "Move the smooth blue drinking cup onto the round coaster with light streaks with the arm",
+    "Pick the medium-sized plastic blue cup up and drop it on the light gray streaked wooden coaster.",
+    "Using the arm, align the smooth blue cup for liquids over the round coaster",
+    "Lift the cup with light blue color and stick it onto the round coaster.",
+    "Use the arm to position the medium blue cylindrical cup onto the coaster made of smooth wood.",
+    "Place the rounded base blue cup on top of the grainy texture coaster",
+    "Move the medium-sized plastic blue cup to the round coaster with light streaks and set it down.",
+    "Using the arm, slide the plastic cup for drinks onto the wooden coaster.",
+    "Using the arm, drop the light blue plastic cup onto the coaster with circular shape.",
+    "Grab the blue rounded-bottom cup and place it on the round coaster.",
+    "Drop the cylindrical light blue cup firmly on the light gray streaked wooden coaster using arm",
+    "Use an arm to drop the medium-sized plastic blue cup on the round coaster",
+    "Align the cup with smooth plastic surface and set it down on the flat round wooden coaster",
+    "Position the blue rounded-bottom cup carefully on the flat round wooden coaster",
+    "Slide the smooth blue cup for liquids gently onto the smooth round palm-sized coaster via the arm.",
+    "Use the arm to put the medium blue cylindrical cup onto the light gray streaked wooden coaster.",
+    "Lift the plastic cup for drinks and place it over the small coaster with grain texture",
+    "Grab the light blue plastic cup and lower it onto the light gray round grainy coaster",
+    "Grab the smooth blue cup for liquids, then place it onto the coaster with circular shape.",
+    "Set the medium blue cylindrical cup securely on the round coaster using the arm.",
+    "Stick the cup with smooth plastic surface onto the smooth round palm-sized coaster carefully.",
+    "Use an arm to place the cylindrical light blue cup on the coaster with circular shape",
+    "Use an arm to drop the cup with light blue color on the small coaster with grain texture.",
+    "Move the medium-sized plastic blue cup using the arm onto the round coaster with light streaks.",
+    "Stick the plastic cup for drinks onto the flat surface gray wooden coaster using the arm.",
+    "Drop the blue rounded-bottom cup on top of the flat round wooden coaster.",
+    "Slide the light blue plastic cup onto the light gray round grainy coaster with the arm.",
+    "Stick the light blue plastic cup onto the wooden coaster using the arm",
+    "Set the blue rounded-bottom cup on the smooth round palm-sized coaster using the arm.",
+    "Position the rounded base blue cup above and drop it on the coaster with circular shape",
+    "Use arm to place the smooth blue drinking cup on the smooth round palm-sized coaster",
+    "Direct the cup with smooth plastic surface to the round coaster with light streaks and let it rest.",
+    "Use the arm to position the plastic cup for drinks on the light gray streaked wooden coaster.",
+    "Move the smooth blue cup for liquids to the smooth round palm-sized coaster using the arm.",
+    "Set the cup with light blue color onto the round coaster using the arm.",
+    "Use the arm to set the cup with smooth plastic surface on the round coaster",
+    "Use the arm to slide the rounded base blue cup onto the flat surface gray wooden coaster.",
+    "Move the blue rounded-bottom cup to the smooth round palm-sized coaster",
+    "Grab the light blue plastic cup and set it onto the flat round wooden coaster.",
+    "Set the rounded base blue cup down on the round coaster with light streaks",
+    "Grab the cylindrical light blue cup and place it over the smooth round palm-sized coaster.",
+    "Make sure the smooth blue cup for liquids ends up on the flat surface gray wooden coaster.",
+    "Lift the cup with smooth plastic surface up and drop it on the coaster made of smooth wood.",
+    "Position the cylindrical light blue cup on the round coaster with light streaks with the arm.",
+    "Slide the smooth blue drinking cup onto the wooden coaster",
+    "Set the smooth blue cup for liquids carefully onto the light gray round grainy coaster",
+    "Relocate the blue rounded-bottom cup precisely onto the smooth round palm-sized coaster with arm",
+    "Position the medium blue cylindrical cup squarely on top of the smooth round palm-sized coaster.",
+    "Lift the cylindrical light blue cup and place it onto the small coaster with grain texture.",
+    "Carefully place the light blue plastic cup onto the coaster made of smooth wood without arm",
+    "Move the cup with light blue color onto the grainy texture coaster with the arm",
+    "Pick the cup for holding liquids up and drop it on the small coaster with grain texture.",
+    "Using the arm, align the cup with light blue color over the smooth round palm-sized coaster",
+    "Lift the rounded base blue cup and stick it onto the light gray streaked wooden coaster.",
+    "Use the arm to position the plastic cup for drinks onto the smooth round palm-sized coaster.",
+    "Place the plastic cup for drinks on top of the coaster made of smooth wood",
+    "Move the plastic cup for drinks to the round coaster and set it down.",
+    "Using the arm, slide the cup with light blue color onto the round coaster with light streaks.",
+    "Using the arm, drop the plastic cup for drinks onto the flat round wooden coaster.",
+    "Grab the light blue plastic cup and place it on the wooden coaster.",
+    "Drop the cylindrical light blue cup firmly on the coaster made of smooth wood using arm",
+    "Use an arm to drop the plastic cup for drinks on the flat round wooden coaster",
+    "Align the medium-sized plastic blue cup and set it down on the light gray streaked wooden coaster",
+    "Position the medium-sized plastic blue cup carefully on the round coaster",
+    "Slide the smooth blue cup for liquids gently onto the round coaster via the arm.",
+    "Use the arm to put the rounded base blue cup onto the grainy texture coaster.",
+    "Lift the blue rounded-bottom cup and place it over the coaster with circular shape",
+    "Grab the light blue plastic cup and lower it onto the coaster with circular shape",
+    "Grab the plastic cup for drinks, then place it onto the light gray round grainy coaster.",
+    "Set the smooth blue drinking cup securely on the coaster with circular shape using the arm.",
+    "Stick the cup with light blue color onto the flat round wooden coaster carefully.",
+    "Use an arm to place the blue rounded-bottom cup on the wooden coaster",
+    "Use an arm to drop the rounded base blue cup on the coaster with circular shape.",
+    "Move the smooth blue drinking cup using the arm onto the coaster with circular shape.",
+    "Stick the medium blue cylindrical cup onto the light gray streaked wooden coaster using the arm.",
+    "Drop the rounded base blue cup on top of the small coaster with grain texture.",
+    "Slide the light blue plastic cup onto the coaster with circular shape with the arm.",
+    "Stick the blue rounded-bottom cup onto the round coaster with light streaks using the arm",
+    "Set the smooth blue cup for liquids on the light gray streaked wooden coaster using the arm.",
+    "Position the cup with smooth plastic surface above and drop it on the grainy texture coaster",
+    "Use arm to place the cup for holding liquids on the flat surface gray wooden coaster"
+  ],
+  "unseen": [
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Use arm to set the small smooth cup on the light gray coaster"
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode35.json b/place_empty_cup/demo_clean/instructions/episode35.json
new file mode 100644
index 0000000000000000000000000000000000000000..964d3178b8dd823878203a3c2c41d8c5083aacb8
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode35.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the light blue plastic cup on top of the coaster with circular shape",
+    "Use an arm to drop the blue rounded-bottom cup on the light gray round grainy coaster.",
+    "Grab the blue rounded-bottom cup and lower it onto the light gray round grainy coaster",
+    "Position the medium blue cylindrical cup squarely on top of the wooden coaster.",
+    "Lift the cylindrical light blue cup up and drop it on the light gray streaked wooden coaster.",
+    "Use arm to place the cup with smooth plastic surface on the flat round wooden coaster",
+    "Grab the smooth blue cup for liquids, then place it onto the round coaster.",
+    "Use the arm to slide the cup with smooth plastic surface onto the light gray streaked wooden coaster.",
+    "Using the arm, align the rounded base blue cup over the light gray streaked wooden coaster",
+    "Using the arm, slide the cup for holding liquids onto the coaster made of smooth wood.",
+    "Move the medium-sized plastic blue cup to the small coaster with grain texture using the arm.",
+    "Set the smooth blue cup for liquids on the coaster made of smooth wood using the arm.",
+    "Use an arm to place the cylindrical light blue cup on the smooth round palm-sized coaster",
+    "Position the cylindrical light blue cup carefully on the round coaster",
+    "Set the medium blue cylindrical cup down on the small coaster with grain texture",
+    "Use the arm to set the blue rounded-bottom cup on the flat round wooden coaster",
+    "Direct the light blue plastic cup to the small coaster with grain texture and let it rest.",
+    "Move the plastic cup for drinks using the arm onto the small coaster with grain texture.",
+    "Stick the cup with smooth plastic surface onto the small coaster with grain texture using the arm",
+    "Move the plastic cup for drinks to the smooth round palm-sized coaster",
+    "Lift the cylindrical light blue cup and place it over the flat surface gray wooden coaster",
+    "Lift the smooth blue drinking cup and place it onto the grainy texture coaster.",
+    "Relocate the light blue plastic cup precisely onto the round coaster with arm",
+    "Carefully place the cup for holding liquids onto the grainy texture coaster without arm",
+    "Grab the medium-sized plastic blue cup and place it on the round coaster.",
+    "Grab the medium blue cylindrical cup and set it onto the light gray round grainy coaster.",
+    "Using the arm, drop the cup with smooth plastic surface onto the light gray round grainy coaster.",
+    "Grab the rounded base blue cup and place it over the light gray streaked wooden coaster.",
+    "Use the arm to position the medium blue cylindrical cup onto the flat surface gray wooden coaster.",
+    "Move the cup with smooth plastic surface onto the round coaster with light streaks with the arm",
+    "Lift the rounded base blue cup and stick it onto the coaster made of smooth wood.",
+    "Make sure the rounded base blue cup ends up on the small coaster with grain texture.",
+    "Use the arm to position the cup with light blue color on the wooden coaster.",
+    "Drop the plastic cup for drinks firmly on the round coaster with light streaks using arm",
+    "Set the light blue plastic cup carefully onto the flat round wooden coaster",
+    "Pick the blue rounded-bottom cup up and drop it on the light gray streaked wooden coaster.",
+    "Stick the plastic cup for drinks onto the flat round wooden coaster carefully.",
+    "Use an arm to drop the rounded base blue cup on the flat round wooden coaster",
+    "Position the cup for holding liquids above and drop it on the flat surface gray wooden coaster",
+    "Move the cup with light blue color to the grainy texture coaster and set it down.",
+    "Slide the smooth blue cup for liquids onto the flat round wooden coaster with the arm.",
+    "Align the medium-sized plastic blue cup and set it down on the flat round wooden coaster",
+    "Stick the rounded base blue cup onto the light gray round grainy coaster using the arm.",
+    "Set the cylindrical light blue cup securely on the round coaster using the arm.",
+    "Set the smooth blue drinking cup onto the smooth round palm-sized coaster using the arm.",
+    "Slide the medium-sized plastic blue cup gently onto the flat surface gray wooden coaster via the arm.",
+    "Drop the cup with light blue color on top of the round coaster.",
+    "Position the smooth blue drinking cup on the wooden coaster with the arm.",
+    "Slide the cylindrical light blue cup onto the coaster made of smooth wood",
+    "Use the arm to put the smooth blue cup for liquids onto the light gray round grainy coaster.",
+    "Place the cup for holding liquids on top of the smooth round palm-sized coaster",
+    "Use an arm to drop the smooth blue cup for liquids on the smooth round palm-sized coaster.",
+    "Grab the medium-sized plastic blue cup and lower it onto the flat surface gray wooden coaster",
+    "Position the light blue plastic cup squarely on top of the round coaster with light streaks.",
+    "Lift the blue rounded-bottom cup up and drop it on the flat round wooden coaster.",
+    "Use arm to place the cylindrical light blue cup on the round coaster",
+    "Grab the medium blue cylindrical cup, then place it onto the light gray streaked wooden coaster.",
+    "Use the arm to slide the cup for holding liquids onto the small coaster with grain texture.",
+    "Using the arm, align the rounded base blue cup over the light gray streaked wooden coaster",
+    "Using the arm, slide the cup with smooth plastic surface onto the round coaster with light streaks.",
+    "Move the plastic cup for drinks to the round coaster using the arm.",
+    "Set the cup for holding liquids on the light gray streaked wooden coaster using the arm.",
+    "Use an arm to place the rounded base blue cup on the round coaster",
+    "Position the blue rounded-bottom cup carefully on the grainy texture coaster",
+    "Set the medium-sized plastic blue cup down on the grainy texture coaster",
+    "Use the arm to set the medium-sized plastic blue cup on the coaster with circular shape",
+    "Direct the cup with light blue color to the coaster with circular shape and let it rest.",
+    "Move the medium-sized plastic blue cup using the arm onto the light gray round grainy coaster.",
+    "Stick the medium-sized plastic blue cup onto the coaster made of smooth wood using the arm",
+    "Move the medium-sized plastic blue cup to the smooth round palm-sized coaster",
+    "Lift the plastic cup for drinks and place it over the smooth round palm-sized coaster",
+    "Lift the cup with light blue color and place it onto the coaster with circular shape.",
+    "Relocate the medium blue cylindrical cup precisely onto the flat surface gray wooden coaster with arm",
+    "Carefully place the smooth blue cup for liquids onto the wooden coaster without arm",
+    "Grab the cup with light blue color and place it on the wooden coaster.",
+    "Grab the blue rounded-bottom cup and set it onto the light gray round grainy coaster.",
+    "Using the arm, drop the smooth blue drinking cup onto the light gray streaked wooden coaster.",
+    "Grab the cylindrical light blue cup and place it over the grainy texture coaster.",
+    "Use the arm to position the cup with smooth plastic surface onto the round coaster.",
+    "Move the cup with smooth plastic surface onto the coaster made of smooth wood with the arm",
+    "Lift the cup for holding liquids and stick it onto the flat round wooden coaster.",
+    "Make sure the cup with light blue color ends up on the round coaster.",
+    "Use the arm to position the cup for holding liquids on the coaster with circular shape.",
+    "Drop the smooth blue cup for liquids firmly on the round coaster with light streaks using arm",
+    "Set the cup with light blue color carefully onto the coaster with circular shape",
+    "Pick the cup with smooth plastic surface up and drop it on the grainy texture coaster.",
+    "Stick the cup for holding liquids onto the flat round wooden coaster carefully.",
+    "Use an arm to drop the medium blue cylindrical cup on the round coaster with light streaks",
+    "Position the rounded base blue cup above and drop it on the coaster made of smooth wood",
+    "Move the medium blue cylindrical cup to the wooden coaster and set it down.",
+    "Slide the smooth blue cup for liquids onto the smooth round palm-sized coaster with the arm.",
+    "Align the rounded base blue cup and set it down on the round coaster",
+    "Stick the smooth blue drinking cup onto the light gray streaked wooden coaster using the arm.",
+    "Set the plastic cup for drinks securely on the round coaster with light streaks using the arm.",
+    "Set the cup with light blue color onto the coaster made of smooth wood using the arm.",
+    "Slide the cup for holding liquids gently onto the flat round wooden coaster via the arm.",
+    "Drop the cup for holding liquids on top of the smooth round palm-sized coaster.",
+    "Position the cylindrical light blue cup on the coaster with circular shape with the arm.",
+    "Slide the smooth blue drinking cup onto the smooth round palm-sized coaster",
+    "Use the arm to put the cup with smooth plastic surface onto the coaster made of smooth wood."
+  ],
+  "unseen": [
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup down on the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup down on the light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup down on the light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode36.json b/place_empty_cup/demo_clean/instructions/episode36.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c4da0138f9759f2893858a61a313a0508a07da8
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode36.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the rounded base blue cup and place it on the round coaster.",
+    "Stick the cylindrical light blue cup onto the smooth round palm-sized coaster using the arm.",
+    "Place the smooth blue drinking cup on top of the grainy texture coaster",
+    "Carefully place the medium blue cylindrical cup onto the wooden coaster without arm",
+    "Relocate the rounded base blue cup precisely onto the small coaster with grain texture with arm",
+    "Lift the plastic cup for drinks and place it over the light gray round grainy coaster",
+    "Use the arm to position the plastic cup for drinks onto the wooden coaster.",
+    "Using the arm, align the medium-sized plastic blue cup over the smooth round palm-sized coaster",
+    "Lift the cup with smooth plastic surface and place it onto the light gray streaked wooden coaster.",
+    "Lift the smooth blue drinking cup up and drop it on the wooden coaster.",
+    "Pick the cylindrical light blue cup up and drop it on the round coaster with light streaks.",
+    "Use the arm to put the smooth blue cup for liquids onto the round coaster.",
+    "Slide the smooth blue drinking cup gently onto the round coaster with light streaks via the arm.",
+    "Grab the light blue plastic cup, then place it onto the light gray streaked wooden coaster.",
+    "Position the smooth blue drinking cup squarely on top of the round coaster with light streaks.",
+    "Use an arm to drop the smooth blue cup for liquids on the flat surface gray wooden coaster.",
+    "Set the medium blue cylindrical cup securely on the smooth round palm-sized coaster using the arm.",
+    "Position the cup for holding liquids on the light gray round grainy coaster with the arm.",
+    "Move the plastic cup for drinks to the coaster with circular shape and set it down.",
+    "Use the arm to set the cylindrical light blue cup on the small coaster with grain texture",
+    "Move the cup with smooth plastic surface to the coaster made of smooth wood",
+    "Align the medium-sized plastic blue cup and set it down on the small coaster with grain texture",
+    "Slide the cylindrical light blue cup onto the grainy texture coaster",
+    "Position the rounded base blue cup above and drop it on the coaster with circular shape",
+    "Grab the medium blue cylindrical cup and set it onto the light gray streaked wooden coaster.",
+    "Direct the plastic cup for drinks to the round coaster with light streaks and let it rest.",
+    "Drop the cylindrical light blue cup on top of the flat round wooden coaster.",
+    "Grab the cup for holding liquids and place it over the round coaster with light streaks.",
+    "Use the arm to slide the blue rounded-bottom cup onto the small coaster with grain texture.",
+    "Use arm to place the rounded base blue cup on the coaster with circular shape",
+    "Using the arm, drop the smooth blue cup for liquids onto the coaster with circular shape.",
+    "Move the medium blue cylindrical cup to the flat surface gray wooden coaster using the arm.",
+    "Drop the cup with light blue color firmly on the flat surface gray wooden coaster using arm",
+    "Move the light blue plastic cup onto the coaster made of smooth wood with the arm",
+    "Position the smooth blue cup for liquids carefully on the flat round wooden coaster",
+    "Move the plastic cup for drinks using the arm onto the smooth round palm-sized coaster.",
+    "Grab the rounded base blue cup and lower it onto the light gray round grainy coaster",
+    "Make sure the medium blue cylindrical cup ends up on the coaster made of smooth wood.",
+    "Lift the cup for holding liquids and stick it onto the wooden coaster.",
+    "Use an arm to drop the smooth blue drinking cup on the coaster with circular shape",
+    "Set the rounded base blue cup carefully onto the small coaster with grain texture",
+    "Set the cup with light blue color on the flat surface gray wooden coaster using the arm.",
+    "Using the arm, slide the cup with light blue color onto the wooden coaster.",
+    "Use the arm to position the blue rounded-bottom cup on the round coaster.",
+    "Set the smooth blue drinking cup down on the round coaster with light streaks",
+    "Set the cup for holding liquids onto the flat surface gray wooden coaster using the arm.",
+    "Stick the smooth blue cup for liquids onto the light gray round grainy coaster using the arm",
+    "Stick the smooth blue cup for liquids onto the light gray round grainy coaster carefully.",
+    "Use an arm to place the smooth blue drinking cup on the grainy texture coaster",
+    "Slide the smooth blue drinking cup onto the grainy texture coaster with the arm.",
+    "Grab the medium blue cylindrical cup and place it on the light gray round grainy coaster.",
+    "Stick the medium blue cylindrical cup onto the coaster with circular shape using the arm.",
+    "Place the blue rounded-bottom cup on top of the flat round wooden coaster",
+    "Carefully place the cup with smooth plastic surface onto the light gray streaked wooden coaster without arm",
+    "Relocate the rounded base blue cup precisely onto the wooden coaster with arm",
+    "Lift the cup for holding liquids and place it over the smooth round palm-sized coaster",
+    "Use the arm to position the medium blue cylindrical cup onto the light gray streaked wooden coaster.",
+    "Using the arm, align the cup with smooth plastic surface over the light gray streaked wooden coaster",
+    "Lift the cup with light blue color and place it onto the light gray round grainy coaster.",
+    "Lift the light blue plastic cup up and drop it on the coaster made of smooth wood.",
+    "Pick the rounded base blue cup up and drop it on the coaster made of smooth wood.",
+    "Use the arm to put the blue rounded-bottom cup onto the wooden coaster.",
+    "Slide the blue rounded-bottom cup gently onto the round coaster with light streaks via the arm.",
+    "Grab the cup with light blue color, then place it onto the light gray streaked wooden coaster.",
+    "Position the plastic cup for drinks squarely on top of the flat surface gray wooden coaster.",
+    "Use an arm to drop the light blue plastic cup on the wooden coaster.",
+    "Set the blue rounded-bottom cup securely on the round coaster with light streaks using the arm.",
+    "Position the medium blue cylindrical cup on the smooth round palm-sized coaster with the arm.",
+    "Move the blue rounded-bottom cup to the grainy texture coaster and set it down.",
+    "Use the arm to set the cup with light blue color on the coaster with circular shape",
+    "Move the plastic cup for drinks to the coaster made of smooth wood",
+    "Align the light blue plastic cup and set it down on the smooth round palm-sized coaster",
+    "Slide the medium blue cylindrical cup onto the round coaster with light streaks",
+    "Position the light blue plastic cup above and drop it on the flat surface gray wooden coaster",
+    "Grab the plastic cup for drinks and set it onto the grainy texture coaster.",
+    "Direct the rounded base blue cup to the flat round wooden coaster and let it rest.",
+    "Drop the cup with light blue color on top of the light gray round grainy coaster.",
+    "Grab the light blue plastic cup and place it over the small coaster with grain texture.",
+    "Use the arm to slide the plastic cup for drinks onto the light gray round grainy coaster.",
+    "Use arm to place the medium-sized plastic blue cup on the grainy texture coaster",
+    "Using the arm, drop the rounded base blue cup onto the small coaster with grain texture.",
+    "Move the cup with smooth plastic surface to the light gray round grainy coaster using the arm.",
+    "Drop the smooth blue drinking cup firmly on the round coaster using arm",
+    "Move the cup for holding liquids onto the round coaster with light streaks with the arm",
+    "Position the cup for holding liquids carefully on the coaster made of smooth wood",
+    "Move the light blue plastic cup using the arm onto the coaster made of smooth wood.",
+    "Grab the rounded base blue cup and lower it onto the coaster made of smooth wood",
+    "Make sure the smooth blue drinking cup ends up on the smooth round palm-sized coaster.",
+    "Lift the cup with light blue color and stick it onto the coaster made of smooth wood.",
+    "Use an arm to drop the medium-sized plastic blue cup on the smooth round palm-sized coaster",
+    "Set the smooth blue cup for liquids carefully onto the flat round wooden coaster",
+    "Set the medium blue cylindrical cup on the flat surface gray wooden coaster using the arm.",
+    "Using the arm, slide the blue rounded-bottom cup onto the wooden coaster.",
+    "Use the arm to position the rounded base blue cup on the round coaster.",
+    "Set the light blue plastic cup down on the light gray streaked wooden coaster",
+    "Set the cylindrical light blue cup onto the wooden coaster using the arm.",
+    "Stick the plastic cup for drinks onto the flat surface gray wooden coaster using the arm",
+    "Stick the smooth blue cup for liquids onto the coaster made of smooth wood carefully.",
+    "Use an arm to place the plastic cup for drinks on the light gray streaked wooden coaster",
+    "Slide the smooth blue cup for liquids onto the coaster made of smooth wood with the arm."
+  ],
+  "unseen": [
+    "Set the blue cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode37.json b/place_empty_cup/demo_clean/instructions/episode37.json
new file mode 100644
index 0000000000000000000000000000000000000000..9327717cd411fe8ef850dd938419fb2de5aa6b4c
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode37.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the cylindrical light blue cup and place it on the wooden coaster.",
+    "Make sure the light blue plastic cup ends up on the small coaster with grain texture.",
+    "Drop the blue rounded-bottom cup on top of the flat surface gray wooden coaster.",
+    "Slide the cup for holding liquids onto the flat surface gray wooden coaster",
+    "Set the cup for holding liquids onto the light gray streaked wooden coaster using the arm.",
+    "Pick the blue rounded-bottom cup up and drop it on the light gray round grainy coaster.",
+    "Set the plastic cup for drinks on the light gray round grainy coaster using the arm.",
+    "Direct the light blue plastic cup to the wooden coaster and let it rest.",
+    "Using the arm, slide the smooth blue cup for liquids onto the round coaster.",
+    "Stick the medium-sized plastic blue cup onto the coaster made of smooth wood using the arm.",
+    "Position the cup for holding liquids on the round coaster with the arm.",
+    "Set the blue rounded-bottom cup down on the light gray round grainy coaster",
+    "Lift the cup for holding liquids up and drop it on the flat surface gray wooden coaster.",
+    "Stick the rounded base blue cup onto the flat round wooden coaster using the arm",
+    "Using the arm, drop the cup with smooth plastic surface onto the flat surface gray wooden coaster.",
+    "Carefully place the cup with light blue color onto the light gray round grainy coaster without arm",
+    "Using the arm, align the cup for holding liquids over the light gray round grainy coaster",
+    "Lift the plastic cup for drinks and stick it onto the grainy texture coaster.",
+    "Use arm to place the cup with smooth plastic surface on the small coaster with grain texture",
+    "Position the cylindrical light blue cup above and drop it on the round coaster with light streaks",
+    "Move the blue rounded-bottom cup to the small coaster with grain texture",
+    "Use an arm to drop the rounded base blue cup on the flat surface gray wooden coaster",
+    "Set the light blue plastic cup securely on the grainy texture coaster using the arm.",
+    "Slide the medium blue cylindrical cup onto the small coaster with grain texture with the arm.",
+    "Move the smooth blue drinking cup to the light gray streaked wooden coaster using the arm.",
+    "Use the arm to put the cup with light blue color onto the light gray round grainy coaster.",
+    "Grab the plastic cup for drinks and set it onto the flat surface gray wooden coaster.",
+    "Stick the cup with smooth plastic surface onto the coaster with circular shape carefully.",
+    "Use the arm to position the blue rounded-bottom cup on the light gray streaked wooden coaster.",
+    "Use the arm to set the smooth blue cup for liquids on the flat surface gray wooden coaster",
+    "Use the arm to position the cup with light blue color onto the round coaster.",
+    "Grab the rounded base blue cup, then place it onto the smooth round palm-sized coaster.",
+    "Move the cup with light blue color onto the flat surface gray wooden coaster with the arm",
+    "Move the light blue plastic cup using the arm onto the wooden coaster.",
+    "Drop the plastic cup for drinks firmly on the grainy texture coaster using arm",
+    "Place the rounded base blue cup on top of the coaster made of smooth wood",
+    "Slide the medium blue cylindrical cup gently onto the wooden coaster via the arm.",
+    "Grab the rounded base blue cup and lower it onto the round coaster with light streaks",
+    "Lift the cup for holding liquids and place it onto the smooth round palm-sized coaster.",
+    "Position the cylindrical light blue cup carefully on the round coaster with light streaks",
+    "Relocate the cylindrical light blue cup precisely onto the light gray streaked wooden coaster with arm",
+    "Set the rounded base blue cup carefully onto the round coaster",
+    "Use an arm to drop the blue rounded-bottom cup on the coaster with circular shape.",
+    "Align the cup with light blue color and set it down on the flat surface gray wooden coaster",
+    "Grab the medium blue cylindrical cup and place it over the coaster with circular shape.",
+    "Move the cup with light blue color to the coaster made of smooth wood and set it down.",
+    "Lift the plastic cup for drinks and place it over the light gray round grainy coaster",
+    "Use an arm to place the smooth blue drinking cup on the wooden coaster",
+    "Use the arm to slide the medium blue cylindrical cup onto the flat surface gray wooden coaster.",
+    "Position the cup for holding liquids squarely on top of the small coaster with grain texture.",
+    "Grab the blue rounded-bottom cup and place it on the light gray round grainy coaster.",
+    "Make sure the cup with light blue color ends up on the round coaster.",
+    "Drop the light blue plastic cup on top of the smooth round palm-sized coaster.",
+    "Slide the cup with light blue color onto the coaster made of smooth wood",
+    "Set the cup for holding liquids onto the coaster with circular shape using the arm.",
+    "Pick the smooth blue cup for liquids up and drop it on the coaster with circular shape.",
+    "Set the medium-sized plastic blue cup on the flat round wooden coaster using the arm.",
+    "Direct the smooth blue drinking cup to the coaster made of smooth wood and let it rest.",
+    "Using the arm, slide the cylindrical light blue cup onto the flat round wooden coaster.",
+    "Stick the plastic cup for drinks onto the round coaster using the arm.",
+    "Position the plastic cup for drinks on the smooth round palm-sized coaster with the arm.",
+    "Set the cup with smooth plastic surface down on the coaster with circular shape",
+    "Lift the cup with light blue color up and drop it on the light gray streaked wooden coaster.",
+    "Stick the cup for holding liquids onto the wooden coaster using the arm",
+    "Using the arm, drop the light blue plastic cup onto the light gray round grainy coaster.",
+    "Carefully place the plastic cup for drinks onto the flat surface gray wooden coaster without arm",
+    "Using the arm, align the medium blue cylindrical cup over the light gray streaked wooden coaster",
+    "Lift the blue rounded-bottom cup and stick it onto the light gray streaked wooden coaster.",
+    "Use arm to place the smooth blue cup for liquids on the small coaster with grain texture",
+    "Position the cup with smooth plastic surface above and drop it on the round coaster",
+    "Move the plastic cup for drinks to the light gray streaked wooden coaster",
+    "Use an arm to drop the medium blue cylindrical cup on the coaster with circular shape",
+    "Set the blue rounded-bottom cup securely on the round coaster using the arm.",
+    "Slide the smooth blue cup for liquids onto the coaster with circular shape with the arm.",
+    "Move the smooth blue drinking cup to the coaster with circular shape using the arm.",
+    "Use the arm to put the light blue plastic cup onto the coaster made of smooth wood.",
+    "Grab the light blue plastic cup and set it onto the flat surface gray wooden coaster.",
+    "Stick the cup for holding liquids onto the light gray round grainy coaster carefully.",
+    "Use the arm to position the smooth blue drinking cup on the round coaster.",
+    "Use the arm to set the medium-sized plastic blue cup on the flat surface gray wooden coaster",
+    "Use the arm to position the medium-sized plastic blue cup onto the small coaster with grain texture.",
+    "Grab the cup with smooth plastic surface, then place it onto the round coaster.",
+    "Move the light blue plastic cup onto the flat round wooden coaster with the arm",
+    "Move the plastic cup for drinks using the arm onto the coaster made of smooth wood.",
+    "Drop the light blue plastic cup firmly on the coaster made of smooth wood using arm",
+    "Place the cylindrical light blue cup on top of the grainy texture coaster",
+    "Slide the cylindrical light blue cup gently onto the flat round wooden coaster via the arm.",
+    "Grab the cylindrical light blue cup and lower it onto the round coaster with light streaks",
+    "Lift the cup for holding liquids and place it onto the flat round wooden coaster.",
+    "Position the plastic cup for drinks carefully on the wooden coaster",
+    "Relocate the rounded base blue cup precisely onto the light gray streaked wooden coaster with arm",
+    "Set the medium-sized plastic blue cup carefully onto the light gray round grainy coaster",
+    "Use an arm to drop the smooth blue drinking cup on the flat surface gray wooden coaster.",
+    "Align the cylindrical light blue cup and set it down on the coaster with circular shape",
+    "Grab the medium-sized plastic blue cup and place it over the coaster with circular shape.",
+    "Move the cylindrical light blue cup to the wooden coaster and set it down.",
+    "Lift the cup for holding liquids and place it over the grainy texture coaster",
+    "Use an arm to place the cup for holding liquids on the light gray round grainy coaster",
+    "Use the arm to slide the medium blue cylindrical cup onto the coaster with circular shape.",
+    "Position the light blue plastic cup squarely on top of the round coaster with light streaks."
+  ],
+  "unseen": [
+    "Place the blue cup onto the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode38.json b/place_empty_cup/demo_clean/instructions/episode38.json
new file mode 100644
index 0000000000000000000000000000000000000000..1927b7819eeb8df27cad17c67014ac81f2efcc38
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode38.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the cup with light blue color onto the light gray round grainy coaster using the arm.",
+    "Place the cup with light blue color on top of the light gray streaked wooden coaster",
+    "Position the smooth blue cup for liquids squarely on top of the wooden coaster.",
+    "Pick the medium blue cylindrical cup up and drop it on the smooth round palm-sized coaster.",
+    "Direct the medium-sized plastic blue cup to the smooth round palm-sized coaster and let it rest.",
+    "Move the rounded base blue cup to the light gray round grainy coaster using the arm.",
+    "Position the light blue plastic cup on the flat surface gray wooden coaster with the arm.",
+    "Lift the cup for holding liquids and place it onto the wooden coaster.",
+    "Use the arm to put the light blue plastic cup onto the wooden coaster.",
+    "Slide the medium-sized plastic blue cup gently onto the round coaster with light streaks via the arm.",
+    "Grab the cup with smooth plastic surface and lower it onto the grainy texture coaster",
+    "Using the arm, drop the cup with light blue color onto the coaster made of smooth wood.",
+    "Lift the cup with light blue color and place it over the coaster made of smooth wood",
+    "Use the arm to position the plastic cup for drinks on the coaster made of smooth wood.",
+    "Use the arm to position the medium blue cylindrical cup onto the round coaster with light streaks.",
+    "Position the rounded base blue cup above and drop it on the grainy texture coaster",
+    "Use an arm to drop the medium blue cylindrical cup on the round coaster",
+    "Grab the cylindrical light blue cup and place it on the light gray round grainy coaster.",
+    "Grab the smooth blue drinking cup, then place it onto the round coaster with light streaks.",
+    "Grab the blue rounded-bottom cup and set it onto the grainy texture coaster.",
+    "Move the smooth blue drinking cup onto the small coaster with grain texture with the arm",
+    "Set the smooth blue drinking cup on the flat round wooden coaster using the arm.",
+    "Use the arm to set the light blue plastic cup on the flat round wooden coaster",
+    "Move the medium-sized plastic blue cup using the arm onto the coaster with circular shape.",
+    "Relocate the smooth blue cup for liquids precisely onto the wooden coaster with arm",
+    "Slide the medium blue cylindrical cup onto the flat round wooden coaster with the arm.",
+    "Set the light blue plastic cup down on the light gray streaked wooden coaster",
+    "Use the arm to slide the smooth blue drinking cup onto the small coaster with grain texture.",
+    "Align the light blue plastic cup and set it down on the coaster with circular shape",
+    "Drop the cylindrical light blue cup on top of the light gray streaked wooden coaster.",
+    "Lift the blue rounded-bottom cup up and drop it on the coaster with circular shape.",
+    "Using the arm, align the light blue plastic cup over the grainy texture coaster",
+    "Carefully place the cup for holding liquids onto the smooth round palm-sized coaster without arm",
+    "Slide the cup for holding liquids onto the flat round wooden coaster",
+    "Make sure the smooth blue cup for liquids ends up on the grainy texture coaster.",
+    "Stick the smooth blue drinking cup onto the smooth round palm-sized coaster using the arm",
+    "Move the cup with smooth plastic surface to the coaster with circular shape and set it down.",
+    "Use an arm to drop the cup for holding liquids on the grainy texture coaster.",
+    "Set the medium-sized plastic blue cup securely on the coaster with circular shape using the arm.",
+    "Stick the smooth blue cup for liquids onto the small coaster with grain texture carefully.",
+    "Drop the cup with smooth plastic surface firmly on the coaster with circular shape using arm",
+    "Using the arm, slide the light blue plastic cup onto the small coaster with grain texture.",
+    "Set the smooth blue cup for liquids carefully onto the flat surface gray wooden coaster",
+    "Position the cup for holding liquids carefully on the flat round wooden coaster",
+    "Use arm to place the cup with light blue color on the small coaster with grain texture",
+    "Lift the medium blue cylindrical cup and stick it onto the flat round wooden coaster.",
+    "Stick the cup for holding liquids onto the smooth round palm-sized coaster using the arm.",
+    "Grab the rounded base blue cup and place it over the light gray round grainy coaster.",
+    "Move the cup for holding liquids to the grainy texture coaster",
+    "Use an arm to place the cup with smooth plastic surface on the coaster made of smooth wood",
+    "Set the rounded base blue cup onto the coaster with circular shape using the arm.",
+    "Place the blue rounded-bottom cup on top of the wooden coaster",
+    "Position the smooth blue cup for liquids squarely on top of the smooth round palm-sized coaster.",
+    "Pick the cup with light blue color up and drop it on the round coaster.",
+    "Direct the medium blue cylindrical cup to the flat surface gray wooden coaster and let it rest.",
+    "Move the light blue plastic cup to the light gray streaked wooden coaster using the arm.",
+    "Position the smooth blue drinking cup on the coaster made of smooth wood with the arm.",
+    "Lift the cup with light blue color and place it onto the coaster with circular shape.",
+    "Use the arm to put the smooth blue drinking cup onto the coaster made of smooth wood.",
+    "Slide the plastic cup for drinks gently onto the coaster made of smooth wood via the arm.",
+    "Grab the medium blue cylindrical cup and lower it onto the round coaster with light streaks",
+    "Using the arm, drop the smooth blue cup for liquids onto the coaster with circular shape.",
+    "Lift the cup with smooth plastic surface and place it over the small coaster with grain texture",
+    "Use the arm to position the cup with light blue color on the flat surface gray wooden coaster.",
+    "Use the arm to position the medium-sized plastic blue cup onto the wooden coaster.",
+    "Position the cup for holding liquids above and drop it on the light gray streaked wooden coaster",
+    "Use an arm to drop the cup with light blue color on the smooth round palm-sized coaster",
+    "Grab the medium-sized plastic blue cup and place it on the round coaster with light streaks.",
+    "Grab the cup with smooth plastic surface, then place it onto the small coaster with grain texture.",
+    "Grab the medium-sized plastic blue cup and set it onto the coaster made of smooth wood.",
+    "Move the cup with smooth plastic surface onto the flat surface gray wooden coaster with the arm",
+    "Set the medium-sized plastic blue cup on the light gray round grainy coaster using the arm.",
+    "Use the arm to set the cylindrical light blue cup on the light gray streaked wooden coaster",
+    "Move the smooth blue cup for liquids using the arm onto the light gray round grainy coaster.",
+    "Relocate the rounded base blue cup precisely onto the small coaster with grain texture with arm",
+    "Slide the rounded base blue cup onto the coaster with circular shape with the arm.",
+    "Set the cylindrical light blue cup down on the coaster with circular shape",
+    "Use the arm to slide the cup with smooth plastic surface onto the coaster with circular shape.",
+    "Align the rounded base blue cup and set it down on the grainy texture coaster",
+    "Drop the light blue plastic cup on top of the round coaster with light streaks.",
+    "Lift the cup for holding liquids up and drop it on the light gray round grainy coaster.",
+    "Using the arm, align the cylindrical light blue cup over the grainy texture coaster",
+    "Carefully place the light blue plastic cup onto the wooden coaster without arm",
+    "Slide the light blue plastic cup onto the round coaster with light streaks",
+    "Make sure the cylindrical light blue cup ends up on the round coaster with light streaks.",
+    "Stick the cup for holding liquids onto the small coaster with grain texture using the arm",
+    "Move the cup for holding liquids to the flat round wooden coaster and set it down.",
+    "Use an arm to drop the cylindrical light blue cup on the grainy texture coaster.",
+    "Set the cup for holding liquids securely on the round coaster using the arm.",
+    "Stick the medium-sized plastic blue cup onto the round coaster carefully.",
+    "Drop the medium blue cylindrical cup firmly on the light gray round grainy coaster using arm",
+    "Using the arm, slide the cup with light blue color onto the flat round wooden coaster.",
+    "Set the medium-sized plastic blue cup carefully onto the coaster made of smooth wood",
+    "Position the medium-sized plastic blue cup carefully on the flat surface gray wooden coaster",
+    "Use arm to place the medium blue cylindrical cup on the small coaster with grain texture",
+    "Lift the cup with light blue color and stick it onto the round coaster.",
+    "Stick the plastic cup for drinks onto the grainy texture coaster using the arm.",
+    "Grab the plastic cup for drinks and place it over the flat surface gray wooden coaster.",
+    "Move the smooth blue drinking cup to the light gray streaked wooden coaster",
+    "Use an arm to place the cup with light blue color on the coaster made of smooth wood"
+  ],
+  "unseen": [
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode39.json b/place_empty_cup/demo_clean/instructions/episode39.json
new file mode 100644
index 0000000000000000000000000000000000000000..41ec7bce61258e1cab97c1da3bf491db5c940b83
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode39.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Slide the medium-sized plastic blue cup gently onto the round coaster with light streaks via the arm.",
+    "Relocate the rounded base blue cup precisely onto the round coaster with arm",
+    "Align the smooth blue cup for liquids and set it down on the small coaster with grain texture",
+    "Use arm to place the rounded base blue cup on the grainy texture coaster",
+    "Slide the cylindrical light blue cup onto the coaster with circular shape",
+    "Use an arm to drop the cup with smooth plastic surface on the grainy texture coaster",
+    "Use the arm to set the medium-sized plastic blue cup on the flat surface gray wooden coaster",
+    "Use the arm to position the cup with smooth plastic surface onto the round coaster.",
+    "Grab the cup for holding liquids and lower it onto the flat surface gray wooden coaster",
+    "Use the arm to position the cylindrical light blue cup on the smooth round palm-sized coaster.",
+    "Slide the smooth blue drinking cup onto the wooden coaster with the arm.",
+    "Grab the cup with smooth plastic surface, then place it onto the wooden coaster.",
+    "Use an arm to place the blue rounded-bottom cup on the light gray streaked wooden coaster",
+    "Stick the smooth blue drinking cup onto the smooth round palm-sized coaster using the arm",
+    "Set the smooth blue drinking cup down on the coaster with circular shape",
+    "Stick the rounded base blue cup onto the light gray round grainy coaster carefully.",
+    "Using the arm, slide the blue rounded-bottom cup onto the coaster with circular shape.",
+    "Stick the cylindrical light blue cup onto the coaster with circular shape using the arm.",
+    "Move the cup with light blue color to the round coaster and set it down.",
+    "Drop the cup for holding liquids firmly on the round coaster using arm",
+    "Pick the cylindrical light blue cup up and drop it on the round coaster with light streaks.",
+    "Make sure the plastic cup for drinks ends up on the flat surface gray wooden coaster.",
+    "Lift the light blue plastic cup and place it over the small coaster with grain texture",
+    "Lift the cup for holding liquids up and drop it on the light gray round grainy coaster.",
+    "Position the cup with light blue color on the small coaster with grain texture with the arm.",
+    "Direct the cup for holding liquids to the wooden coaster and let it rest.",
+    "Grab the blue rounded-bottom cup and set it onto the grainy texture coaster.",
+    "Set the smooth blue drinking cup carefully onto the round coaster",
+    "Drop the medium-sized plastic blue cup on top of the light gray streaked wooden coaster.",
+    "Use the arm to put the cup for holding liquids onto the wooden coaster.",
+    "Move the plastic cup for drinks using the arm onto the smooth round palm-sized coaster.",
+    "Carefully place the plastic cup for drinks onto the light gray round grainy coaster without arm",
+    "Use an arm to drop the rounded base blue cup on the flat round wooden coaster.",
+    "Move the medium-sized plastic blue cup onto the small coaster with grain texture with the arm",
+    "Grab the cup for holding liquids and place it over the small coaster with grain texture.",
+    "Move the medium-sized plastic blue cup to the coaster made of smooth wood",
+    "Using the arm, align the cup with light blue color over the coaster with circular shape",
+    "Use the arm to slide the blue rounded-bottom cup onto the light gray streaked wooden coaster.",
+    "Move the cup for holding liquids to the coaster made of smooth wood using the arm.",
+    "Lift the medium-sized plastic blue cup and stick it onto the flat surface gray wooden coaster.",
+    "Lift the medium blue cylindrical cup and place it onto the round coaster.",
+    "Position the smooth blue drinking cup carefully on the light gray streaked wooden coaster",
+    "Set the rounded base blue cup on the smooth round palm-sized coaster using the arm.",
+    "Using the arm, drop the cylindrical light blue cup onto the wooden coaster.",
+    "Position the cup with light blue color above and drop it on the light gray streaked wooden coaster",
+    "Place the light blue plastic cup on top of the light gray round grainy coaster",
+    "Set the plastic cup for drinks onto the flat surface gray wooden coaster using the arm.",
+    "Grab the plastic cup for drinks and place it on the round coaster with light streaks.",
+    "Position the smooth blue cup for liquids squarely on top of the coaster with circular shape.",
+    "Set the cup with smooth plastic surface securely on the flat surface gray wooden coaster using the arm.",
+    "Slide the rounded base blue cup gently onto the flat surface gray wooden coaster via the arm.",
+    "Relocate the cup with smooth plastic surface precisely onto the coaster with circular shape with arm",
+    "Align the plastic cup for drinks and set it down on the light gray streaked wooden coaster",
+    "Use arm to place the cup for holding liquids on the wooden coaster",
+    "Slide the medium-sized plastic blue cup onto the round coaster with light streaks",
+    "Use an arm to drop the cup with smooth plastic surface on the flat surface gray wooden coaster",
+    "Use the arm to set the smooth blue cup for liquids on the light gray streaked wooden coaster",
+    "Use the arm to position the blue rounded-bottom cup onto the coaster with circular shape.",
+    "Grab the medium blue cylindrical cup and lower it onto the wooden coaster",
+    "Use the arm to position the cup with smooth plastic surface on the flat surface gray wooden coaster.",
+    "Slide the cup for holding liquids onto the small coaster with grain texture with the arm.",
+    "Grab the light blue plastic cup, then place it onto the small coaster with grain texture.",
+    "Use an arm to place the cup for holding liquids on the flat round wooden coaster",
+    "Stick the smooth blue drinking cup onto the smooth round palm-sized coaster using the arm",
+    "Set the light blue plastic cup down on the coaster with circular shape",
+    "Stick the cylindrical light blue cup onto the wooden coaster carefully.",
+    "Using the arm, slide the cup with light blue color onto the light gray round grainy coaster.",
+    "Stick the cup with smooth plastic surface onto the flat round wooden coaster using the arm.",
+    "Move the medium-sized plastic blue cup to the coaster made of smooth wood and set it down.",
+    "Drop the light blue plastic cup firmly on the light gray streaked wooden coaster using arm",
+    "Pick the cup with light blue color up and drop it on the round coaster.",
+    "Make sure the medium blue cylindrical cup ends up on the round coaster.",
+    "Lift the light blue plastic cup and place it over the grainy texture coaster",
+    "Lift the medium blue cylindrical cup up and drop it on the light gray round grainy coaster.",
+    "Position the smooth blue cup for liquids on the grainy texture coaster with the arm.",
+    "Direct the medium-sized plastic blue cup to the small coaster with grain texture and let it rest.",
+    "Grab the rounded base blue cup and set it onto the flat surface gray wooden coaster.",
+    "Set the light blue plastic cup carefully onto the flat round wooden coaster",
+    "Drop the cylindrical light blue cup on top of the flat surface gray wooden coaster.",
+    "Use the arm to put the blue rounded-bottom cup onto the grainy texture coaster.",
+    "Move the cylindrical light blue cup using the arm onto the round coaster with light streaks.",
+    "Carefully place the smooth blue drinking cup onto the light gray streaked wooden coaster without arm",
+    "Use an arm to drop the smooth blue cup for liquids on the round coaster.",
+    "Move the light blue plastic cup onto the round coaster with light streaks with the arm",
+    "Grab the medium blue cylindrical cup and place it over the flat round wooden coaster.",
+    "Move the plastic cup for drinks to the light gray streaked wooden coaster",
+    "Using the arm, align the plastic cup for drinks over the smooth round palm-sized coaster",
+    "Use the arm to slide the cup for holding liquids onto the coaster with circular shape.",
+    "Move the light blue plastic cup to the round coaster using the arm.",
+    "Lift the cylindrical light blue cup and stick it onto the small coaster with grain texture.",
+    "Lift the light blue plastic cup and place it onto the round coaster.",
+    "Position the blue rounded-bottom cup carefully on the wooden coaster",
+    "Set the cup with smooth plastic surface on the smooth round palm-sized coaster using the arm.",
+    "Using the arm, drop the light blue plastic cup onto the flat round wooden coaster.",
+    "Position the cylindrical light blue cup above and drop it on the coaster made of smooth wood",
+    "Place the blue rounded-bottom cup on top of the grainy texture coaster",
+    "Set the medium blue cylindrical cup onto the small coaster with grain texture using the arm.",
+    "Grab the cup for holding liquids and place it on the coaster made of smooth wood.",
+    "Position the medium-sized plastic blue cup squarely on top of the round coaster.",
+    "Set the rounded base blue cup securely on the flat round wooden coaster using the arm."
+  ],
+  "unseen": [
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode4.json b/place_empty_cup/demo_clean/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..45593cd15b6f4ed435b0521d37418620da78eb80
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode4.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Drop the smooth blue drinking cup firmly on the smooth round palm-sized coaster using arm",
+    "Pick the medium blue cylindrical cup up and drop it on the round coaster with light streaks.",
+    "Slide the blue rounded-bottom cup onto the small coaster with grain texture with the arm.",
+    "Lift the medium blue cylindrical cup and stick it onto the small coaster with grain texture.",
+    "Grab the cup for holding liquids and lower it onto the round coaster",
+    "Place the light blue plastic cup on top of the round coaster with light streaks",
+    "Grab the smooth blue drinking cup and place it over the coaster made of smooth wood.",
+    "Position the light blue plastic cup on the grainy texture coaster with the arm.",
+    "Move the cup with light blue color onto the round coaster with the arm",
+    "Set the smooth blue drinking cup securely on the grainy texture coaster using the arm.",
+    "Grab the blue rounded-bottom cup and place it on the coaster made of smooth wood.",
+    "Direct the rounded base blue cup to the round coaster and let it rest.",
+    "Move the rounded base blue cup to the grainy texture coaster",
+    "Position the rounded base blue cup carefully on the flat round wooden coaster",
+    "Use an arm to place the cup for holding liquids on the light gray round grainy coaster",
+    "Use arm to place the smooth blue drinking cup on the round coaster with light streaks",
+    "Move the rounded base blue cup to the grainy texture coaster using the arm.",
+    "Stick the light blue plastic cup onto the wooden coaster using the arm.",
+    "Position the smooth blue drinking cup above and drop it on the coaster made of smooth wood",
+    "Relocate the cup for holding liquids precisely onto the light gray streaked wooden coaster with arm",
+    "Use the arm to position the plastic cup for drinks on the light gray streaked wooden coaster.",
+    "Set the cup with smooth plastic surface down on the small coaster with grain texture",
+    "Align the cup with smooth plastic surface and set it down on the round coaster",
+    "Stick the medium blue cylindrical cup onto the flat surface gray wooden coaster carefully.",
+    "Use the arm to position the cup with light blue color onto the grainy texture coaster.",
+    "Use the arm to slide the cup for holding liquids onto the coaster made of smooth wood.",
+    "Using the arm, drop the cup with smooth plastic surface onto the grainy texture coaster.",
+    "Use the arm to set the medium-sized plastic blue cup on the coaster made of smooth wood",
+    "Drop the plastic cup for drinks on top of the round coaster.",
+    "Move the medium blue cylindrical cup using the arm onto the coaster made of smooth wood.",
+    "Lift the smooth blue drinking cup up and drop it on the wooden coaster.",
+    "Using the arm, align the smooth blue cup for liquids over the coaster with circular shape",
+    "Use an arm to drop the blue rounded-bottom cup on the grainy texture coaster.",
+    "Slide the light blue plastic cup gently onto the smooth round palm-sized coaster via the arm.",
+    "Slide the cup with light blue color onto the smooth round palm-sized coaster",
+    "Carefully place the cup with light blue color onto the flat round wooden coaster without arm",
+    "Move the medium-sized plastic blue cup to the coaster made of smooth wood and set it down.",
+    "Lift the plastic cup for drinks and place it onto the small coaster with grain texture.",
+    "Grab the rounded base blue cup, then place it onto the flat surface gray wooden coaster.",
+    "Stick the plastic cup for drinks onto the coaster made of smooth wood using the arm",
+    "Grab the cup with smooth plastic surface and set it onto the smooth round palm-sized coaster.",
+    "Set the blue rounded-bottom cup on the light gray round grainy coaster using the arm.",
+    "Make sure the smooth blue cup for liquids ends up on the wooden coaster.",
+    "Use an arm to drop the cylindrical light blue cup on the round coaster with light streaks",
+    "Using the arm, slide the smooth blue drinking cup onto the flat round wooden coaster.",
+    "Lift the cup with light blue color and place it over the flat surface gray wooden coaster",
+    "Set the smooth blue cup for liquids carefully onto the light gray round grainy coaster",
+    "Use the arm to put the rounded base blue cup onto the small coaster with grain texture.",
+    "Set the blue rounded-bottom cup onto the flat surface gray wooden coaster using the arm.",
+    "Position the cup for holding liquids squarely on top of the coaster made of smooth wood.",
+    "Drop the plastic cup for drinks firmly on the flat round wooden coaster using arm",
+    "Pick the smooth blue drinking cup up and drop it on the wooden coaster.",
+    "Slide the medium blue cylindrical cup onto the light gray streaked wooden coaster with the arm.",
+    "Lift the cylindrical light blue cup and stick it onto the small coaster with grain texture.",
+    "Grab the light blue plastic cup and lower it onto the flat round wooden coaster",
+    "Place the rounded base blue cup on top of the smooth round palm-sized coaster",
+    "Grab the plastic cup for drinks and place it over the flat surface gray wooden coaster.",
+    "Position the medium-sized plastic blue cup on the round coaster with the arm.",
+    "Move the cylindrical light blue cup onto the coaster with circular shape with the arm",
+    "Set the cup with smooth plastic surface securely on the wooden coaster using the arm.",
+    "Grab the medium-sized plastic blue cup and place it on the round coaster.",
+    "Direct the light blue plastic cup to the flat round wooden coaster and let it rest.",
+    "Move the light blue plastic cup to the wooden coaster",
+    "Position the cylindrical light blue cup carefully on the small coaster with grain texture",
+    "Use an arm to place the plastic cup for drinks on the wooden coaster",
+    "Use arm to place the light blue plastic cup on the wooden coaster",
+    "Move the plastic cup for drinks to the smooth round palm-sized coaster using the arm.",
+    "Stick the cup for holding liquids onto the smooth round palm-sized coaster using the arm.",
+    "Position the light blue plastic cup above and drop it on the wooden coaster",
+    "Relocate the cup with smooth plastic surface precisely onto the wooden coaster with arm",
+    "Use the arm to position the cup with light blue color on the flat round wooden coaster.",
+    "Set the cup with light blue color down on the small coaster with grain texture",
+    "Align the blue rounded-bottom cup and set it down on the coaster with circular shape",
+    "Stick the cup for holding liquids onto the light gray streaked wooden coaster carefully.",
+    "Use the arm to position the cylindrical light blue cup onto the light gray round grainy coaster.",
+    "Use the arm to slide the cylindrical light blue cup onto the flat round wooden coaster.",
+    "Using the arm, drop the smooth blue cup for liquids onto the coaster made of smooth wood.",
+    "Use the arm to set the cup with smooth plastic surface on the flat round wooden coaster",
+    "Drop the blue rounded-bottom cup on top of the grainy texture coaster.",
+    "Move the cup with light blue color using the arm onto the coaster made of smooth wood.",
+    "Lift the light blue plastic cup up and drop it on the light gray round grainy coaster.",
+    "Using the arm, align the cup with smooth plastic surface over the coaster made of smooth wood",
+    "Use an arm to drop the medium-sized plastic blue cup on the coaster with circular shape.",
+    "Slide the medium-sized plastic blue cup gently onto the small coaster with grain texture via the arm.",
+    "Slide the cup with smooth plastic surface onto the coaster with circular shape",
+    "Carefully place the medium-sized plastic blue cup onto the smooth round palm-sized coaster without arm",
+    "Move the cup with smooth plastic surface to the coaster with circular shape and set it down.",
+    "Lift the cylindrical light blue cup and place it onto the coaster with circular shape.",
+    "Grab the smooth blue cup for liquids, then place it onto the small coaster with grain texture.",
+    "Stick the plastic cup for drinks onto the wooden coaster using the arm",
+    "Grab the cup with smooth plastic surface and set it onto the small coaster with grain texture.",
+    "Set the medium blue cylindrical cup on the light gray streaked wooden coaster using the arm.",
+    "Make sure the rounded base blue cup ends up on the wooden coaster.",
+    "Use an arm to drop the cup for holding liquids on the coaster made of smooth wood",
+    "Using the arm, slide the light blue plastic cup onto the wooden coaster.",
+    "Lift the cup with light blue color and place it over the wooden coaster",
+    "Set the rounded base blue cup carefully onto the coaster made of smooth wood",
+    "Use the arm to put the blue rounded-bottom cup onto the round coaster with light streaks.",
+    "Set the cup with light blue color onto the smooth round palm-sized coaster using the arm.",
+    "Position the medium blue cylindrical cup squarely on top of the grainy texture coaster."
+  ],
+  "unseen": [
+    "Place the blue cup onto the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster"
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode40.json b/place_empty_cup/demo_clean/instructions/episode40.json
new file mode 100644
index 0000000000000000000000000000000000000000..58bc0e2ba1afe9b455f39b18fe779534134d9201
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode40.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the smooth blue drinking cup onto the round coaster using the arm.",
+    "Slide the cup with light blue color onto the small coaster with grain texture",
+    "Use the arm to put the light blue plastic cup onto the round coaster.",
+    "Using the arm, align the blue rounded-bottom cup over the wooden coaster",
+    "Position the medium blue cylindrical cup above and drop it on the light gray round grainy coaster",
+    "Grab the medium-sized plastic blue cup and place it over the light gray streaked wooden coaster.",
+    "Use the arm to slide the cup for holding liquids onto the light gray round grainy coaster.",
+    "Position the smooth blue drinking cup squarely on top of the round coaster.",
+    "Stick the light blue plastic cup onto the light gray streaked wooden coaster using the arm.",
+    "Pick the smooth blue cup for liquids up and drop it on the coaster with circular shape.",
+    "Move the light blue plastic cup to the smooth round palm-sized coaster using the arm.",
+    "Stick the smooth blue cup for liquids onto the wooden coaster carefully.",
+    "Drop the light blue plastic cup firmly on the light gray round grainy coaster using arm",
+    "Grab the cup for holding liquids and place it on the flat surface gray wooden coaster.",
+    "Use the arm to position the cup for holding liquids onto the flat round wooden coaster.",
+    "Move the cylindrical light blue cup to the flat surface gray wooden coaster and set it down.",
+    "Align the medium blue cylindrical cup and set it down on the wooden coaster",
+    "Move the medium-sized plastic blue cup using the arm onto the flat surface gray wooden coaster.",
+    "Relocate the medium blue cylindrical cup precisely onto the wooden coaster with arm",
+    "Move the blue rounded-bottom cup onto the round coaster with the arm",
+    "Carefully place the smooth blue drinking cup onto the light gray round grainy coaster without arm",
+    "Direct the cup with smooth plastic surface to the light gray round grainy coaster and let it rest.",
+    "Lift the rounded base blue cup up and drop it on the coaster made of smooth wood.",
+    "Slide the cylindrical light blue cup gently onto the smooth round palm-sized coaster via the arm.",
+    "Use the arm to set the medium-sized plastic blue cup on the wooden coaster",
+    "Set the cylindrical light blue cup down on the coaster with circular shape",
+    "Use an arm to drop the cup with smooth plastic surface on the coaster made of smooth wood.",
+    "Lift the medium blue cylindrical cup and place it over the coaster with circular shape",
+    "Lift the plastic cup for drinks and place it onto the small coaster with grain texture.",
+    "Grab the smooth blue cup for liquids and lower it onto the coaster made of smooth wood",
+    "Use an arm to drop the blue rounded-bottom cup on the round coaster with light streaks",
+    "Set the cup for holding liquids carefully onto the small coaster with grain texture",
+    "Move the blue rounded-bottom cup to the wooden coaster",
+    "Use the arm to position the cup with smooth plastic surface on the small coaster with grain texture.",
+    "Set the smooth blue drinking cup on the coaster made of smooth wood using the arm.",
+    "Grab the light blue plastic cup and set it onto the coaster with circular shape.",
+    "Use arm to place the cup with light blue color on the small coaster with grain texture",
+    "Grab the cup for holding liquids, then place it onto the flat round wooden coaster.",
+    "Position the smooth blue cup for liquids carefully on the round coaster with light streaks",
+    "Position the cup with smooth plastic surface on the smooth round palm-sized coaster with the arm.",
+    "Place the medium blue cylindrical cup on top of the flat surface gray wooden coaster",
+    "Using the arm, drop the medium blue cylindrical cup onto the flat round wooden coaster.",
+    "Make sure the smooth blue drinking cup ends up on the grainy texture coaster.",
+    "Stick the blue rounded-bottom cup onto the light gray round grainy coaster using the arm",
+    "Lift the cylindrical light blue cup and stick it onto the light gray streaked wooden coaster.",
+    "Using the arm, slide the rounded base blue cup onto the round coaster.",
+    "Use an arm to place the blue rounded-bottom cup on the smooth round palm-sized coaster",
+    "Set the cylindrical light blue cup securely on the round coaster with light streaks using the arm.",
+    "Drop the light blue plastic cup on top of the round coaster with light streaks.",
+    "Slide the cylindrical light blue cup onto the flat round wooden coaster with the arm.",
+    "Set the smooth blue cup for liquids onto the flat surface gray wooden coaster using the arm.",
+    "Slide the plastic cup for drinks onto the small coaster with grain texture",
+    "Use the arm to put the smooth blue drinking cup onto the small coaster with grain texture.",
+    "Using the arm, align the cup with smooth plastic surface over the flat round wooden coaster",
+    "Position the rounded base blue cup above and drop it on the wooden coaster",
+    "Grab the rounded base blue cup and place it over the flat round wooden coaster.",
+    "Use the arm to slide the smooth blue drinking cup onto the wooden coaster.",
+    "Position the cup for holding liquids squarely on top of the flat round wooden coaster.",
+    "Stick the medium-sized plastic blue cup onto the grainy texture coaster using the arm.",
+    "Pick the blue rounded-bottom cup up and drop it on the round coaster with light streaks.",
+    "Move the cup with smooth plastic surface to the coaster with circular shape using the arm.",
+    "Stick the cup with light blue color onto the light gray streaked wooden coaster carefully.",
+    "Drop the cup with smooth plastic surface firmly on the light gray round grainy coaster using arm",
+    "Grab the smooth blue drinking cup and place it on the light gray round grainy coaster.",
+    "Use the arm to position the medium-sized plastic blue cup onto the wooden coaster.",
+    "Move the medium blue cylindrical cup to the small coaster with grain texture and set it down.",
+    "Align the light blue plastic cup and set it down on the coaster made of smooth wood",
+    "Move the cylindrical light blue cup using the arm onto the coaster made of smooth wood.",
+    "Relocate the medium-sized plastic blue cup precisely onto the small coaster with grain texture with arm",
+    "Move the rounded base blue cup onto the coaster with circular shape with the arm",
+    "Carefully place the light blue plastic cup onto the round coaster without arm",
+    "Direct the blue rounded-bottom cup to the grainy texture coaster and let it rest.",
+    "Lift the plastic cup for drinks up and drop it on the round coaster with light streaks.",
+    "Slide the light blue plastic cup gently onto the light gray round grainy coaster via the arm.",
+    "Use the arm to set the light blue plastic cup on the coaster made of smooth wood",
+    "Set the medium blue cylindrical cup down on the small coaster with grain texture",
+    "Use an arm to drop the cylindrical light blue cup on the coaster with circular shape.",
+    "Lift the light blue plastic cup and place it over the round coaster",
+    "Lift the cup with light blue color and place it onto the smooth round palm-sized coaster.",
+    "Grab the plastic cup for drinks and lower it onto the smooth round palm-sized coaster",
+    "Use an arm to drop the smooth blue drinking cup on the flat round wooden coaster",
+    "Set the light blue plastic cup carefully onto the coaster with circular shape",
+    "Move the cup for holding liquids to the coaster with circular shape",
+    "Use the arm to position the light blue plastic cup on the round coaster.",
+    "Set the medium blue cylindrical cup on the light gray streaked wooden coaster using the arm.",
+    "Grab the cylindrical light blue cup and set it onto the wooden coaster.",
+    "Use arm to place the smooth blue drinking cup on the flat surface gray wooden coaster",
+    "Grab the smooth blue cup for liquids, then place it onto the coaster made of smooth wood.",
+    "Position the cup with light blue color carefully on the round coaster",
+    "Position the light blue plastic cup on the coaster with circular shape with the arm.",
+    "Place the cylindrical light blue cup on top of the grainy texture coaster",
+    "Using the arm, drop the rounded base blue cup onto the round coaster.",
+    "Make sure the smooth blue cup for liquids ends up on the round coaster with light streaks.",
+    "Stick the cylindrical light blue cup onto the light gray streaked wooden coaster using the arm",
+    "Lift the cylindrical light blue cup and stick it onto the flat round wooden coaster.",
+    "Using the arm, slide the blue rounded-bottom cup onto the smooth round palm-sized coaster.",
+    "Use an arm to place the rounded base blue cup on the wooden coaster",
+    "Set the cylindrical light blue cup securely on the grainy texture coaster using the arm.",
+    "Drop the smooth blue cup for liquids on top of the coaster made of smooth wood.",
+    "Slide the medium blue cylindrical cup onto the smooth round palm-sized coaster with the arm."
+  ],
+  "unseen": [
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode41.json b/place_empty_cup/demo_clean/instructions/episode41.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e4529a94b1cbf5a038a4e50a9ee43e90961f787
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode41.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the medium-sized plastic blue cup and set it onto the small coaster with grain texture.",
+    "Place the medium blue cylindrical cup on top of the round coaster with light streaks",
+    "Drop the cup for holding liquids on top of the round coaster with light streaks.",
+    "Stick the cup with light blue color onto the coaster with circular shape using the arm",
+    "Move the medium-sized plastic blue cup using the arm onto the light gray round grainy coaster.",
+    "Move the cup with smooth plastic surface to the coaster with circular shape and set it down.",
+    "Lift the light blue plastic cup and place it onto the round coaster with light streaks.",
+    "Using the arm, slide the cup with light blue color onto the coaster with circular shape.",
+    "Stick the blue rounded-bottom cup onto the flat surface gray wooden coaster using the arm.",
+    "Use arm to place the blue rounded-bottom cup on the coaster with circular shape",
+    "Move the blue rounded-bottom cup onto the wooden coaster with the arm",
+    "Grab the cup with smooth plastic surface and place it on the wooden coaster.",
+    "Use an arm to drop the light blue plastic cup on the round coaster",
+    "Make sure the rounded base blue cup ends up on the wooden coaster.",
+    "Direct the smooth blue drinking cup to the light gray streaked wooden coaster and let it rest.",
+    "Position the rounded base blue cup squarely on top of the flat surface gray wooden coaster.",
+    "Position the rounded base blue cup above and drop it on the smooth round palm-sized coaster",
+    "Carefully place the medium blue cylindrical cup onto the flat round wooden coaster without arm",
+    "Move the cup with light blue color to the flat round wooden coaster",
+    "Use the arm to set the plastic cup for drinks on the smooth round palm-sized coaster",
+    "Grab the smooth blue cup for liquids and place it over the flat surface gray wooden coaster.",
+    "Stick the smooth blue drinking cup onto the coaster with circular shape carefully.",
+    "Slide the light blue plastic cup onto the round coaster with light streaks",
+    "Use the arm to position the smooth blue drinking cup on the coaster with circular shape.",
+    "Use the arm to position the blue rounded-bottom cup onto the smooth round palm-sized coaster.",
+    "Grab the cup for holding liquids, then place it onto the round coaster with light streaks.",
+    "Position the smooth blue drinking cup carefully on the smooth round palm-sized coaster",
+    "Set the medium blue cylindrical cup onto the smooth round palm-sized coaster using the arm.",
+    "Relocate the cup with smooth plastic surface precisely onto the light gray round grainy coaster with arm",
+    "Grab the smooth blue cup for liquids and lower it onto the smooth round palm-sized coaster",
+    "Set the cup with smooth plastic surface down on the round coaster with light streaks",
+    "Set the blue rounded-bottom cup on the coaster made of smooth wood using the arm.",
+    "Move the cup for holding liquids to the flat round wooden coaster using the arm.",
+    "Using the arm, align the medium-sized plastic blue cup over the coaster made of smooth wood",
+    "Use an arm to place the smooth blue drinking cup on the flat round wooden coaster",
+    "Set the medium-sized plastic blue cup securely on the wooden coaster using the arm.",
+    "Lift the smooth blue drinking cup and place it over the light gray round grainy coaster",
+    "Align the cup with light blue color and set it down on the wooden coaster",
+    "Use the arm to slide the cup with smooth plastic surface onto the flat surface gray wooden coaster.",
+    "Using the arm, drop the smooth blue cup for liquids onto the coaster with circular shape.",
+    "Set the light blue plastic cup carefully onto the small coaster with grain texture",
+    "Slide the cup for holding liquids onto the smooth round palm-sized coaster with the arm.",
+    "Lift the smooth blue drinking cup and stick it onto the wooden coaster.",
+    "Position the plastic cup for drinks on the grainy texture coaster with the arm.",
+    "Drop the cup with smooth plastic surface firmly on the coaster made of smooth wood using arm",
+    "Pick the cup with light blue color up and drop it on the light gray streaked wooden coaster.",
+    "Use the arm to put the medium blue cylindrical cup onto the wooden coaster.",
+    "Slide the cup for holding liquids gently onto the coaster made of smooth wood via the arm.",
+    "Lift the cylindrical light blue cup up and drop it on the small coaster with grain texture.",
+    "Use an arm to drop the rounded base blue cup on the grainy texture coaster.",
+    "Grab the smooth blue drinking cup and set it onto the round coaster.",
+    "Place the cylindrical light blue cup on top of the round coaster",
+    "Drop the cup for holding liquids on top of the flat round wooden coaster.",
+    "Stick the rounded base blue cup onto the coaster with circular shape using the arm",
+    "Move the cup with smooth plastic surface using the arm onto the wooden coaster.",
+    "Move the cup for holding liquids to the flat round wooden coaster and set it down.",
+    "Lift the smooth blue drinking cup and place it onto the coaster made of smooth wood.",
+    "Using the arm, slide the rounded base blue cup onto the flat surface gray wooden coaster.",
+    "Stick the medium blue cylindrical cup onto the flat surface gray wooden coaster using the arm.",
+    "Use arm to place the medium blue cylindrical cup on the light gray round grainy coaster",
+    "Move the smooth blue cup for liquids onto the coaster made of smooth wood with the arm",
+    "Grab the cylindrical light blue cup and place it on the round coaster with light streaks.",
+    "Use an arm to drop the cup with light blue color on the round coaster",
+    "Make sure the cylindrical light blue cup ends up on the light gray streaked wooden coaster.",
+    "Direct the cup with smooth plastic surface to the smooth round palm-sized coaster and let it rest.",
+    "Position the cylindrical light blue cup squarely on top of the grainy texture coaster.",
+    "Position the smooth blue cup for liquids above and drop it on the flat round wooden coaster",
+    "Carefully place the light blue plastic cup onto the round coaster with light streaks without arm",
+    "Move the light blue plastic cup to the smooth round palm-sized coaster",
+    "Use the arm to set the medium-sized plastic blue cup on the light gray streaked wooden coaster",
+    "Grab the smooth blue cup for liquids and place it over the light gray streaked wooden coaster.",
+    "Stick the medium blue cylindrical cup onto the flat surface gray wooden coaster carefully.",
+    "Slide the cup with light blue color onto the small coaster with grain texture",
+    "Use the arm to position the smooth blue cup for liquids on the round coaster.",
+    "Use the arm to position the cylindrical light blue cup onto the grainy texture coaster.",
+    "Grab the plastic cup for drinks, then place it onto the flat surface gray wooden coaster.",
+    "Position the cup with light blue color carefully on the grainy texture coaster",
+    "Set the medium-sized plastic blue cup onto the wooden coaster using the arm.",
+    "Relocate the medium blue cylindrical cup precisely onto the flat surface gray wooden coaster with arm",
+    "Grab the smooth blue cup for liquids and lower it onto the round coaster with light streaks",
+    "Set the medium-sized plastic blue cup down on the grainy texture coaster",
+    "Set the cup with smooth plastic surface on the light gray round grainy coaster using the arm.",
+    "Move the medium blue cylindrical cup to the smooth round palm-sized coaster using the arm.",
+    "Using the arm, align the cylindrical light blue cup over the smooth round palm-sized coaster",
+    "Use an arm to place the smooth blue drinking cup on the light gray streaked wooden coaster",
+    "Set the smooth blue drinking cup securely on the small coaster with grain texture using the arm.",
+    "Lift the rounded base blue cup and place it over the light gray streaked wooden coaster",
+    "Align the medium-sized plastic blue cup and set it down on the small coaster with grain texture",
+    "Use the arm to slide the light blue plastic cup onto the flat round wooden coaster.",
+    "Using the arm, drop the medium-sized plastic blue cup onto the flat round wooden coaster.",
+    "Set the cup for holding liquids carefully onto the wooden coaster",
+    "Slide the medium-sized plastic blue cup onto the round coaster with light streaks with the arm.",
+    "Lift the plastic cup for drinks and stick it onto the smooth round palm-sized coaster.",
+    "Position the medium-sized plastic blue cup on the round coaster with the arm.",
+    "Drop the blue rounded-bottom cup firmly on the flat round wooden coaster using arm",
+    "Pick the cylindrical light blue cup up and drop it on the flat surface gray wooden coaster.",
+    "Use the arm to put the smooth blue cup for liquids onto the light gray round grainy coaster.",
+    "Slide the smooth blue drinking cup gently onto the coaster with circular shape via the arm.",
+    "Lift the smooth blue drinking cup up and drop it on the smooth round palm-sized coaster.",
+    "Use an arm to drop the medium-sized plastic blue cup on the light gray streaked wooden coaster."
+  ],
+  "unseen": [
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode42.json b/place_empty_cup/demo_clean/instructions/episode42.json
new file mode 100644
index 0000000000000000000000000000000000000000..765a32a8931997d7a279201503440def8885c40c
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode42.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the arm, slide the cylindrical light blue cup onto the light gray round grainy coaster.",
+    "Set the smooth blue drinking cup securely on the coaster made of smooth wood using the arm.",
+    "Using the arm, align the cup with light blue color over the smooth round palm-sized coaster",
+    "Position the smooth blue cup for liquids above and drop it on the coaster made of smooth wood",
+    "Stick the cup for holding liquids onto the wooden coaster using the arm.",
+    "Grab the cup for holding liquids, then place it onto the grainy texture coaster.",
+    "Drop the smooth blue cup for liquids firmly on the light gray round grainy coaster using arm",
+    "Lift the medium-sized plastic blue cup and stick it onto the wooden coaster.",
+    "Slide the smooth blue drinking cup gently onto the round coaster via the arm.",
+    "Place the light blue plastic cup on top of the flat round wooden coaster",
+    "Set the cup for holding liquids down on the small coaster with grain texture",
+    "Lift the plastic cup for drinks and place it over the round coaster",
+    "Use the arm to set the plastic cup for drinks on the round coaster",
+    "Slide the medium-sized plastic blue cup onto the grainy texture coaster",
+    "Set the smooth blue cup for liquids on the round coaster with light streaks using the arm.",
+    "Grab the cup for holding liquids and place it on the coaster made of smooth wood.",
+    "Grab the medium-sized plastic blue cup and set it onto the flat round wooden coaster.",
+    "Direct the smooth blue cup for liquids to the grainy texture coaster and let it rest.",
+    "Move the light blue plastic cup to the round coaster with light streaks using the arm.",
+    "Position the blue rounded-bottom cup on the light gray round grainy coaster with the arm.",
+    "Move the cylindrical light blue cup onto the coaster with circular shape with the arm",
+    "Drop the smooth blue cup for liquids on top of the wooden coaster.",
+    "Carefully place the medium-sized plastic blue cup onto the smooth round palm-sized coaster without arm",
+    "Lift the smooth blue cup for liquids and place it onto the round coaster.",
+    "Use the arm to position the cup with smooth plastic surface onto the wooden coaster.",
+    "Use the arm to put the blue rounded-bottom cup onto the wooden coaster.",
+    "Slide the smooth blue cup for liquids onto the flat surface gray wooden coaster with the arm.",
+    "Using the arm, drop the light blue plastic cup onto the wooden coaster.",
+    "Use an arm to drop the light blue plastic cup on the flat round wooden coaster.",
+    "Set the light blue plastic cup carefully onto the flat surface gray wooden coaster",
+    "Use an arm to drop the medium-sized plastic blue cup on the grainy texture coaster",
+    "Stick the medium blue cylindrical cup onto the flat round wooden coaster using the arm",
+    "Use an arm to place the plastic cup for drinks on the wooden coaster",
+    "Use arm to place the medium blue cylindrical cup on the light gray streaked wooden coaster",
+    "Grab the blue rounded-bottom cup and lower it onto the round coaster with light streaks",
+    "Move the smooth blue cup for liquids using the arm onto the light gray round grainy coaster.",
+    "Relocate the cup for holding liquids precisely onto the flat round wooden coaster with arm",
+    "Set the smooth blue drinking cup onto the light gray round grainy coaster using the arm.",
+    "Lift the medium-sized plastic blue cup up and drop it on the light gray streaked wooden coaster.",
+    "Use the arm to position the light blue plastic cup on the flat surface gray wooden coaster.",
+    "Position the medium blue cylindrical cup squarely on top of the coaster with circular shape.",
+    "Move the cup with smooth plastic surface to the flat surface gray wooden coaster",
+    "Stick the cup with smooth plastic surface onto the smooth round palm-sized coaster carefully.",
+    "Pick the plastic cup for drinks up and drop it on the small coaster with grain texture.",
+    "Make sure the light blue plastic cup ends up on the light gray round grainy coaster.",
+    "Move the cup with light blue color to the wooden coaster and set it down.",
+    "Grab the light blue plastic cup and place it over the coaster with circular shape.",
+    "Align the light blue plastic cup and set it down on the small coaster with grain texture",
+    "Position the plastic cup for drinks carefully on the grainy texture coaster",
+    "Use the arm to slide the cup with smooth plastic surface onto the grainy texture coaster.",
+    "Using the arm, slide the light blue plastic cup onto the flat round wooden coaster.",
+    "Set the cylindrical light blue cup securely on the light gray streaked wooden coaster using the arm.",
+    "Using the arm, align the smooth blue cup for liquids over the smooth round palm-sized coaster",
+    "Position the blue rounded-bottom cup above and drop it on the light gray streaked wooden coaster",
+    "Stick the smooth blue drinking cup onto the round coaster with light streaks using the arm.",
+    "Grab the medium blue cylindrical cup, then place it onto the flat surface gray wooden coaster.",
+    "Drop the cup with smooth plastic surface firmly on the light gray round grainy coaster using arm",
+    "Lift the medium blue cylindrical cup and stick it onto the flat round wooden coaster.",
+    "Slide the medium blue cylindrical cup gently onto the small coaster with grain texture via the arm.",
+    "Place the cup with light blue color on top of the round coaster with light streaks",
+    "Set the medium-sized plastic blue cup down on the coaster with circular shape",
+    "Lift the smooth blue drinking cup and place it over the round coaster",
+    "Use the arm to set the smooth blue cup for liquids on the light gray round grainy coaster",
+    "Slide the medium blue cylindrical cup onto the round coaster",
+    "Set the smooth blue drinking cup on the round coaster using the arm.",
+    "Grab the cylindrical light blue cup and place it on the coaster with circular shape.",
+    "Grab the smooth blue drinking cup and set it onto the flat surface gray wooden coaster.",
+    "Direct the cup with light blue color to the light gray round grainy coaster and let it rest.",
+    "Move the cylindrical light blue cup to the smooth round palm-sized coaster using the arm.",
+    "Position the rounded base blue cup on the wooden coaster with the arm.",
+    "Move the rounded base blue cup onto the round coaster with light streaks with the arm",
+    "Drop the rounded base blue cup on top of the wooden coaster.",
+    "Carefully place the light blue plastic cup onto the small coaster with grain texture without arm",
+    "Lift the cylindrical light blue cup and place it onto the smooth round palm-sized coaster.",
+    "Use the arm to position the plastic cup for drinks onto the coaster with circular shape.",
+    "Use the arm to put the cylindrical light blue cup onto the wooden coaster.",
+    "Slide the smooth blue drinking cup onto the wooden coaster with the arm.",
+    "Using the arm, drop the cup with light blue color onto the grainy texture coaster.",
+    "Use an arm to drop the smooth blue drinking cup on the wooden coaster.",
+    "Set the rounded base blue cup carefully onto the small coaster with grain texture",
+    "Use an arm to drop the medium-sized plastic blue cup on the round coaster with light streaks",
+    "Stick the cup with light blue color onto the smooth round palm-sized coaster using the arm",
+    "Use an arm to place the plastic cup for drinks on the grainy texture coaster",
+    "Use arm to place the smooth blue drinking cup on the light gray streaked wooden coaster",
+    "Grab the smooth blue cup for liquids and lower it onto the flat round wooden coaster",
+    "Move the smooth blue cup for liquids using the arm onto the round coaster.",
+    "Relocate the cup for holding liquids precisely onto the round coaster with light streaks with arm",
+    "Set the smooth blue drinking cup onto the smooth round palm-sized coaster using the arm.",
+    "Lift the light blue plastic cup up and drop it on the light gray streaked wooden coaster.",
+    "Use the arm to position the blue rounded-bottom cup on the round coaster.",
+    "Position the blue rounded-bottom cup squarely on top of the round coaster.",
+    "Move the smooth blue drinking cup to the round coaster with light streaks",
+    "Stick the blue rounded-bottom cup onto the round coaster carefully.",
+    "Pick the medium-sized plastic blue cup up and drop it on the coaster made of smooth wood.",
+    "Make sure the plastic cup for drinks ends up on the smooth round palm-sized coaster.",
+    "Move the cup with light blue color to the wooden coaster and set it down.",
+    "Grab the rounded base blue cup and place it over the small coaster with grain texture.",
+    "Align the cylindrical light blue cup and set it down on the wooden coaster",
+    "Position the rounded base blue cup carefully on the small coaster with grain texture",
+    "Use the arm to slide the smooth blue cup for liquids onto the flat round wooden coaster."
+  ],
+  "unseen": [
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode43.json b/place_empty_cup/demo_clean/instructions/episode43.json
new file mode 100644
index 0000000000000000000000000000000000000000..90e094b55b4efbf41d68029f19c7f1d914a0a5fe
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode43.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Direct the medium blue cylindrical cup to the round coaster with light streaks and let it rest.",
+    "Stick the medium blue cylindrical cup onto the coaster made of smooth wood using the arm",
+    "Set the smooth blue cup for liquids on the round coaster using the arm.",
+    "Place the rounded base blue cup on top of the light gray streaked wooden coaster",
+    "Move the light blue plastic cup to the light gray streaked wooden coaster using the arm.",
+    "Lift the plastic cup for drinks up and drop it on the flat surface gray wooden coaster.",
+    "Drop the medium blue cylindrical cup on top of the round coaster with light streaks.",
+    "Move the smooth blue cup for liquids using the arm onto the wooden coaster.",
+    "Set the cup with smooth plastic surface onto the round coaster with light streaks using the arm.",
+    "Move the blue rounded-bottom cup to the wooden coaster",
+    "Using the arm, align the smooth blue cup for liquids over the flat surface gray wooden coaster",
+    "Set the light blue plastic cup securely on the coaster with circular shape using the arm.",
+    "Slide the rounded base blue cup onto the flat surface gray wooden coaster",
+    "Slide the smooth blue drinking cup onto the light gray round grainy coaster with the arm.",
+    "Grab the light blue plastic cup, then place it onto the coaster made of smooth wood.",
+    "Position the cup for holding liquids above and drop it on the small coaster with grain texture",
+    "Use the arm to position the plastic cup for drinks onto the coaster with circular shape.",
+    "Using the arm, slide the cup with light blue color onto the grainy texture coaster.",
+    "Grab the rounded base blue cup and set it onto the light gray round grainy coaster.",
+    "Use arm to place the smooth blue drinking cup on the small coaster with grain texture",
+    "Stick the cup with smooth plastic surface onto the coaster made of smooth wood using the arm.",
+    "Pick the blue rounded-bottom cup up and drop it on the coaster made of smooth wood.",
+    "Use the arm to position the medium-sized plastic blue cup on the smooth round palm-sized coaster.",
+    "Slide the medium-sized plastic blue cup gently onto the flat round wooden coaster via the arm.",
+    "Lift the blue rounded-bottom cup and stick it onto the light gray streaked wooden coaster.",
+    "Lift the cup with smooth plastic surface and place it onto the round coaster.",
+    "Grab the cup for holding liquids and lower it onto the round coaster with light streaks",
+    "Position the blue rounded-bottom cup on the coaster with circular shape with the arm.",
+    "Grab the light blue plastic cup and place it on the smooth round palm-sized coaster.",
+    "Position the light blue plastic cup carefully on the round coaster",
+    "Set the blue rounded-bottom cup down on the grainy texture coaster",
+    "Using the arm, drop the medium blue cylindrical cup onto the coaster with circular shape.",
+    "Position the cup for holding liquids squarely on top of the coaster made of smooth wood.",
+    "Use an arm to place the cup with smooth plastic surface on the coaster made of smooth wood",
+    "Relocate the blue rounded-bottom cup precisely onto the flat surface gray wooden coaster with arm",
+    "Make sure the blue rounded-bottom cup ends up on the wooden coaster.",
+    "Drop the plastic cup for drinks firmly on the flat round wooden coaster using arm",
+    "Move the medium-sized plastic blue cup onto the coaster made of smooth wood with the arm",
+    "Lift the medium-sized plastic blue cup and place it over the light gray streaked wooden coaster",
+    "Use an arm to drop the medium-sized plastic blue cup on the smooth round palm-sized coaster",
+    "Carefully place the plastic cup for drinks onto the coaster with circular shape without arm",
+    "Set the medium blue cylindrical cup carefully onto the coaster with circular shape",
+    "Align the cup for holding liquids and set it down on the light gray round grainy coaster",
+    "Use the arm to put the cup for holding liquids onto the round coaster with light streaks.",
+    "Stick the cup with smooth plastic surface onto the flat round wooden coaster carefully.",
+    "Use the arm to slide the medium-sized plastic blue cup onto the round coaster with light streaks.",
+    "Use an arm to drop the cup with smooth plastic surface on the flat round wooden coaster.",
+    "Use the arm to set the blue rounded-bottom cup on the wooden coaster",
+    "Grab the cup for holding liquids and place it over the grainy texture coaster.",
+    "Move the cup with light blue color to the coaster made of smooth wood and set it down.",
+    "Direct the smooth blue drinking cup to the small coaster with grain texture and let it rest.",
+    "Stick the smooth blue drinking cup onto the round coaster with light streaks using the arm",
+    "Set the blue rounded-bottom cup on the small coaster with grain texture using the arm.",
+    "Place the cup with smooth plastic surface on top of the light gray streaked wooden coaster",
+    "Move the medium-sized plastic blue cup to the round coaster with light streaks using the arm.",
+    "Lift the cup for holding liquids up and drop it on the flat surface gray wooden coaster.",
+    "Drop the blue rounded-bottom cup on top of the round coaster with light streaks.",
+    "Move the cylindrical light blue cup using the arm onto the smooth round palm-sized coaster.",
+    "Set the cup for holding liquids onto the flat round wooden coaster using the arm.",
+    "Move the smooth blue cup for liquids to the coaster made of smooth wood",
+    "Using the arm, align the smooth blue cup for liquids over the round coaster with light streaks",
+    "Set the smooth blue drinking cup securely on the grainy texture coaster using the arm.",
+    "Slide the blue rounded-bottom cup onto the coaster made of smooth wood",
+    "Slide the rounded base blue cup onto the wooden coaster with the arm.",
+    "Grab the medium blue cylindrical cup, then place it onto the small coaster with grain texture.",
+    "Position the medium blue cylindrical cup above and drop it on the light gray streaked wooden coaster",
+    "Use the arm to position the cup with light blue color onto the round coaster.",
+    "Using the arm, slide the cup with smooth plastic surface onto the light gray streaked wooden coaster.",
+    "Grab the medium blue cylindrical cup and set it onto the round coaster with light streaks.",
+    "Use arm to place the smooth blue cup for liquids on the wooden coaster",
+    "Stick the smooth blue drinking cup onto the smooth round palm-sized coaster using the arm.",
+    "Pick the cylindrical light blue cup up and drop it on the light gray streaked wooden coaster.",
+    "Use the arm to position the cup with smooth plastic surface on the small coaster with grain texture.",
+    "Slide the rounded base blue cup gently onto the light gray streaked wooden coaster via the arm.",
+    "Lift the plastic cup for drinks and stick it onto the grainy texture coaster.",
+    "Lift the light blue plastic cup and place it onto the small coaster with grain texture.",
+    "Grab the medium blue cylindrical cup and lower it onto the coaster made of smooth wood",
+    "Position the cup with light blue color on the smooth round palm-sized coaster with the arm.",
+    "Grab the cup for holding liquids and place it on the round coaster with light streaks.",
+    "Position the medium-sized plastic blue cup carefully on the smooth round palm-sized coaster",
+    "Set the cylindrical light blue cup down on the flat surface gray wooden coaster",
+    "Using the arm, drop the blue rounded-bottom cup onto the coaster with circular shape.",
+    "Position the medium blue cylindrical cup squarely on top of the smooth round palm-sized coaster.",
+    "Use an arm to place the cup with smooth plastic surface on the round coaster with light streaks",
+    "Relocate the cup with light blue color precisely onto the grainy texture coaster with arm",
+    "Make sure the plastic cup for drinks ends up on the grainy texture coaster.",
+    "Drop the plastic cup for drinks firmly on the light gray round grainy coaster using arm",
+    "Move the medium-sized plastic blue cup onto the flat surface gray wooden coaster with the arm",
+    "Lift the medium-sized plastic blue cup and place it over the light gray round grainy coaster",
+    "Use an arm to drop the smooth blue drinking cup on the flat surface gray wooden coaster",
+    "Carefully place the plastic cup for drinks onto the wooden coaster without arm",
+    "Set the rounded base blue cup carefully onto the wooden coaster",
+    "Align the cylindrical light blue cup and set it down on the round coaster with light streaks",
+    "Use the arm to put the cylindrical light blue cup onto the coaster made of smooth wood.",
+    "Stick the cup with smooth plastic surface onto the coaster made of smooth wood carefully.",
+    "Use the arm to slide the medium-sized plastic blue cup onto the small coaster with grain texture.",
+    "Use an arm to drop the smooth blue drinking cup on the light gray round grainy coaster.",
+    "Use the arm to set the cup with light blue color on the grainy texture coaster",
+    "Grab the cylindrical light blue cup and place it over the coaster made of smooth wood.",
+    "Move the cup with light blue color to the wooden coaster and set it down."
+  ],
+  "unseen": [
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster"
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode44.json b/place_empty_cup/demo_clean/instructions/episode44.json
new file mode 100644
index 0000000000000000000000000000000000000000..82f25f11f6c240649f05a5b75286869a654cf3cb
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode44.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the arm, slide the cup with light blue color onto the grainy texture coaster.",
+    "Using the arm, align the smooth blue cup for liquids over the light gray streaked wooden coaster",
+    "Use arm to place the cylindrical light blue cup on the coaster with circular shape",
+    "Stick the cup with smooth plastic surface onto the coaster made of smooth wood using the arm.",
+    "Set the cup with light blue color onto the grainy texture coaster using the arm.",
+    "Grab the smooth blue cup for liquids and place it on the light gray round grainy coaster.",
+    "Use the arm to position the cylindrical light blue cup onto the smooth round palm-sized coaster.",
+    "Using the arm, drop the light blue plastic cup onto the wooden coaster.",
+    "Relocate the cup for holding liquids precisely onto the flat round wooden coaster with arm",
+    "Move the medium blue cylindrical cup onto the light gray streaked wooden coaster with the arm",
+    "Use the arm to put the cup for holding liquids onto the light gray streaked wooden coaster.",
+    "Slide the blue rounded-bottom cup onto the round coaster",
+    "Use an arm to drop the cup with light blue color on the flat surface gray wooden coaster",
+    "Stick the blue rounded-bottom cup onto the coaster with circular shape carefully.",
+    "Use the arm to slide the cup for holding liquids onto the flat round wooden coaster.",
+    "Move the cup for holding liquids to the grainy texture coaster",
+    "Grab the cup with smooth plastic surface, then place it onto the small coaster with grain texture.",
+    "Slide the cup with light blue color gently onto the round coaster via the arm.",
+    "Lift the rounded base blue cup and place it over the coaster made of smooth wood",
+    "Carefully place the cup with light blue color onto the coaster with circular shape without arm",
+    "Align the blue rounded-bottom cup and set it down on the round coaster",
+    "Set the smooth blue cup for liquids on the coaster with circular shape using the arm.",
+    "Stick the medium-sized plastic blue cup onto the small coaster with grain texture using the arm",
+    "Grab the medium blue cylindrical cup and set it onto the light gray round grainy coaster.",
+    "Lift the blue rounded-bottom cup up and drop it on the grainy texture coaster.",
+    "Pick the medium-sized plastic blue cup up and drop it on the round coaster with light streaks.",
+    "Grab the smooth blue drinking cup and lower it onto the smooth round palm-sized coaster",
+    "Drop the light blue plastic cup firmly on the light gray streaked wooden coaster using arm",
+    "Position the cup with light blue color above and drop it on the coaster with circular shape",
+    "Make sure the cup for holding liquids ends up on the wooden coaster.",
+    "Use the arm to position the medium-sized plastic blue cup on the round coaster.",
+    "Move the smooth blue drinking cup using the arm onto the flat round wooden coaster.",
+    "Direct the light blue plastic cup to the light gray streaked wooden coaster and let it rest.",
+    "Move the light blue plastic cup to the light gray round grainy coaster and set it down.",
+    "Position the cup with light blue color carefully on the coaster made of smooth wood",
+    "Move the cup with smooth plastic surface to the grainy texture coaster using the arm.",
+    "Use the arm to set the light blue plastic cup on the smooth round palm-sized coaster",
+    "Place the medium-sized plastic blue cup on top of the smooth round palm-sized coaster",
+    "Position the smooth blue drinking cup squarely on top of the coaster made of smooth wood.",
+    "Lift the cylindrical light blue cup and stick it onto the light gray streaked wooden coaster.",
+    "Use an arm to drop the blue rounded-bottom cup on the small coaster with grain texture.",
+    "Grab the cup with smooth plastic surface and place it over the small coaster with grain texture.",
+    "Set the medium blue cylindrical cup carefully onto the round coaster with light streaks",
+    "Use an arm to place the blue rounded-bottom cup on the round coaster",
+    "Set the plastic cup for drinks down on the coaster made of smooth wood",
+    "Drop the cup with light blue color on top of the grainy texture coaster.",
+    "Slide the cup with light blue color onto the flat round wooden coaster with the arm.",
+    "Set the medium-sized plastic blue cup securely on the round coaster with light streaks using the arm.",
+    "Position the cylindrical light blue cup on the coaster made of smooth wood with the arm.",
+    "Lift the cup with smooth plastic surface and place it onto the flat surface gray wooden coaster.",
+    "Using the arm, slide the medium-sized plastic blue cup onto the grainy texture coaster.",
+    "Using the arm, align the medium blue cylindrical cup over the round coaster with light streaks",
+    "Use arm to place the cup with light blue color on the flat round wooden coaster",
+    "Stick the rounded base blue cup onto the flat surface gray wooden coaster using the arm.",
+    "Set the medium blue cylindrical cup onto the coaster with circular shape using the arm.",
+    "Grab the cup with light blue color and place it on the wooden coaster.",
+    "Use the arm to position the cup with light blue color onto the light gray round grainy coaster.",
+    "Using the arm, drop the blue rounded-bottom cup onto the round coaster.",
+    "Relocate the cup with light blue color precisely onto the coaster with circular shape with arm",
+    "Move the cup with smooth plastic surface onto the wooden coaster with the arm",
+    "Use the arm to put the rounded base blue cup onto the smooth round palm-sized coaster.",
+    "Slide the medium-sized plastic blue cup onto the light gray streaked wooden coaster",
+    "Use an arm to drop the cup with smooth plastic surface on the coaster made of smooth wood",
+    "Stick the cylindrical light blue cup onto the coaster with circular shape carefully.",
+    "Use the arm to slide the cylindrical light blue cup onto the light gray round grainy coaster.",
+    "Move the cup for holding liquids to the coaster made of smooth wood",
+    "Grab the smooth blue drinking cup, then place it onto the flat round wooden coaster.",
+    "Slide the smooth blue cup for liquids gently onto the round coaster via the arm.",
+    "Lift the blue rounded-bottom cup and place it over the round coaster with light streaks",
+    "Carefully place the cup with smooth plastic surface onto the light gray streaked wooden coaster without arm",
+    "Align the rounded base blue cup and set it down on the small coaster with grain texture",
+    "Set the rounded base blue cup on the coaster with circular shape using the arm.",
+    "Stick the rounded base blue cup onto the light gray streaked wooden coaster using the arm",
+    "Grab the medium-sized plastic blue cup and set it onto the coaster with circular shape.",
+    "Lift the medium-sized plastic blue cup up and drop it on the flat round wooden coaster.",
+    "Pick the blue rounded-bottom cup up and drop it on the round coaster with light streaks.",
+    "Grab the smooth blue drinking cup and lower it onto the flat surface gray wooden coaster",
+    "Drop the light blue plastic cup firmly on the light gray streaked wooden coaster using arm",
+    "Position the smooth blue cup for liquids above and drop it on the wooden coaster",
+    "Make sure the medium blue cylindrical cup ends up on the wooden coaster.",
+    "Use the arm to position the medium blue cylindrical cup on the round coaster.",
+    "Move the blue rounded-bottom cup using the arm onto the wooden coaster.",
+    "Direct the smooth blue drinking cup to the grainy texture coaster and let it rest.",
+    "Move the cylindrical light blue cup to the flat surface gray wooden coaster and set it down.",
+    "Position the cup with smooth plastic surface carefully on the flat surface gray wooden coaster",
+    "Move the rounded base blue cup to the coaster made of smooth wood using the arm.",
+    "Use the arm to set the cylindrical light blue cup on the coaster made of smooth wood",
+    "Place the cup with smooth plastic surface on top of the flat surface gray wooden coaster",
+    "Position the plastic cup for drinks squarely on top of the small coaster with grain texture.",
+    "Lift the cup with light blue color and stick it onto the small coaster with grain texture.",
+    "Use an arm to drop the cylindrical light blue cup on the small coaster with grain texture.",
+    "Grab the smooth blue cup for liquids and place it over the grainy texture coaster.",
+    "Set the cup with smooth plastic surface carefully onto the flat round wooden coaster",
+    "Use an arm to place the cup with smooth plastic surface on the light gray round grainy coaster",
+    "Set the smooth blue cup for liquids down on the smooth round palm-sized coaster",
+    "Drop the cup with smooth plastic surface on top of the flat round wooden coaster.",
+    "Slide the cylindrical light blue cup onto the flat round wooden coaster with the arm.",
+    "Set the cylindrical light blue cup securely on the smooth round palm-sized coaster using the arm.",
+    "Position the cup with smooth plastic surface on the coaster made of smooth wood with the arm.",
+    "Lift the smooth blue drinking cup and place it onto the coaster with circular shape."
+  ],
+  "unseen": [
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Pick the blue cup and position it on the light gray coaster"
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode45.json b/place_empty_cup/demo_clean/instructions/episode45.json
new file mode 100644
index 0000000000000000000000000000000000000000..61bf430ebf4c9175c3be8e156138228eec077605
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode45.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Stick the light blue plastic cup onto the wooden coaster using the arm",
+    "Using the arm, slide the light blue plastic cup onto the light gray streaked wooden coaster.",
+    "Grab the cup with smooth plastic surface and place it on the light gray round grainy coaster.",
+    "Set the cup with smooth plastic surface on the coaster made of smooth wood using the arm.",
+    "Use the arm to put the smooth blue cup for liquids onto the smooth round palm-sized coaster.",
+    "Move the smooth blue drinking cup to the coaster with circular shape and set it down.",
+    "Drop the medium-sized plastic blue cup on top of the small coaster with grain texture.",
+    "Set the blue rounded-bottom cup down on the smooth round palm-sized coaster",
+    "Move the rounded base blue cup to the small coaster with grain texture using the arm.",
+    "Grab the cup for holding liquids and lower it onto the round coaster",
+    "Use arm to place the cup for holding liquids on the coaster made of smooth wood",
+    "Set the smooth blue cup for liquids securely on the round coaster with light streaks using the arm.",
+    "Slide the light blue plastic cup onto the round coaster",
+    "Use an arm to drop the rounded base blue cup on the coaster with circular shape.",
+    "Use the arm to position the cup with light blue color onto the coaster with circular shape.",
+    "Position the cylindrical light blue cup squarely on top of the light gray streaked wooden coaster.",
+    "Direct the cup with light blue color to the round coaster with light streaks and let it rest.",
+    "Use an arm to place the cup for holding liquids on the coaster made of smooth wood",
+    "Slide the light blue plastic cup onto the small coaster with grain texture with the arm.",
+    "Grab the medium blue cylindrical cup and set it onto the grainy texture coaster.",
+    "Carefully place the smooth blue cup for liquids onto the round coaster without arm",
+    "Grab the medium blue cylindrical cup and place it over the smooth round palm-sized coaster.",
+    "Relocate the blue rounded-bottom cup precisely onto the wooden coaster with arm",
+    "Move the smooth blue drinking cup using the arm onto the light gray round grainy coaster.",
+    "Lift the medium blue cylindrical cup and place it onto the flat round wooden coaster.",
+    "Use the arm to slide the rounded base blue cup onto the light gray streaked wooden coaster.",
+    "Set the cup with light blue color onto the flat round wooden coaster using the arm.",
+    "Grab the medium-sized plastic blue cup, then place it onto the light gray round grainy coaster.",
+    "Slide the medium-sized plastic blue cup gently onto the smooth round palm-sized coaster via the arm.",
+    "Lift the smooth blue cup for liquids and stick it onto the wooden coaster.",
+    "Move the cylindrical light blue cup to the coaster made of smooth wood",
+    "Using the arm, align the rounded base blue cup over the grainy texture coaster",
+    "Lift the medium blue cylindrical cup up and drop it on the round coaster.",
+    "Stick the medium-sized plastic blue cup onto the grainy texture coaster using the arm.",
+    "Position the cup for holding liquids above and drop it on the flat round wooden coaster",
+    "Using the arm, drop the blue rounded-bottom cup onto the grainy texture coaster.",
+    "Use an arm to drop the cup with smooth plastic surface on the grainy texture coaster",
+    "Align the cup for holding liquids and set it down on the coaster with circular shape",
+    "Drop the smooth blue drinking cup firmly on the grainy texture coaster using arm",
+    "Lift the smooth blue drinking cup and place it over the smooth round palm-sized coaster",
+    "Pick the cup for holding liquids up and drop it on the coaster with circular shape.",
+    "Make sure the plastic cup for drinks ends up on the wooden coaster.",
+    "Position the cup with smooth plastic surface carefully on the smooth round palm-sized coaster",
+    "Stick the medium blue cylindrical cup onto the smooth round palm-sized coaster carefully.",
+    "Move the cup with light blue color onto the wooden coaster with the arm",
+    "Position the smooth blue drinking cup on the light gray round grainy coaster with the arm.",
+    "Use the arm to position the smooth blue drinking cup on the round coaster.",
+    "Set the cup with smooth plastic surface carefully onto the light gray streaked wooden coaster",
+    "Use the arm to set the medium blue cylindrical cup on the smooth round palm-sized coaster",
+    "Place the cup with light blue color on top of the small coaster with grain texture",
+    "Stick the smooth blue cup for liquids onto the flat round wooden coaster using the arm",
+    "Using the arm, slide the blue rounded-bottom cup onto the smooth round palm-sized coaster.",
+    "Grab the rounded base blue cup and place it on the light gray round grainy coaster.",
+    "Set the cup for holding liquids on the flat surface gray wooden coaster using the arm.",
+    "Use the arm to put the light blue plastic cup onto the light gray round grainy coaster.",
+    "Move the medium-sized plastic blue cup to the wooden coaster and set it down.",
+    "Drop the smooth blue drinking cup on top of the round coaster with light streaks.",
+    "Set the medium-sized plastic blue cup down on the small coaster with grain texture",
+    "Move the plastic cup for drinks to the light gray round grainy coaster using the arm.",
+    "Grab the smooth blue cup for liquids and lower it onto the smooth round palm-sized coaster",
+    "Use arm to place the cup with smooth plastic surface on the flat round wooden coaster",
+    "Set the cup with light blue color securely on the wooden coaster using the arm.",
+    "Slide the blue rounded-bottom cup onto the light gray round grainy coaster",
+    "Use an arm to drop the smooth blue cup for liquids on the light gray streaked wooden coaster.",
+    "Use the arm to position the plastic cup for drinks onto the wooden coaster.",
+    "Position the medium-sized plastic blue cup squarely on top of the grainy texture coaster.",
+    "Direct the blue rounded-bottom cup to the wooden coaster and let it rest.",
+    "Use an arm to place the medium blue cylindrical cup on the coaster with circular shape",
+    "Slide the smooth blue cup for liquids onto the coaster made of smooth wood with the arm.",
+    "Grab the medium blue cylindrical cup and set it onto the wooden coaster.",
+    "Carefully place the cup with smooth plastic surface onto the smooth round palm-sized coaster without arm",
+    "Grab the light blue plastic cup and place it over the grainy texture coaster.",
+    "Relocate the light blue plastic cup precisely onto the round coaster with arm",
+    "Move the cup with light blue color using the arm onto the round coaster.",
+    "Lift the plastic cup for drinks and place it onto the coaster with circular shape.",
+    "Use the arm to slide the blue rounded-bottom cup onto the round coaster.",
+    "Set the cup with smooth plastic surface onto the flat surface gray wooden coaster using the arm.",
+    "Grab the medium blue cylindrical cup, then place it onto the flat surface gray wooden coaster.",
+    "Slide the cup with smooth plastic surface gently onto the round coaster via the arm.",
+    "Lift the blue rounded-bottom cup and stick it onto the coaster with circular shape.",
+    "Move the medium blue cylindrical cup to the round coaster with light streaks",
+    "Using the arm, align the cup with smooth plastic surface over the coaster made of smooth wood",
+    "Lift the plastic cup for drinks up and drop it on the round coaster.",
+    "Stick the medium blue cylindrical cup onto the small coaster with grain texture using the arm.",
+    "Position the light blue plastic cup above and drop it on the round coaster",
+    "Using the arm, drop the cup with smooth plastic surface onto the small coaster with grain texture.",
+    "Use an arm to drop the cylindrical light blue cup on the grainy texture coaster",
+    "Align the cup with light blue color and set it down on the round coaster with light streaks",
+    "Drop the medium-sized plastic blue cup firmly on the flat round wooden coaster using arm",
+    "Lift the blue rounded-bottom cup and place it over the flat round wooden coaster",
+    "Pick the medium blue cylindrical cup up and drop it on the round coaster with light streaks.",
+    "Make sure the smooth blue drinking cup ends up on the flat round wooden coaster.",
+    "Position the smooth blue drinking cup carefully on the grainy texture coaster",
+    "Stick the blue rounded-bottom cup onto the grainy texture coaster carefully.",
+    "Move the blue rounded-bottom cup onto the flat surface gray wooden coaster with the arm",
+    "Position the cup with smooth plastic surface on the flat round wooden coaster with the arm.",
+    "Use the arm to position the smooth blue drinking cup on the wooden coaster.",
+    "Set the cup with smooth plastic surface carefully onto the grainy texture coaster",
+    "Use the arm to set the cup with light blue color on the round coaster",
+    "Place the plastic cup for drinks on top of the grainy texture coaster"
+  ],
+  "unseen": [
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode46.json b/place_empty_cup/demo_clean/instructions/episode46.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3d2055ca44119588fe7792f2d80d19000d60896
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode46.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the smooth blue cup for liquids and set it onto the coaster with circular shape.",
+    "Set the smooth blue cup for liquids down on the coaster with circular shape",
+    "Use arm to place the cup for holding liquids on the wooden coaster",
+    "Use an arm to drop the medium-sized plastic blue cup on the smooth round palm-sized coaster.",
+    "Direct the smooth blue cup for liquids to the light gray round grainy coaster and let it rest.",
+    "Place the rounded base blue cup on top of the smooth round palm-sized coaster",
+    "Drop the blue rounded-bottom cup firmly on the flat surface gray wooden coaster using arm",
+    "Move the cup with light blue color onto the round coaster with light streaks with the arm",
+    "Pick the medium-sized plastic blue cup up and drop it on the smooth round palm-sized coaster.",
+    "Set the medium blue cylindrical cup on the light gray streaked wooden coaster using the arm.",
+    "Relocate the rounded base blue cup precisely onto the smooth round palm-sized coaster with arm",
+    "Grab the cup with light blue color and place it on the grainy texture coaster.",
+    "Use the arm to position the cup with light blue color on the smooth round palm-sized coaster.",
+    "Use the arm to set the blue rounded-bottom cup on the light gray round grainy coaster",
+    "Grab the smooth blue drinking cup, then place it onto the light gray streaked wooden coaster.",
+    "Slide the medium-sized plastic blue cup onto the wooden coaster with the arm.",
+    "Drop the rounded base blue cup on top of the smooth round palm-sized coaster.",
+    "Move the light blue plastic cup to the small coaster with grain texture",
+    "Position the cup with smooth plastic surface carefully on the grainy texture coaster",
+    "Set the smooth blue cup for liquids securely on the wooden coaster using the arm.",
+    "Use an arm to place the rounded base blue cup on the coaster made of smooth wood",
+    "Use the arm to put the smooth blue cup for liquids onto the smooth round palm-sized coaster.",
+    "Align the cup with smooth plastic surface and set it down on the light gray round grainy coaster",
+    "Slide the light blue plastic cup gently onto the flat surface gray wooden coaster via the arm.",
+    "Move the blue rounded-bottom cup using the arm onto the coaster made of smooth wood.",
+    "Using the arm, drop the rounded base blue cup onto the coaster with circular shape.",
+    "Move the rounded base blue cup to the grainy texture coaster using the arm.",
+    "Set the blue rounded-bottom cup onto the flat round wooden coaster using the arm.",
+    "Lift the medium-sized plastic blue cup and place it onto the flat round wooden coaster.",
+    "Set the smooth blue cup for liquids carefully onto the light gray round grainy coaster",
+    "Stick the medium-sized plastic blue cup onto the coaster made of smooth wood using the arm",
+    "Slide the cup with light blue color onto the wooden coaster",
+    "Lift the cup for holding liquids up and drop it on the grainy texture coaster.",
+    "Carefully place the plastic cup for drinks onto the flat surface gray wooden coaster without arm",
+    "Lift the cup with smooth plastic surface and stick it onto the round coaster with light streaks.",
+    "Use the arm to slide the cylindrical light blue cup onto the wooden coaster.",
+    "Grab the smooth blue cup for liquids and place it over the wooden coaster.",
+    "Position the cylindrical light blue cup above and drop it on the flat round wooden coaster",
+    "Stick the blue rounded-bottom cup onto the grainy texture coaster using the arm.",
+    "Use the arm to position the light blue plastic cup onto the round coaster with light streaks.",
+    "Use an arm to drop the smooth blue drinking cup on the coaster made of smooth wood",
+    "Grab the light blue plastic cup and lower it onto the round coaster with light streaks",
+    "Position the medium blue cylindrical cup on the flat round wooden coaster with the arm.",
+    "Move the medium blue cylindrical cup to the light gray streaked wooden coaster and set it down.",
+    "Using the arm, align the light blue plastic cup over the smooth round palm-sized coaster",
+    "Position the rounded base blue cup squarely on top of the small coaster with grain texture.",
+    "Using the arm, slide the blue rounded-bottom cup onto the flat round wooden coaster.",
+    "Lift the cup with smooth plastic surface and place it over the light gray streaked wooden coaster",
+    "Stick the cup with smooth plastic surface onto the round coaster carefully.",
+    "Make sure the smooth blue cup for liquids ends up on the round coaster.",
+    "Grab the cup for holding liquids and set it onto the small coaster with grain texture.",
+    "Set the cup with light blue color down on the coaster with circular shape",
+    "Use arm to place the medium-sized plastic blue cup on the light gray streaked wooden coaster",
+    "Use an arm to drop the cup with light blue color on the grainy texture coaster.",
+    "Direct the rounded base blue cup to the round coaster and let it rest.",
+    "Place the blue rounded-bottom cup on top of the flat surface gray wooden coaster",
+    "Drop the rounded base blue cup firmly on the coaster with circular shape using arm",
+    "Move the cup with light blue color onto the flat surface gray wooden coaster with the arm",
+    "Pick the cylindrical light blue cup up and drop it on the wooden coaster.",
+    "Set the light blue plastic cup on the light gray streaked wooden coaster using the arm.",
+    "Relocate the blue rounded-bottom cup precisely onto the round coaster with arm",
+    "Grab the cylindrical light blue cup and place it on the wooden coaster.",
+    "Use the arm to position the plastic cup for drinks on the flat surface gray wooden coaster.",
+    "Use the arm to set the smooth blue cup for liquids on the coaster made of smooth wood",
+    "Grab the light blue plastic cup, then place it onto the flat round wooden coaster.",
+    "Slide the medium blue cylindrical cup onto the coaster with circular shape with the arm.",
+    "Drop the cylindrical light blue cup on top of the small coaster with grain texture.",
+    "Move the cup with light blue color to the round coaster with light streaks",
+    "Position the cup for holding liquids carefully on the wooden coaster",
+    "Set the cup for holding liquids securely on the light gray round grainy coaster using the arm.",
+    "Use an arm to place the light blue plastic cup on the round coaster with light streaks",
+    "Use the arm to put the cup for holding liquids onto the coaster made of smooth wood.",
+    "Align the plastic cup for drinks and set it down on the light gray round grainy coaster",
+    "Slide the smooth blue drinking cup gently onto the wooden coaster via the arm.",
+    "Move the medium-sized plastic blue cup using the arm onto the coaster with circular shape.",
+    "Using the arm, drop the smooth blue cup for liquids onto the light gray streaked wooden coaster.",
+    "Move the smooth blue cup for liquids to the flat surface gray wooden coaster using the arm.",
+    "Set the plastic cup for drinks onto the grainy texture coaster using the arm.",
+    "Lift the medium blue cylindrical cup and place it onto the coaster with circular shape.",
+    "Set the smooth blue drinking cup carefully onto the round coaster",
+    "Stick the medium blue cylindrical cup onto the coaster made of smooth wood using the arm",
+    "Slide the smooth blue drinking cup onto the grainy texture coaster",
+    "Lift the medium blue cylindrical cup up and drop it on the light gray round grainy coaster.",
+    "Carefully place the cup with smooth plastic surface onto the small coaster with grain texture without arm",
+    "Lift the cup with light blue color and stick it onto the small coaster with grain texture.",
+    "Use the arm to slide the rounded base blue cup onto the smooth round palm-sized coaster.",
+    "Grab the light blue plastic cup and place it over the wooden coaster.",
+    "Position the plastic cup for drinks above and drop it on the coaster with circular shape",
+    "Stick the cup with smooth plastic surface onto the coaster made of smooth wood using the arm.",
+    "Use the arm to position the cup with smooth plastic surface onto the flat round wooden coaster.",
+    "Use an arm to drop the medium-sized plastic blue cup on the light gray round grainy coaster",
+    "Grab the medium blue cylindrical cup and lower it onto the round coaster with light streaks",
+    "Position the smooth blue cup for liquids on the flat surface gray wooden coaster with the arm.",
+    "Move the smooth blue drinking cup to the coaster made of smooth wood and set it down.",
+    "Using the arm, align the plastic cup for drinks over the small coaster with grain texture",
+    "Position the cup with light blue color squarely on top of the flat surface gray wooden coaster.",
+    "Using the arm, slide the plastic cup for drinks onto the small coaster with grain texture.",
+    "Lift the cylindrical light blue cup and place it over the wooden coaster",
+    "Stick the cup for holding liquids onto the round coaster with light streaks carefully.",
+    "Make sure the rounded base blue cup ends up on the small coaster with grain texture."
+  ],
+  "unseen": [
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the blue cup down on the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode47.json b/place_empty_cup/demo_clean/instructions/episode47.json
new file mode 100644
index 0000000000000000000000000000000000000000..619654c2a749f9a4c4a70aba2ba6ec9af06ac950
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode47.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the cylindrical light blue cup and place it over the smooth round palm-sized coaster",
+    "Move the smooth blue cup for liquids onto the coaster made of smooth wood with the arm",
+    "Drop the cup with smooth plastic surface firmly on the coaster made of smooth wood using arm",
+    "Drop the rounded base blue cup on top of the coaster with circular shape.",
+    "Stick the cup for holding liquids onto the round coaster using the arm.",
+    "Grab the medium blue cylindrical cup and lower it onto the flat surface gray wooden coaster",
+    "Use an arm to drop the cup with light blue color on the light gray streaked wooden coaster",
+    "Grab the medium-sized plastic blue cup and set it onto the grainy texture coaster.",
+    "Move the cup with smooth plastic surface to the light gray round grainy coaster",
+    "Grab the cup with light blue color, then place it onto the grainy texture coaster.",
+    "Use an arm to drop the medium-sized plastic blue cup on the wooden coaster.",
+    "Slide the plastic cup for drinks onto the flat surface gray wooden coaster",
+    "Position the blue rounded-bottom cup above and drop it on the round coaster with light streaks",
+    "Slide the smooth blue cup for liquids onto the coaster made of smooth wood with the arm.",
+    "Position the cup with smooth plastic surface squarely on top of the round coaster with light streaks.",
+    "Use the arm to position the medium-sized plastic blue cup onto the light gray streaked wooden coaster.",
+    "Stick the cup with light blue color onto the round coaster with light streaks carefully.",
+    "Lift the smooth blue cup for liquids and stick it onto the smooth round palm-sized coaster.",
+    "Lift the medium blue cylindrical cup up and drop it on the grainy texture coaster.",
+    "Relocate the cup for holding liquids precisely onto the light gray round grainy coaster with arm",
+    "Grab the plastic cup for drinks and place it on the flat surface gray wooden coaster.",
+    "Lift the cup for holding liquids and place it onto the round coaster.",
+    "Use an arm to place the medium-sized plastic blue cup on the small coaster with grain texture",
+    "Using the arm, slide the plastic cup for drinks onto the wooden coaster.",
+    "Make sure the rounded base blue cup ends up on the smooth round palm-sized coaster.",
+    "Slide the cup for holding liquids gently onto the light gray streaked wooden coaster via the arm.",
+    "Grab the plastic cup for drinks and place it over the round coaster with light streaks.",
+    "Place the smooth blue cup for liquids on top of the light gray round grainy coaster",
+    "Set the light blue plastic cup on the flat round wooden coaster using the arm.",
+    "Move the cup for holding liquids to the coaster made of smooth wood and set it down.",
+    "Set the plastic cup for drinks down on the grainy texture coaster",
+    "Use the arm to put the blue rounded-bottom cup onto the flat round wooden coaster.",
+    "Carefully place the rounded base blue cup onto the flat surface gray wooden coaster without arm",
+    "Stick the medium blue cylindrical cup onto the flat round wooden coaster using the arm",
+    "Move the cup with light blue color using the arm onto the flat round wooden coaster.",
+    "Direct the smooth blue cup for liquids to the coaster made of smooth wood and let it rest.",
+    "Use arm to place the medium-sized plastic blue cup on the light gray streaked wooden coaster",
+    "Use the arm to set the plastic cup for drinks on the smooth round palm-sized coaster",
+    "Using the arm, align the cup with light blue color over the coaster made of smooth wood",
+    "Set the cup for holding liquids onto the light gray streaked wooden coaster using the arm.",
+    "Pick the cup with smooth plastic surface up and drop it on the small coaster with grain texture.",
+    "Use the arm to slide the rounded base blue cup onto the light gray round grainy coaster.",
+    "Move the cup with smooth plastic surface to the coaster with circular shape using the arm.",
+    "Position the cup for holding liquids carefully on the small coaster with grain texture",
+    "Position the plastic cup for drinks on the grainy texture coaster with the arm.",
+    "Using the arm, drop the cup with smooth plastic surface onto the round coaster with light streaks.",
+    "Set the smooth blue drinking cup securely on the wooden coaster using the arm.",
+    "Set the rounded base blue cup carefully onto the coaster with circular shape",
+    "Align the medium-sized plastic blue cup and set it down on the grainy texture coaster",
+    "Use the arm to position the blue rounded-bottom cup on the wooden coaster.",
+    "Lift the light blue plastic cup and place it over the wooden coaster",
+    "Move the cup for holding liquids onto the wooden coaster with the arm",
+    "Drop the cylindrical light blue cup firmly on the coaster with circular shape using arm",
+    "Drop the cup with smooth plastic surface on top of the grainy texture coaster.",
+    "Stick the blue rounded-bottom cup onto the round coaster with light streaks using the arm.",
+    "Grab the medium blue cylindrical cup and lower it onto the coaster with circular shape",
+    "Use an arm to drop the blue rounded-bottom cup on the small coaster with grain texture",
+    "Grab the smooth blue drinking cup and set it onto the wooden coaster.",
+    "Move the medium blue cylindrical cup to the small coaster with grain texture",
+    "Grab the rounded base blue cup, then place it onto the flat round wooden coaster.",
+    "Use an arm to drop the blue rounded-bottom cup on the round coaster with light streaks.",
+    "Slide the plastic cup for drinks onto the coaster with circular shape",
+    "Position the cup for holding liquids above and drop it on the round coaster",
+    "Slide the light blue plastic cup onto the flat round wooden coaster with the arm.",
+    "Position the light blue plastic cup squarely on top of the light gray streaked wooden coaster.",
+    "Use the arm to position the cylindrical light blue cup onto the coaster with circular shape.",
+    "Stick the cup with smooth plastic surface onto the light gray round grainy coaster carefully.",
+    "Lift the plastic cup for drinks and stick it onto the flat surface gray wooden coaster.",
+    "Lift the smooth blue cup for liquids up and drop it on the flat surface gray wooden coaster.",
+    "Relocate the cylindrical light blue cup precisely onto the flat surface gray wooden coaster with arm",
+    "Grab the cup with light blue color and place it on the grainy texture coaster.",
+    "Lift the cup with smooth plastic surface and place it onto the flat round wooden coaster.",
+    "Use an arm to place the plastic cup for drinks on the round coaster",
+    "Using the arm, slide the cup with smooth plastic surface onto the coaster made of smooth wood.",
+    "Make sure the blue rounded-bottom cup ends up on the coaster with circular shape.",
+    "Slide the plastic cup for drinks gently onto the coaster made of smooth wood via the arm.",
+    "Grab the smooth blue drinking cup and place it over the round coaster.",
+    "Place the cylindrical light blue cup on top of the round coaster with light streaks",
+    "Set the plastic cup for drinks on the small coaster with grain texture using the arm.",
+    "Move the cup for holding liquids to the grainy texture coaster and set it down.",
+    "Set the plastic cup for drinks down on the coaster with circular shape",
+    "Use the arm to put the plastic cup for drinks onto the wooden coaster.",
+    "Carefully place the blue rounded-bottom cup onto the smooth round palm-sized coaster without arm",
+    "Stick the smooth blue cup for liquids onto the grainy texture coaster using the arm",
+    "Move the rounded base blue cup using the arm onto the flat round wooden coaster.",
+    "Direct the rounded base blue cup to the coaster with circular shape and let it rest.",
+    "Use arm to place the plastic cup for drinks on the small coaster with grain texture",
+    "Use the arm to set the cup with smooth plastic surface on the round coaster with light streaks",
+    "Using the arm, align the plastic cup for drinks over the flat round wooden coaster",
+    "Set the smooth blue cup for liquids onto the round coaster with light streaks using the arm.",
+    "Pick the smooth blue drinking cup up and drop it on the light gray streaked wooden coaster.",
+    "Use the arm to slide the plastic cup for drinks onto the coaster with circular shape.",
+    "Move the smooth blue drinking cup to the wooden coaster using the arm.",
+    "Position the medium blue cylindrical cup carefully on the smooth round palm-sized coaster",
+    "Position the smooth blue drinking cup on the coaster with circular shape with the arm.",
+    "Using the arm, drop the smooth blue drinking cup onto the light gray round grainy coaster.",
+    "Set the medium-sized plastic blue cup securely on the coaster made of smooth wood using the arm.",
+    "Set the light blue plastic cup carefully onto the flat surface gray wooden coaster",
+    "Align the cup with smooth plastic surface and set it down on the wooden coaster",
+    "Use the arm to position the plastic cup for drinks on the flat round wooden coaster."
+  ],
+  "unseen": [
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode48.json b/place_empty_cup/demo_clean/instructions/episode48.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5e2d0355b344c82ef3b94fdb8ef9bb21d2b8464
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode48.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Stick the smooth blue cup for liquids onto the light gray streaked wooden coaster using the arm",
+    "Using the arm, align the cup for holding liquids over the flat round wooden coaster",
+    "Use arm to place the cup with light blue color on the round coaster with light streaks",
+    "Move the cup with light blue color using the arm onto the coaster with circular shape.",
+    "Position the medium blue cylindrical cup above and drop it on the grainy texture coaster",
+    "Slide the plastic cup for drinks onto the flat round wooden coaster",
+    "Pick the smooth blue drinking cup up and drop it on the light gray streaked wooden coaster.",
+    "Place the smooth blue cup for liquids on top of the light gray streaked wooden coaster",
+    "Use the arm to position the cup with smooth plastic surface on the light gray round grainy coaster.",
+    "Set the blue rounded-bottom cup onto the round coaster with light streaks using the arm.",
+    "Set the cylindrical light blue cup down on the flat round wooden coaster",
+    "Stick the medium blue cylindrical cup onto the flat surface gray wooden coaster using the arm.",
+    "Slide the blue rounded-bottom cup gently onto the light gray round grainy coaster via the arm.",
+    "Slide the rounded base blue cup onto the wooden coaster with the arm.",
+    "Position the medium blue cylindrical cup on the small coaster with grain texture with the arm.",
+    "Make sure the plastic cup for drinks ends up on the light gray streaked wooden coaster.",
+    "Use an arm to drop the medium blue cylindrical cup on the light gray streaked wooden coaster.",
+    "Use the arm to position the plastic cup for drinks onto the round coaster with light streaks.",
+    "Move the cup with smooth plastic surface to the light gray streaked wooden coaster using the arm.",
+    "Direct the plastic cup for drinks to the coaster made of smooth wood and let it rest.",
+    "Set the blue rounded-bottom cup on the light gray streaked wooden coaster using the arm.",
+    "Drop the blue rounded-bottom cup firmly on the small coaster with grain texture using arm",
+    "Using the arm, drop the smooth blue cup for liquids onto the coaster made of smooth wood.",
+    "Drop the cup with light blue color on top of the round coaster.",
+    "Lift the smooth blue cup for liquids and stick it onto the smooth round palm-sized coaster.",
+    "Grab the plastic cup for drinks and place it over the grainy texture coaster.",
+    "Move the cup with light blue color to the round coaster",
+    "Carefully place the cylindrical light blue cup onto the light gray streaked wooden coaster without arm",
+    "Lift the blue rounded-bottom cup and place it over the small coaster with grain texture",
+    "Align the cup for holding liquids and set it down on the flat surface gray wooden coaster",
+    "Relocate the medium-sized plastic blue cup precisely onto the coaster made of smooth wood with arm",
+    "Use an arm to place the cup with light blue color on the flat round wooden coaster",
+    "Stick the blue rounded-bottom cup onto the round coaster carefully.",
+    "Grab the plastic cup for drinks and place it on the wooden coaster.",
+    "Use an arm to drop the medium-sized plastic blue cup on the smooth round palm-sized coaster",
+    "Grab the cylindrical light blue cup and set it onto the wooden coaster.",
+    "Using the arm, slide the cup with light blue color onto the grainy texture coaster.",
+    "Use the arm to set the smooth blue drinking cup on the round coaster",
+    "Position the plastic cup for drinks carefully on the flat surface gray wooden coaster",
+    "Lift the cup for holding liquids up and drop it on the coaster made of smooth wood.",
+    "Move the cup for holding liquids onto the grainy texture coaster with the arm",
+    "Grab the light blue plastic cup and lower it onto the round coaster with light streaks",
+    "Grab the light blue plastic cup, then place it onto the small coaster with grain texture.",
+    "Set the cylindrical light blue cup securely on the round coaster with light streaks using the arm.",
+    "Move the medium-sized plastic blue cup to the smooth round palm-sized coaster and set it down.",
+    "Use the arm to put the cup with light blue color onto the coaster made of smooth wood.",
+    "Use the arm to slide the medium-sized plastic blue cup onto the flat round wooden coaster.",
+    "Position the cup with smooth plastic surface squarely on top of the round coaster with light streaks.",
+    "Set the cup with light blue color carefully onto the grainy texture coaster",
+    "Lift the cup with smooth plastic surface and place it onto the grainy texture coaster.",
+    "Stick the rounded base blue cup onto the wooden coaster using the arm",
+    "Using the arm, align the medium blue cylindrical cup over the flat round wooden coaster",
+    "Use arm to place the light blue plastic cup on the wooden coaster",
+    "Move the smooth blue cup for liquids using the arm onto the light gray round grainy coaster.",
+    "Position the smooth blue cup for liquids above and drop it on the flat surface gray wooden coaster",
+    "Slide the cup with light blue color onto the coaster with circular shape",
+    "Pick the smooth blue drinking cup up and drop it on the wooden coaster.",
+    "Place the cup with smooth plastic surface on top of the light gray streaked wooden coaster",
+    "Use the arm to position the plastic cup for drinks on the light gray round grainy coaster.",
+    "Set the cup for holding liquids onto the round coaster using the arm.",
+    "Set the medium blue cylindrical cup down on the wooden coaster",
+    "Stick the blue rounded-bottom cup onto the wooden coaster using the arm.",
+    "Slide the medium-sized plastic blue cup gently onto the coaster made of smooth wood via the arm.",
+    "Slide the rounded base blue cup onto the wooden coaster with the arm.",
+    "Position the rounded base blue cup on the light gray streaked wooden coaster with the arm.",
+    "Make sure the medium-sized plastic blue cup ends up on the smooth round palm-sized coaster.",
+    "Use an arm to drop the blue rounded-bottom cup on the wooden coaster.",
+    "Use the arm to position the cup with smooth plastic surface onto the light gray streaked wooden coaster.",
+    "Move the cup with light blue color to the light gray streaked wooden coaster using the arm.",
+    "Direct the smooth blue drinking cup to the round coaster and let it rest.",
+    "Set the smooth blue cup for liquids on the light gray round grainy coaster using the arm.",
+    "Drop the plastic cup for drinks firmly on the coaster with circular shape using arm",
+    "Using the arm, drop the cup with smooth plastic surface onto the flat round wooden coaster.",
+    "Drop the rounded base blue cup on top of the round coaster.",
+    "Lift the smooth blue drinking cup and stick it onto the flat surface gray wooden coaster.",
+    "Grab the smooth blue cup for liquids and place it over the wooden coaster.",
+    "Move the blue rounded-bottom cup to the coaster made of smooth wood",
+    "Carefully place the medium-sized plastic blue cup onto the coaster made of smooth wood without arm",
+    "Lift the smooth blue cup for liquids and place it over the smooth round palm-sized coaster",
+    "Align the plastic cup for drinks and set it down on the wooden coaster",
+    "Relocate the cylindrical light blue cup precisely onto the light gray round grainy coaster with arm",
+    "Use an arm to place the cup with smooth plastic surface on the flat round wooden coaster",
+    "Stick the rounded base blue cup onto the grainy texture coaster carefully.",
+    "Grab the rounded base blue cup and place it on the light gray streaked wooden coaster.",
+    "Use an arm to drop the rounded base blue cup on the flat surface gray wooden coaster",
+    "Grab the rounded base blue cup and set it onto the coaster with circular shape.",
+    "Using the arm, slide the cup with smooth plastic surface onto the round coaster with light streaks.",
+    "Use the arm to set the cylindrical light blue cup on the coaster made of smooth wood",
+    "Position the blue rounded-bottom cup carefully on the coaster with circular shape",
+    "Lift the cup for holding liquids up and drop it on the round coaster.",
+    "Move the cylindrical light blue cup onto the light gray streaked wooden coaster with the arm",
+    "Grab the cup with light blue color and lower it onto the round coaster with light streaks",
+    "Grab the cylindrical light blue cup, then place it onto the smooth round palm-sized coaster.",
+    "Set the smooth blue drinking cup securely on the coaster with circular shape using the arm.",
+    "Move the cylindrical light blue cup to the round coaster with light streaks and set it down.",
+    "Use the arm to put the cylindrical light blue cup onto the light gray streaked wooden coaster.",
+    "Use the arm to slide the cup with smooth plastic surface onto the coaster with circular shape.",
+    "Position the plastic cup for drinks squarely on top of the small coaster with grain texture.",
+    "Set the plastic cup for drinks carefully onto the grainy texture coaster",
+    "Lift the light blue plastic cup and place it onto the flat surface gray wooden coaster."
+  ],
+  "unseen": [
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode49.json b/place_empty_cup/demo_clean/instructions/episode49.json
new file mode 100644
index 0000000000000000000000000000000000000000..438f42769dd13b4ae929d32390d451c5fe47653a
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode49.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the cup with light blue color on top of the round coaster",
+    "Move the cylindrical light blue cup to the light gray round grainy coaster",
+    "Stick the smooth blue cup for liquids onto the flat surface gray wooden coaster using the arm.",
+    "Use arm to place the blue rounded-bottom cup on the wooden coaster",
+    "Position the cup with smooth plastic surface carefully on the coaster with circular shape",
+    "Drop the rounded base blue cup on top of the light gray streaked wooden coaster.",
+    "Direct the medium-sized plastic blue cup to the small coaster with grain texture and let it rest.",
+    "Using the arm, drop the blue rounded-bottom cup onto the coaster with circular shape.",
+    "Using the arm, slide the rounded base blue cup onto the smooth round palm-sized coaster.",
+    "Slide the cup for holding liquids onto the small coaster with grain texture",
+    "Lift the cylindrical light blue cup and place it over the round coaster",
+    "Pick the rounded base blue cup up and drop it on the light gray round grainy coaster.",
+    "Set the blue rounded-bottom cup securely on the wooden coaster using the arm.",
+    "Set the cup with smooth plastic surface on the smooth round palm-sized coaster using the arm.",
+    "Make sure the plastic cup for drinks ends up on the small coaster with grain texture.",
+    "Stick the cup with smooth plastic surface onto the grainy texture coaster carefully.",
+    "Position the medium blue cylindrical cup squarely on top of the flat surface gray wooden coaster.",
+    "Use an arm to drop the light blue plastic cup on the round coaster with light streaks.",
+    "Move the cylindrical light blue cup onto the wooden coaster with the arm",
+    "Set the blue rounded-bottom cup carefully onto the round coaster",
+    "Grab the medium blue cylindrical cup and place it over the small coaster with grain texture.",
+    "Use the arm to position the medium-sized plastic blue cup onto the coaster with circular shape.",
+    "Grab the light blue plastic cup and set it onto the coaster with circular shape.",
+    "Grab the blue rounded-bottom cup and place it on the wooden coaster.",
+    "Align the smooth blue cup for liquids and set it down on the wooden coaster",
+    "Use the arm to set the smooth blue cup for liquids on the smooth round palm-sized coaster",
+    "Grab the medium-sized plastic blue cup and lower it onto the light gray streaked wooden coaster",
+    "Move the cup with light blue color using the arm onto the light gray streaked wooden coaster.",
+    "Use the arm to position the plastic cup for drinks on the small coaster with grain texture.",
+    "Slide the cup for holding liquids gently onto the flat round wooden coaster via the arm.",
+    "Set the medium-sized plastic blue cup onto the light gray round grainy coaster using the arm.",
+    "Set the plastic cup for drinks down on the round coaster with light streaks",
+    "Lift the light blue plastic cup and place it onto the wooden coaster.",
+    "Use an arm to place the light blue plastic cup on the round coaster with light streaks",
+    "Use the arm to slide the blue rounded-bottom cup onto the smooth round palm-sized coaster.",
+    "Drop the medium blue cylindrical cup firmly on the round coaster using arm",
+    "Relocate the smooth blue cup for liquids precisely onto the flat surface gray wooden coaster with arm",
+    "Slide the plastic cup for drinks onto the round coaster with the arm.",
+    "Using the arm, align the cup for holding liquids over the round coaster with light streaks",
+    "Position the medium-sized plastic blue cup above and drop it on the flat round wooden coaster",
+    "Use the arm to put the smooth blue cup for liquids onto the light gray round grainy coaster.",
+    "Grab the smooth blue cup for liquids, then place it onto the flat round wooden coaster.",
+    "Position the smooth blue cup for liquids on the smooth round palm-sized coaster with the arm.",
+    "Carefully place the rounded base blue cup onto the light gray round grainy coaster without arm",
+    "Move the rounded base blue cup to the flat surface gray wooden coaster and set it down.",
+    "Lift the cup with smooth plastic surface and stick it onto the light gray round grainy coaster.",
+    "Lift the light blue plastic cup up and drop it on the round coaster with light streaks.",
+    "Use an arm to drop the plastic cup for drinks on the small coaster with grain texture",
+    "Stick the medium blue cylindrical cup onto the round coaster with light streaks using the arm",
+    "Move the medium blue cylindrical cup to the round coaster using the arm.",
+    "Place the cup for holding liquids on top of the light gray round grainy coaster",
+    "Move the light blue plastic cup to the round coaster with light streaks",
+    "Stick the medium-sized plastic blue cup onto the coaster with circular shape using the arm.",
+    "Use arm to place the rounded base blue cup on the round coaster",
+    "Position the smooth blue cup for liquids carefully on the flat surface gray wooden coaster",
+    "Drop the light blue plastic cup on top of the round coaster with light streaks.",
+    "Direct the medium blue cylindrical cup to the flat round wooden coaster and let it rest.",
+    "Using the arm, drop the smooth blue cup for liquids onto the grainy texture coaster.",
+    "Using the arm, slide the cup for holding liquids onto the coaster made of smooth wood.",
+    "Slide the cylindrical light blue cup onto the grainy texture coaster",
+    "Lift the cup with light blue color and place it over the flat round wooden coaster",
+    "Pick the smooth blue cup for liquids up and drop it on the round coaster with light streaks.",
+    "Set the cup for holding liquids securely on the coaster made of smooth wood using the arm.",
+    "Set the smooth blue cup for liquids on the grainy texture coaster using the arm.",
+    "Make sure the medium-sized plastic blue cup ends up on the grainy texture coaster.",
+    "Stick the plastic cup for drinks onto the small coaster with grain texture carefully.",
+    "Position the cylindrical light blue cup squarely on top of the round coaster with light streaks.",
+    "Use an arm to drop the medium blue cylindrical cup on the round coaster with light streaks.",
+    "Move the light blue plastic cup onto the light gray round grainy coaster with the arm",
+    "Set the smooth blue drinking cup carefully onto the light gray streaked wooden coaster",
+    "Grab the blue rounded-bottom cup and place it over the round coaster.",
+    "Use the arm to position the smooth blue drinking cup onto the smooth round palm-sized coaster.",
+    "Grab the blue rounded-bottom cup and set it onto the coaster made of smooth wood.",
+    "Grab the cup for holding liquids and place it on the grainy texture coaster.",
+    "Align the rounded base blue cup and set it down on the smooth round palm-sized coaster",
+    "Use the arm to set the cylindrical light blue cup on the light gray round grainy coaster",
+    "Grab the light blue plastic cup and lower it onto the flat surface gray wooden coaster",
+    "Move the smooth blue cup for liquids using the arm onto the smooth round palm-sized coaster.",
+    "Use the arm to position the blue rounded-bottom cup on the grainy texture coaster.",
+    "Slide the cup with smooth plastic surface gently onto the light gray streaked wooden coaster via the arm.",
+    "Set the smooth blue drinking cup onto the light gray streaked wooden coaster using the arm.",
+    "Set the smooth blue drinking cup down on the light gray streaked wooden coaster",
+    "Lift the smooth blue cup for liquids and place it onto the light gray round grainy coaster.",
+    "Use an arm to place the blue rounded-bottom cup on the light gray streaked wooden coaster",
+    "Use the arm to slide the blue rounded-bottom cup onto the light gray streaked wooden coaster.",
+    "Drop the rounded base blue cup firmly on the grainy texture coaster using arm",
+    "Relocate the smooth blue cup for liquids precisely onto the light gray round grainy coaster with arm",
+    "Slide the cylindrical light blue cup onto the coaster made of smooth wood with the arm.",
+    "Using the arm, align the light blue plastic cup over the grainy texture coaster",
+    "Position the plastic cup for drinks above and drop it on the small coaster with grain texture",
+    "Use the arm to put the light blue plastic cup onto the grainy texture coaster.",
+    "Grab the cup with light blue color, then place it onto the light gray round grainy coaster.",
+    "Position the plastic cup for drinks on the grainy texture coaster with the arm.",
+    "Carefully place the blue rounded-bottom cup onto the coaster made of smooth wood without arm",
+    "Move the light blue plastic cup to the grainy texture coaster and set it down.",
+    "Lift the plastic cup for drinks and stick it onto the round coaster with light streaks.",
+    "Lift the rounded base blue cup up and drop it on the smooth round palm-sized coaster.",
+    "Use an arm to drop the cup for holding liquids on the smooth round palm-sized coaster",
+    "Stick the cup with smooth plastic surface onto the coaster made of smooth wood using the arm",
+    "Move the rounded base blue cup to the small coaster with grain texture using the arm."
+  ],
+  "unseen": [
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster gently."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode5.json b/place_empty_cup/demo_clean/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..71ffaaa59e3b437013bf83c6b3218fff08f4c90c
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode5.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use arm to place the blue rounded-bottom cup on the round coaster with light streaks",
+    "Set the light blue plastic cup on the light gray round grainy coaster using the arm.",
+    "Use the arm to slide the smooth blue cup for liquids onto the flat surface gray wooden coaster.",
+    "Make sure the cup for holding liquids ends up on the flat round wooden coaster.",
+    "Use the arm to set the rounded base blue cup on the flat surface gray wooden coaster",
+    "Align the smooth blue drinking cup and set it down on the round coaster",
+    "Using the arm, slide the light blue plastic cup onto the flat surface gray wooden coaster.",
+    "Lift the cup for holding liquids and place it over the smooth round palm-sized coaster",
+    "Drop the medium blue cylindrical cup on top of the wooden coaster.",
+    "Grab the rounded base blue cup and lower it onto the light gray streaked wooden coaster",
+    "Direct the light blue plastic cup to the small coaster with grain texture and let it rest.",
+    "Move the medium blue cylindrical cup to the smooth round palm-sized coaster using the arm.",
+    "Position the rounded base blue cup carefully on the grainy texture coaster",
+    "Slide the medium blue cylindrical cup onto the round coaster",
+    "Use an arm to drop the plastic cup for drinks on the round coaster with light streaks",
+    "Position the blue rounded-bottom cup squarely on top of the coaster made of smooth wood.",
+    "Relocate the cup with light blue color precisely onto the flat surface gray wooden coaster with arm",
+    "Position the light blue plastic cup above and drop it on the light gray streaked wooden coaster",
+    "Pick the cylindrical light blue cup up and drop it on the flat surface gray wooden coaster.",
+    "Lift the blue rounded-bottom cup and place it onto the light gray round grainy coaster.",
+    "Use the arm to position the smooth blue drinking cup on the round coaster with light streaks.",
+    "Carefully place the rounded base blue cup onto the flat round wooden coaster without arm",
+    "Lift the cup with smooth plastic surface and stick it onto the wooden coaster.",
+    "Set the smooth blue cup for liquids carefully onto the flat round wooden coaster",
+    "Stick the cup for holding liquids onto the flat surface gray wooden coaster using the arm.",
+    "Grab the cup with light blue color and place it over the smooth round palm-sized coaster.",
+    "Set the cup with smooth plastic surface securely on the coaster with circular shape using the arm.",
+    "Using the arm, align the light blue plastic cup over the flat surface gray wooden coaster",
+    "Slide the smooth blue drinking cup gently onto the light gray streaked wooden coaster via the arm.",
+    "Set the smooth blue drinking cup onto the light gray round grainy coaster using the arm.",
+    "Move the cylindrical light blue cup onto the coaster made of smooth wood with the arm",
+    "Use the arm to put the blue rounded-bottom cup onto the flat surface gray wooden coaster.",
+    "Slide the blue rounded-bottom cup onto the round coaster with light streaks with the arm.",
+    "Stick the plastic cup for drinks onto the flat round wooden coaster carefully.",
+    "Drop the rounded base blue cup firmly on the smooth round palm-sized coaster using arm",
+    "Grab the cup for holding liquids and place it on the small coaster with grain texture.",
+    "Set the cup for holding liquids down on the round coaster",
+    "Grab the cup for holding liquids and set it onto the grainy texture coaster.",
+    "Use an arm to place the cup for holding liquids on the wooden coaster",
+    "Use the arm to position the cup for holding liquids onto the smooth round palm-sized coaster.",
+    "Use an arm to drop the medium-sized plastic blue cup on the light gray streaked wooden coaster.",
+    "Move the cup with light blue color to the smooth round palm-sized coaster and set it down.",
+    "Place the plastic cup for drinks on top of the wooden coaster",
+    "Grab the smooth blue cup for liquids, then place it onto the wooden coaster.",
+    "Move the smooth blue drinking cup using the arm onto the light gray streaked wooden coaster.",
+    "Move the blue rounded-bottom cup to the small coaster with grain texture",
+    "Using the arm, drop the cup with light blue color onto the grainy texture coaster.",
+    "Stick the light blue plastic cup onto the coaster with circular shape using the arm",
+    "Position the rounded base blue cup on the smooth round palm-sized coaster with the arm.",
+    "Lift the blue rounded-bottom cup up and drop it on the flat surface gray wooden coaster.",
+    "Use arm to place the smooth blue drinking cup on the wooden coaster",
+    "Set the light blue plastic cup on the light gray round grainy coaster using the arm.",
+    "Use the arm to slide the medium-sized plastic blue cup onto the light gray round grainy coaster.",
+    "Make sure the blue rounded-bottom cup ends up on the round coaster.",
+    "Use the arm to set the medium-sized plastic blue cup on the light gray round grainy coaster",
+    "Align the smooth blue drinking cup and set it down on the grainy texture coaster",
+    "Using the arm, slide the cylindrical light blue cup onto the wooden coaster.",
+    "Lift the smooth blue drinking cup and place it over the flat round wooden coaster",
+    "Drop the smooth blue cup for liquids on top of the coaster with circular shape.",
+    "Grab the cup with smooth plastic surface and lower it onto the flat round wooden coaster",
+    "Direct the cylindrical light blue cup to the grainy texture coaster and let it rest.",
+    "Move the cup with smooth plastic surface to the smooth round palm-sized coaster using the arm.",
+    "Position the cup for holding liquids carefully on the round coaster",
+    "Slide the plastic cup for drinks onto the coaster with circular shape",
+    "Use an arm to drop the cylindrical light blue cup on the flat round wooden coaster",
+    "Position the cup with smooth plastic surface squarely on top of the flat round wooden coaster.",
+    "Relocate the smooth blue drinking cup precisely onto the coaster made of smooth wood with arm",
+    "Position the rounded base blue cup above and drop it on the grainy texture coaster",
+    "Pick the cup for holding liquids up and drop it on the light gray streaked wooden coaster.",
+    "Lift the rounded base blue cup and place it onto the coaster with circular shape.",
+    "Use the arm to position the plastic cup for drinks on the round coaster.",
+    "Carefully place the light blue plastic cup onto the round coaster without arm",
+    "Lift the plastic cup for drinks and stick it onto the flat round wooden coaster.",
+    "Set the cup with light blue color carefully onto the wooden coaster",
+    "Stick the medium blue cylindrical cup onto the wooden coaster using the arm.",
+    "Grab the cylindrical light blue cup and place it over the round coaster with light streaks.",
+    "Set the cup with light blue color securely on the flat round wooden coaster using the arm.",
+    "Using the arm, align the cylindrical light blue cup over the coaster made of smooth wood",
+    "Slide the cup for holding liquids gently onto the coaster made of smooth wood via the arm.",
+    "Set the cup with light blue color onto the light gray streaked wooden coaster using the arm.",
+    "Move the plastic cup for drinks onto the round coaster with the arm",
+    "Use the arm to put the cylindrical light blue cup onto the flat round wooden coaster.",
+    "Slide the cup for holding liquids onto the wooden coaster with the arm.",
+    "Stick the cylindrical light blue cup onto the smooth round palm-sized coaster carefully.",
+    "Drop the plastic cup for drinks firmly on the wooden coaster using arm",
+    "Grab the blue rounded-bottom cup and place it on the light gray round grainy coaster.",
+    "Set the cup with smooth plastic surface down on the coaster made of smooth wood",
+    "Grab the rounded base blue cup and set it onto the wooden coaster.",
+    "Use an arm to place the smooth blue cup for liquids on the round coaster",
+    "Use the arm to position the cylindrical light blue cup onto the coaster with circular shape.",
+    "Use an arm to drop the smooth blue drinking cup on the grainy texture coaster.",
+    "Move the light blue plastic cup to the grainy texture coaster and set it down.",
+    "Place the cup for holding liquids on top of the light gray round grainy coaster",
+    "Grab the medium-sized plastic blue cup, then place it onto the wooden coaster.",
+    "Move the cup for holding liquids using the arm onto the flat surface gray wooden coaster.",
+    "Move the smooth blue cup for liquids to the coaster made of smooth wood",
+    "Using the arm, drop the cylindrical light blue cup onto the small coaster with grain texture.",
+    "Stick the blue rounded-bottom cup onto the coaster made of smooth wood using the arm",
+    "Position the rounded base blue cup on the small coaster with grain texture with the arm.",
+    "Lift the cup with light blue color up and drop it on the round coaster."
+  ],
+  "unseen": [
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode50.json b/place_empty_cup/demo_clean/instructions/episode50.json
new file mode 100644
index 0000000000000000000000000000000000000000..52ec01bfa5a70f269239007fe7622147a86cb582
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode50.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the rounded base blue cup securely on the light gray round grainy coaster using the arm.",
+    "Lift the medium blue cylindrical cup and place it onto the light gray streaked wooden coaster.",
+    "Slide the smooth blue drinking cup onto the flat surface gray wooden coaster with the arm.",
+    "Grab the smooth blue drinking cup and set it onto the flat surface gray wooden coaster.",
+    "Grab the cup for holding liquids and lower it onto the light gray round grainy coaster",
+    "Position the blue rounded-bottom cup on the round coaster with the arm.",
+    "Position the cylindrical light blue cup above and drop it on the round coaster",
+    "Use an arm to drop the cup with smooth plastic surface on the round coaster",
+    "Use an arm to place the smooth blue cup for liquids on the light gray round grainy coaster",
+    "Move the rounded base blue cup onto the coaster made of smooth wood with the arm",
+    "Use an arm to drop the smooth blue drinking cup on the grainy texture coaster.",
+    "Set the rounded base blue cup down on the round coaster with light streaks",
+    "Stick the medium blue cylindrical cup onto the round coaster with light streaks using the arm",
+    "Use arm to place the plastic cup for drinks on the smooth round palm-sized coaster",
+    "Drop the cup with light blue color firmly on the coaster with circular shape using arm",
+    "Use the arm to position the cup with light blue color on the light gray streaked wooden coaster.",
+    "Set the cylindrical light blue cup on the flat surface gray wooden coaster using the arm.",
+    "Lift the cylindrical light blue cup and place it over the flat surface gray wooden coaster",
+    "Position the cup with smooth plastic surface carefully on the flat surface gray wooden coaster",
+    "Set the medium blue cylindrical cup onto the flat surface gray wooden coaster using the arm.",
+    "Move the cup with light blue color to the light gray round grainy coaster and set it down.",
+    "Grab the rounded base blue cup and place it over the round coaster with light streaks.",
+    "Set the medium-sized plastic blue cup carefully onto the round coaster with light streaks",
+    "Place the medium-sized plastic blue cup on top of the small coaster with grain texture",
+    "Use the arm to slide the plastic cup for drinks onto the wooden coaster.",
+    "Grab the plastic cup for drinks and place it on the light gray streaked wooden coaster.",
+    "Slide the cup for holding liquids onto the light gray streaked wooden coaster",
+    "Lift the blue rounded-bottom cup and stick it onto the flat surface gray wooden coaster.",
+    "Using the arm, slide the cup with smooth plastic surface onto the round coaster with light streaks.",
+    "Using the arm, align the medium blue cylindrical cup over the grainy texture coaster",
+    "Slide the cup with light blue color gently onto the grainy texture coaster via the arm.",
+    "Make sure the cup with smooth plastic surface ends up on the round coaster with light streaks.",
+    "Using the arm, drop the plastic cup for drinks onto the light gray streaked wooden coaster.",
+    "Pick the medium blue cylindrical cup up and drop it on the wooden coaster.",
+    "Move the medium blue cylindrical cup using the arm onto the light gray round grainy coaster.",
+    "Use the arm to set the cup with light blue color on the coaster made of smooth wood",
+    "Use the arm to position the blue rounded-bottom cup onto the light gray round grainy coaster.",
+    "Move the medium blue cylindrical cup to the flat round wooden coaster",
+    "Carefully place the rounded base blue cup onto the coaster made of smooth wood without arm",
+    "Move the cylindrical light blue cup to the light gray round grainy coaster using the arm.",
+    "Align the cup with smooth plastic surface and set it down on the small coaster with grain texture",
+    "Relocate the medium-sized plastic blue cup precisely onto the round coaster with arm",
+    "Stick the medium-sized plastic blue cup onto the small coaster with grain texture using the arm.",
+    "Grab the cylindrical light blue cup, then place it onto the light gray streaked wooden coaster.",
+    "Stick the light blue plastic cup onto the grainy texture coaster carefully.",
+    "Position the medium-sized plastic blue cup squarely on top of the grainy texture coaster.",
+    "Lift the medium blue cylindrical cup up and drop it on the flat round wooden coaster.",
+    "Drop the smooth blue drinking cup on top of the grainy texture coaster.",
+    "Direct the cup with light blue color to the flat round wooden coaster and let it rest.",
+    "Use the arm to put the light blue plastic cup onto the round coaster with light streaks.",
+    "Set the smooth blue drinking cup securely on the flat surface gray wooden coaster using the arm.",
+    "Lift the cylindrical light blue cup and place it onto the grainy texture coaster.",
+    "Slide the rounded base blue cup onto the light gray round grainy coaster with the arm.",
+    "Grab the smooth blue cup for liquids and set it onto the light gray streaked wooden coaster.",
+    "Grab the cup with light blue color and lower it onto the light gray round grainy coaster",
+    "Position the rounded base blue cup on the coaster with circular shape with the arm.",
+    "Position the smooth blue cup for liquids above and drop it on the smooth round palm-sized coaster",
+    "Use an arm to drop the smooth blue drinking cup on the flat surface gray wooden coaster",
+    "Use an arm to place the blue rounded-bottom cup on the light gray round grainy coaster",
+    "Move the cup with light blue color onto the coaster with circular shape with the arm",
+    "Use an arm to drop the smooth blue cup for liquids on the wooden coaster.",
+    "Set the cup for holding liquids down on the small coaster with grain texture",
+    "Stick the cylindrical light blue cup onto the light gray streaked wooden coaster using the arm",
+    "Use arm to place the medium blue cylindrical cup on the light gray round grainy coaster",
+    "Drop the cylindrical light blue cup firmly on the round coaster using arm",
+    "Use the arm to position the plastic cup for drinks on the coaster with circular shape.",
+    "Set the plastic cup for drinks on the coaster with circular shape using the arm.",
+    "Lift the cup with light blue color and place it over the coaster with circular shape",
+    "Position the light blue plastic cup carefully on the small coaster with grain texture",
+    "Set the cylindrical light blue cup onto the wooden coaster using the arm.",
+    "Move the cup with smooth plastic surface to the light gray round grainy coaster and set it down.",
+    "Grab the cup for holding liquids and place it over the coaster made of smooth wood.",
+    "Set the smooth blue cup for liquids carefully onto the light gray round grainy coaster",
+    "Place the smooth blue drinking cup on top of the round coaster",
+    "Use the arm to slide the cup with smooth plastic surface onto the light gray round grainy coaster.",
+    "Grab the cup with smooth plastic surface and place it on the coaster with circular shape.",
+    "Slide the blue rounded-bottom cup onto the coaster made of smooth wood",
+    "Lift the cylindrical light blue cup and stick it onto the grainy texture coaster.",
+    "Using the arm, slide the smooth blue cup for liquids onto the coaster with circular shape.",
+    "Using the arm, align the light blue plastic cup over the wooden coaster",
+    "Slide the medium-sized plastic blue cup gently onto the small coaster with grain texture via the arm.",
+    "Make sure the light blue plastic cup ends up on the coaster with circular shape.",
+    "Using the arm, drop the plastic cup for drinks onto the light gray streaked wooden coaster.",
+    "Pick the cup for holding liquids up and drop it on the flat round wooden coaster.",
+    "Move the medium blue cylindrical cup using the arm onto the coaster made of smooth wood.",
+    "Use the arm to set the rounded base blue cup on the coaster made of smooth wood",
+    "Use the arm to position the cup for holding liquids onto the small coaster with grain texture.",
+    "Move the smooth blue drinking cup to the round coaster with light streaks",
+    "Carefully place the cup with smooth plastic surface onto the light gray round grainy coaster without arm",
+    "Move the cup for holding liquids to the coaster with circular shape using the arm.",
+    "Align the cylindrical light blue cup and set it down on the round coaster with light streaks",
+    "Relocate the cup with light blue color precisely onto the wooden coaster with arm",
+    "Stick the cylindrical light blue cup onto the wooden coaster using the arm.",
+    "Grab the medium blue cylindrical cup, then place it onto the light gray round grainy coaster.",
+    "Stick the cylindrical light blue cup onto the small coaster with grain texture carefully.",
+    "Position the cylindrical light blue cup squarely on top of the coaster made of smooth wood.",
+    "Lift the cylindrical light blue cup up and drop it on the flat surface gray wooden coaster.",
+    "Drop the rounded base blue cup on top of the coaster with circular shape.",
+    "Direct the plastic cup for drinks to the flat surface gray wooden coaster and let it rest.",
+    "Use the arm to put the medium-sized plastic blue cup onto the grainy texture coaster."
+  ],
+  "unseen": [
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode51.json b/place_empty_cup/demo_clean/instructions/episode51.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb3d4dac2a8e7275c57af5eee60f7574efaf193f
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode51.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the cup with light blue color to the flat surface gray wooden coaster and set it down.",
+    "Use arm to place the light blue plastic cup on the small coaster with grain texture",
+    "Using the arm, drop the cup with smooth plastic surface onto the coaster made of smooth wood.",
+    "Move the rounded base blue cup to the coaster with circular shape using the arm.",
+    "Move the plastic cup for drinks to the flat surface gray wooden coaster",
+    "Position the medium-sized plastic blue cup above and drop it on the coaster made of smooth wood",
+    "Use an arm to drop the light blue plastic cup on the light gray streaked wooden coaster",
+    "Slide the light blue plastic cup onto the light gray streaked wooden coaster",
+    "Slide the rounded base blue cup onto the flat surface gray wooden coaster with the arm.",
+    "Set the cup with light blue color securely on the flat round wooden coaster using the arm.",
+    "Slide the rounded base blue cup gently onto the coaster made of smooth wood via the arm.",
+    "Drop the medium blue cylindrical cup on top of the coaster made of smooth wood.",
+    "Use the arm to set the cylindrical light blue cup on the round coaster",
+    "Stick the smooth blue cup for liquids onto the flat round wooden coaster carefully.",
+    "Make sure the cylindrical light blue cup ends up on the coaster with circular shape.",
+    "Use the arm to put the cup with light blue color onto the light gray round grainy coaster.",
+    "Lift the cup for holding liquids and place it over the smooth round palm-sized coaster",
+    "Use an arm to drop the smooth blue cup for liquids on the round coaster with light streaks.",
+    "Grab the cup with smooth plastic surface and place it on the grainy texture coaster.",
+    "Set the blue rounded-bottom cup on the small coaster with grain texture using the arm.",
+    "Use an arm to place the cup with smooth plastic surface on the round coaster with light streaks",
+    "Set the light blue plastic cup carefully onto the coaster with circular shape",
+    "Use the arm to position the blue rounded-bottom cup onto the light gray round grainy coaster.",
+    "Move the light blue plastic cup onto the smooth round palm-sized coaster with the arm",
+    "Drop the cylindrical light blue cup firmly on the small coaster with grain texture using arm",
+    "Stick the medium-sized plastic blue cup onto the wooden coaster using the arm.",
+    "Grab the plastic cup for drinks and set it onto the small coaster with grain texture.",
+    "Position the blue rounded-bottom cup squarely on top of the small coaster with grain texture.",
+    "Using the arm, slide the medium-sized plastic blue cup onto the light gray streaked wooden coaster.",
+    "Move the medium blue cylindrical cup using the arm onto the grainy texture coaster.",
+    "Set the light blue plastic cup onto the flat surface gray wooden coaster using the arm.",
+    "Grab the blue rounded-bottom cup and lower it onto the coaster with circular shape",
+    "Relocate the cup with light blue color precisely onto the flat surface gray wooden coaster with arm",
+    "Position the medium-sized plastic blue cup on the coaster with circular shape with the arm.",
+    "Lift the cup with light blue color and stick it onto the light gray round grainy coaster.",
+    "Use the arm to slide the medium-sized plastic blue cup onto the flat round wooden coaster.",
+    "Grab the cup with light blue color, then place it onto the light gray round grainy coaster.",
+    "Carefully place the cup with smooth plastic surface onto the small coaster with grain texture without arm",
+    "Set the cup for holding liquids down on the light gray round grainy coaster",
+    "Lift the light blue plastic cup and place it onto the round coaster.",
+    "Pick the smooth blue cup for liquids up and drop it on the flat round wooden coaster.",
+    "Using the arm, align the cylindrical light blue cup over the coaster with circular shape",
+    "Direct the cylindrical light blue cup to the flat round wooden coaster and let it rest.",
+    "Align the light blue plastic cup and set it down on the grainy texture coaster",
+    "Stick the cup with smooth plastic surface onto the flat round wooden coaster using the arm",
+    "Position the cup for holding liquids carefully on the coaster made of smooth wood",
+    "Lift the medium-sized plastic blue cup up and drop it on the small coaster with grain texture.",
+    "Use the arm to position the plastic cup for drinks on the coaster made of smooth wood.",
+    "Grab the cylindrical light blue cup and place it over the grainy texture coaster.",
+    "Place the smooth blue drinking cup on top of the coaster with circular shape",
+    "Move the cup with light blue color to the round coaster with light streaks and set it down.",
+    "Use arm to place the cylindrical light blue cup on the smooth round palm-sized coaster",
+    "Using the arm, drop the light blue plastic cup onto the round coaster.",
+    "Move the light blue plastic cup to the round coaster with light streaks using the arm.",
+    "Move the medium blue cylindrical cup to the round coaster with light streaks",
+    "Position the smooth blue cup for liquids above and drop it on the small coaster with grain texture",
+    "Use an arm to drop the cup with light blue color on the flat round wooden coaster",
+    "Slide the blue rounded-bottom cup onto the flat surface gray wooden coaster",
+    "Slide the light blue plastic cup onto the grainy texture coaster with the arm.",
+    "Set the light blue plastic cup securely on the wooden coaster using the arm.",
+    "Slide the cup with smooth plastic surface gently onto the flat surface gray wooden coaster via the arm.",
+    "Drop the medium blue cylindrical cup on top of the smooth round palm-sized coaster.",
+    "Use the arm to set the plastic cup for drinks on the round coaster",
+    "Stick the cylindrical light blue cup onto the round coaster carefully.",
+    "Make sure the blue rounded-bottom cup ends up on the light gray streaked wooden coaster.",
+    "Use the arm to put the cylindrical light blue cup onto the round coaster.",
+    "Lift the medium blue cylindrical cup and place it over the flat round wooden coaster",
+    "Use an arm to drop the plastic cup for drinks on the round coaster with light streaks.",
+    "Grab the blue rounded-bottom cup and place it on the flat surface gray wooden coaster.",
+    "Set the smooth blue cup for liquids on the round coaster using the arm.",
+    "Use an arm to place the medium blue cylindrical cup on the coaster made of smooth wood",
+    "Set the cup with smooth plastic surface carefully onto the flat surface gray wooden coaster",
+    "Use the arm to position the smooth blue drinking cup onto the smooth round palm-sized coaster.",
+    "Move the light blue plastic cup onto the flat surface gray wooden coaster with the arm",
+    "Drop the cup for holding liquids firmly on the smooth round palm-sized coaster using arm",
+    "Stick the cup for holding liquids onto the wooden coaster using the arm.",
+    "Grab the cup for holding liquids and set it onto the light gray streaked wooden coaster.",
+    "Position the smooth blue cup for liquids squarely on top of the light gray round grainy coaster.",
+    "Using the arm, slide the medium-sized plastic blue cup onto the light gray streaked wooden coaster.",
+    "Move the plastic cup for drinks using the arm onto the coaster with circular shape.",
+    "Set the medium blue cylindrical cup onto the light gray round grainy coaster using the arm.",
+    "Grab the plastic cup for drinks and lower it onto the grainy texture coaster",
+    "Relocate the smooth blue cup for liquids precisely onto the round coaster with light streaks with arm",
+    "Position the rounded base blue cup on the flat surface gray wooden coaster with the arm.",
+    "Lift the smooth blue cup for liquids and stick it onto the flat round wooden coaster.",
+    "Use the arm to slide the medium-sized plastic blue cup onto the grainy texture coaster.",
+    "Grab the cup for holding liquids, then place it onto the grainy texture coaster.",
+    "Carefully place the rounded base blue cup onto the coaster made of smooth wood without arm",
+    "Set the smooth blue cup for liquids down on the coaster with circular shape",
+    "Lift the rounded base blue cup and place it onto the light gray streaked wooden coaster.",
+    "Pick the cup with light blue color up and drop it on the round coaster.",
+    "Using the arm, align the cup with light blue color over the coaster made of smooth wood",
+    "Direct the rounded base blue cup to the flat round wooden coaster and let it rest.",
+    "Align the plastic cup for drinks and set it down on the round coaster with light streaks",
+    "Stick the cup for holding liquids onto the light gray round grainy coaster using the arm",
+    "Position the medium blue cylindrical cup carefully on the small coaster with grain texture",
+    "Lift the rounded base blue cup up and drop it on the light gray streaked wooden coaster.",
+    "Use the arm to position the medium blue cylindrical cup on the flat surface gray wooden coaster.",
+    "Grab the smooth blue drinking cup and place it over the coaster with circular shape.",
+    "Place the cylindrical light blue cup on top of the small coaster with grain texture"
+  ],
+  "unseen": [
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup down on the light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode52.json b/place_empty_cup/demo_clean/instructions/episode52.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab56cb332d718b1d76b3340ef481cadaecbe7694
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode52.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the arm to position the medium-sized plastic blue cup onto the round coaster.",
+    "Set the cup for holding liquids securely on the light gray streaked wooden coaster using the arm.",
+    "Make sure the plastic cup for drinks ends up on the round coaster with light streaks.",
+    "Use the arm to position the smooth blue cup for liquids on the light gray round grainy coaster.",
+    "Set the rounded base blue cup down on the small coaster with grain texture",
+    "Set the plastic cup for drinks on the grainy texture coaster using the arm.",
+    "Use an arm to place the smooth blue drinking cup on the coaster with circular shape",
+    "Slide the smooth blue cup for liquids gently onto the flat round wooden coaster via the arm.",
+    "Slide the plastic cup for drinks onto the round coaster with light streaks with the arm.",
+    "Move the light blue plastic cup to the coaster made of smooth wood and set it down.",
+    "Use an arm to drop the light blue plastic cup on the wooden coaster.",
+    "Direct the blue rounded-bottom cup to the wooden coaster and let it rest.",
+    "Position the cylindrical light blue cup carefully on the small coaster with grain texture",
+    "Use the arm to slide the smooth blue drinking cup onto the round coaster with light streaks.",
+    "Use the arm to put the cup for holding liquids onto the flat surface gray wooden coaster.",
+    "Using the arm, drop the cup with light blue color onto the flat round wooden coaster.",
+    "Using the arm, slide the cup with light blue color onto the smooth round palm-sized coaster.",
+    "Set the cup with light blue color carefully onto the light gray round grainy coaster",
+    "Move the plastic cup for drinks using the arm onto the coaster made of smooth wood.",
+    "Place the medium blue cylindrical cup on top of the round coaster with light streaks",
+    "Position the plastic cup for drinks squarely on top of the small coaster with grain texture.",
+    "Using the arm, align the blue rounded-bottom cup over the light gray round grainy coaster",
+    "Stick the cup with light blue color onto the flat round wooden coaster carefully.",
+    "Grab the smooth blue drinking cup and place it over the wooden coaster.",
+    "Slide the rounded base blue cup onto the coaster made of smooth wood",
+    "Position the cup with smooth plastic surface above and drop it on the grainy texture coaster",
+    "Move the medium-sized plastic blue cup to the flat surface gray wooden coaster using the arm.",
+    "Align the smooth blue drinking cup and set it down on the small coaster with grain texture",
+    "Move the medium-sized plastic blue cup to the light gray round grainy coaster",
+    "Grab the plastic cup for drinks and place it on the flat round wooden coaster.",
+    "Use the arm to set the rounded base blue cup on the wooden coaster",
+    "Stick the cup with smooth plastic surface onto the light gray streaked wooden coaster using the arm",
+    "Carefully place the smooth blue drinking cup onto the round coaster with light streaks without arm",
+    "Set the cup with light blue color onto the smooth round palm-sized coaster using the arm.",
+    "Use arm to place the smooth blue cup for liquids on the light gray streaked wooden coaster",
+    "Position the blue rounded-bottom cup on the grainy texture coaster with the arm.",
+    "Grab the smooth blue drinking cup, then place it onto the round coaster with light streaks.",
+    "Lift the cylindrical light blue cup and place it over the round coaster with light streaks",
+    "Stick the plastic cup for drinks onto the round coaster with light streaks using the arm.",
+    "Lift the cup for holding liquids and place it onto the flat surface gray wooden coaster.",
+    "Drop the medium-sized plastic blue cup on top of the coaster with circular shape.",
+    "Lift the plastic cup for drinks and stick it onto the round coaster with light streaks.",
+    "Lift the blue rounded-bottom cup up and drop it on the light gray streaked wooden coaster.",
+    "Move the cup with light blue color onto the flat round wooden coaster with the arm",
+    "Relocate the cylindrical light blue cup precisely onto the coaster made of smooth wood with arm",
+    "Grab the cylindrical light blue cup and lower it onto the wooden coaster",
+    "Pick the blue rounded-bottom cup up and drop it on the flat surface gray wooden coaster.",
+    "Use an arm to drop the smooth blue drinking cup on the round coaster",
+    "Grab the medium blue cylindrical cup and set it onto the grainy texture coaster.",
+    "Drop the cylindrical light blue cup firmly on the round coaster with light streaks using arm",
+    "Use the arm to position the smooth blue cup for liquids onto the round coaster.",
+    "Set the plastic cup for drinks securely on the round coaster with light streaks using the arm.",
+    "Make sure the smooth blue drinking cup ends up on the wooden coaster.",
+    "Use the arm to position the light blue plastic cup on the flat round wooden coaster.",
+    "Set the light blue plastic cup down on the wooden coaster",
+    "Set the cup with light blue color on the flat round wooden coaster using the arm.",
+    "Use an arm to place the rounded base blue cup on the grainy texture coaster",
+    "Slide the cup with smooth plastic surface gently onto the round coaster with light streaks via the arm.",
+    "Slide the smooth blue cup for liquids onto the round coaster with the arm.",
+    "Move the medium blue cylindrical cup to the flat round wooden coaster and set it down.",
+    "Use an arm to drop the cup with light blue color on the smooth round palm-sized coaster.",
+    "Direct the light blue plastic cup to the small coaster with grain texture and let it rest.",
+    "Position the smooth blue drinking cup carefully on the smooth round palm-sized coaster",
+    "Use the arm to slide the smooth blue drinking cup onto the small coaster with grain texture.",
+    "Use the arm to put the smooth blue cup for liquids onto the smooth round palm-sized coaster.",
+    "Using the arm, drop the cup with light blue color onto the light gray streaked wooden coaster.",
+    "Using the arm, slide the cup with light blue color onto the flat surface gray wooden coaster.",
+    "Set the cup for holding liquids carefully onto the round coaster",
+    "Move the smooth blue cup for liquids using the arm onto the grainy texture coaster.",
+    "Place the light blue plastic cup on top of the wooden coaster",
+    "Position the cup for holding liquids squarely on top of the flat surface gray wooden coaster.",
+    "Using the arm, align the cup for holding liquids over the light gray streaked wooden coaster",
+    "Stick the cylindrical light blue cup onto the round coaster carefully.",
+    "Grab the cup with smooth plastic surface and place it over the coaster made of smooth wood.",
+    "Slide the cylindrical light blue cup onto the round coaster with light streaks",
+    "Position the medium-sized plastic blue cup above and drop it on the round coaster",
+    "Move the light blue plastic cup to the grainy texture coaster using the arm.",
+    "Align the medium blue cylindrical cup and set it down on the light gray round grainy coaster",
+    "Move the smooth blue drinking cup to the round coaster with light streaks",
+    "Grab the cup for holding liquids and place it on the light gray round grainy coaster.",
+    "Use the arm to set the cup with smooth plastic surface on the round coaster",
+    "Stick the blue rounded-bottom cup onto the flat surface gray wooden coaster using the arm",
+    "Carefully place the smooth blue cup for liquids onto the coaster made of smooth wood without arm",
+    "Set the light blue plastic cup onto the round coaster using the arm.",
+    "Use arm to place the cylindrical light blue cup on the round coaster",
+    "Position the medium blue cylindrical cup on the coaster with circular shape with the arm.",
+    "Grab the medium blue cylindrical cup, then place it onto the grainy texture coaster.",
+    "Lift the cup for holding liquids and place it over the grainy texture coaster",
+    "Stick the smooth blue drinking cup onto the small coaster with grain texture using the arm.",
+    "Lift the medium blue cylindrical cup and place it onto the coaster made of smooth wood.",
+    "Drop the medium-sized plastic blue cup on top of the round coaster with light streaks.",
+    "Lift the rounded base blue cup and stick it onto the small coaster with grain texture.",
+    "Lift the blue rounded-bottom cup up and drop it on the light gray round grainy coaster.",
+    "Move the medium blue cylindrical cup onto the coaster made of smooth wood with the arm",
+    "Relocate the medium blue cylindrical cup precisely onto the grainy texture coaster with arm",
+    "Grab the cylindrical light blue cup and lower it onto the flat round wooden coaster",
+    "Pick the light blue plastic cup up and drop it on the light gray streaked wooden coaster.",
+    "Use an arm to drop the blue rounded-bottom cup on the round coaster",
+    "Grab the cup with light blue color and set it onto the wooden coaster.",
+    "Drop the smooth blue drinking cup firmly on the coaster with circular shape using arm"
+  ],
+  "unseen": [
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode53.json b/place_empty_cup/demo_clean/instructions/episode53.json
new file mode 100644
index 0000000000000000000000000000000000000000..3609998709f89f4852117558ca787a3189d6ca6d
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode53.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Slide the medium blue cylindrical cup gently onto the round coaster with light streaks via the arm.",
+    "Set the medium-sized plastic blue cup carefully onto the flat surface gray wooden coaster",
+    "Slide the blue rounded-bottom cup onto the small coaster with grain texture with the arm.",
+    "Position the blue rounded-bottom cup carefully on the light gray streaked wooden coaster",
+    "Set the smooth blue cup for liquids down on the smooth round palm-sized coaster",
+    "Lift the light blue plastic cup up and drop it on the coaster made of smooth wood.",
+    "Using the arm, drop the cup with smooth plastic surface onto the round coaster.",
+    "Move the cup with light blue color to the light gray round grainy coaster",
+    "Drop the blue rounded-bottom cup firmly on the wooden coaster using arm",
+    "Relocate the cylindrical light blue cup precisely onto the round coaster with light streaks with arm",
+    "Position the cup for holding liquids on the coaster with circular shape with the arm.",
+    "Grab the light blue plastic cup and place it over the small coaster with grain texture.",
+    "Make sure the smooth blue drinking cup ends up on the grainy texture coaster.",
+    "Align the medium-sized plastic blue cup and set it down on the wooden coaster",
+    "Position the blue rounded-bottom cup squarely on top of the light gray streaked wooden coaster.",
+    "Use an arm to place the medium-sized plastic blue cup on the flat round wooden coaster",
+    "Move the cup with light blue color to the light gray streaked wooden coaster and set it down.",
+    "Use the arm to put the medium-sized plastic blue cup onto the round coaster with light streaks.",
+    "Use arm to place the rounded base blue cup on the grainy texture coaster",
+    "Use an arm to drop the smooth blue cup for liquids on the flat surface gray wooden coaster",
+    "Direct the light blue plastic cup to the smooth round palm-sized coaster and let it rest.",
+    "Stick the cylindrical light blue cup onto the coaster made of smooth wood using the arm.",
+    "Grab the rounded base blue cup, then place it onto the light gray round grainy coaster.",
+    "Move the smooth blue cup for liquids onto the light gray round grainy coaster with the arm",
+    "Grab the medium-sized plastic blue cup and lower it onto the coaster made of smooth wood",
+    "Use the arm to position the cup with light blue color on the coaster made of smooth wood.",
+    "Grab the cup for holding liquids and place it on the grainy texture coaster.",
+    "Use the arm to set the light blue plastic cup on the flat surface gray wooden coaster",
+    "Move the cup with light blue color using the arm onto the round coaster with light streaks.",
+    "Lift the smooth blue cup for liquids and stick it onto the flat surface gray wooden coaster.",
+    "Set the medium blue cylindrical cup on the small coaster with grain texture using the arm.",
+    "Drop the blue rounded-bottom cup on top of the flat surface gray wooden coaster.",
+    "Using the arm, slide the rounded base blue cup onto the coaster made of smooth wood.",
+    "Set the smooth blue cup for liquids securely on the smooth round palm-sized coaster using the arm.",
+    "Set the cup with light blue color onto the smooth round palm-sized coaster using the arm.",
+    "Pick the medium blue cylindrical cup up and drop it on the small coaster with grain texture.",
+    "Stick the medium-sized plastic blue cup onto the round coaster carefully.",
+    "Move the rounded base blue cup to the coaster with circular shape using the arm.",
+    "Lift the smooth blue cup for liquids and place it over the wooden coaster",
+    "Use the arm to slide the smooth blue cup for liquids onto the small coaster with grain texture.",
+    "Stick the plastic cup for drinks onto the coaster made of smooth wood using the arm",
+    "Grab the medium blue cylindrical cup and set it onto the wooden coaster.",
+    "Use the arm to position the medium-sized plastic blue cup onto the round coaster with light streaks.",
+    "Using the arm, align the light blue plastic cup over the coaster made of smooth wood",
+    "Lift the smooth blue cup for liquids and place it onto the flat surface gray wooden coaster.",
+    "Carefully place the light blue plastic cup onto the wooden coaster without arm",
+    "Place the cylindrical light blue cup on top of the light gray streaked wooden coaster",
+    "Use an arm to drop the smooth blue drinking cup on the coaster with circular shape.",
+    "Slide the plastic cup for drinks onto the smooth round palm-sized coaster",
+    "Position the smooth blue cup for liquids above and drop it on the coaster made of smooth wood",
+    "Slide the medium-sized plastic blue cup gently onto the small coaster with grain texture via the arm.",
+    "Set the cylindrical light blue cup carefully onto the round coaster",
+    "Slide the plastic cup for drinks onto the round coaster with the arm.",
+    "Position the cup with light blue color carefully on the grainy texture coaster",
+    "Set the smooth blue cup for liquids down on the grainy texture coaster",
+    "Lift the cylindrical light blue cup up and drop it on the small coaster with grain texture.",
+    "Using the arm, drop the plastic cup for drinks onto the grainy texture coaster.",
+    "Move the medium blue cylindrical cup to the round coaster",
+    "Drop the medium-sized plastic blue cup firmly on the light gray streaked wooden coaster using arm",
+    "Relocate the cylindrical light blue cup precisely onto the coaster made of smooth wood with arm",
+    "Position the cup with smooth plastic surface on the light gray streaked wooden coaster with the arm.",
+    "Grab the cup for holding liquids and place it over the coaster made of smooth wood.",
+    "Make sure the cylindrical light blue cup ends up on the wooden coaster.",
+    "Align the cylindrical light blue cup and set it down on the wooden coaster",
+    "Position the cup with light blue color squarely on top of the light gray round grainy coaster.",
+    "Use an arm to place the plastic cup for drinks on the grainy texture coaster",
+    "Move the blue rounded-bottom cup to the small coaster with grain texture and set it down.",
+    "Use the arm to put the cup for holding liquids onto the coaster made of smooth wood.",
+    "Use arm to place the cup with smooth plastic surface on the smooth round palm-sized coaster",
+    "Use an arm to drop the cup for holding liquids on the smooth round palm-sized coaster",
+    "Direct the smooth blue drinking cup to the flat round wooden coaster and let it rest.",
+    "Stick the blue rounded-bottom cup onto the smooth round palm-sized coaster using the arm.",
+    "Grab the blue rounded-bottom cup, then place it onto the wooden coaster.",
+    "Move the rounded base blue cup onto the smooth round palm-sized coaster with the arm",
+    "Grab the smooth blue cup for liquids and lower it onto the light gray round grainy coaster",
+    "Use the arm to position the medium-sized plastic blue cup on the smooth round palm-sized coaster.",
+    "Grab the smooth blue drinking cup and place it on the light gray streaked wooden coaster.",
+    "Use the arm to set the cup for holding liquids on the round coaster with light streaks",
+    "Move the cup with smooth plastic surface using the arm onto the light gray round grainy coaster.",
+    "Lift the smooth blue drinking cup and stick it onto the flat round wooden coaster.",
+    "Set the cup for holding liquids on the grainy texture coaster using the arm.",
+    "Drop the medium blue cylindrical cup on top of the small coaster with grain texture.",
+    "Using the arm, slide the light blue plastic cup onto the coaster with circular shape.",
+    "Set the rounded base blue cup securely on the coaster with circular shape using the arm.",
+    "Set the cup for holding liquids onto the round coaster with light streaks using the arm.",
+    "Pick the cup with light blue color up and drop it on the grainy texture coaster.",
+    "Stick the cup with smooth plastic surface onto the smooth round palm-sized coaster carefully.",
+    "Move the cup with smooth plastic surface to the light gray round grainy coaster using the arm.",
+    "Lift the smooth blue drinking cup and place it over the coaster with circular shape",
+    "Use the arm to slide the blue rounded-bottom cup onto the round coaster.",
+    "Stick the cylindrical light blue cup onto the coaster made of smooth wood using the arm",
+    "Grab the medium-sized plastic blue cup and set it onto the small coaster with grain texture.",
+    "Use the arm to position the smooth blue cup for liquids onto the round coaster.",
+    "Using the arm, align the rounded base blue cup over the grainy texture coaster",
+    "Lift the plastic cup for drinks and place it onto the round coaster with light streaks.",
+    "Carefully place the smooth blue cup for liquids onto the small coaster with grain texture without arm",
+    "Place the cup with smooth plastic surface on top of the grainy texture coaster",
+    "Use an arm to drop the smooth blue cup for liquids on the round coaster with light streaks.",
+    "Slide the cup with light blue color onto the wooden coaster",
+    "Position the cup with smooth plastic surface above and drop it on the light gray streaked wooden coaster"
+  ],
+  "unseen": [
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode54.json b/place_empty_cup/demo_clean/instructions/episode54.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b34ee0b3b14fac83bb0effe4d3fbd98824b841c
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode54.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the smooth blue cup for liquids down on the round coaster with light streaks",
+    "Move the cup with smooth plastic surface onto the flat surface gray wooden coaster with the arm",
+    "Drop the medium blue cylindrical cup firmly on the light gray streaked wooden coaster using arm",
+    "Stick the rounded base blue cup onto the coaster with circular shape using the arm",
+    "Use an arm to drop the cup for holding liquids on the coaster made of smooth wood",
+    "Position the cup with light blue color carefully on the light gray round grainy coaster",
+    "Align the cylindrical light blue cup and set it down on the grainy texture coaster",
+    "Grab the cylindrical light blue cup and set it onto the coaster made of smooth wood.",
+    "Use the arm to slide the blue rounded-bottom cup onto the grainy texture coaster.",
+    "Position the smooth blue cup for liquids on the wooden coaster with the arm.",
+    "Drop the smooth blue drinking cup on top of the small coaster with grain texture.",
+    "Move the cup for holding liquids to the coaster made of smooth wood and set it down.",
+    "Use the arm to put the light blue plastic cup onto the light gray streaked wooden coaster.",
+    "Pick the cup with smooth plastic surface up and drop it on the flat surface gray wooden coaster.",
+    "Move the plastic cup for drinks to the flat round wooden coaster using the arm.",
+    "Use the arm to set the cup with smooth plastic surface on the smooth round palm-sized coaster",
+    "Grab the smooth blue cup for liquids and place it over the smooth round palm-sized coaster.",
+    "Stick the cup with smooth plastic surface onto the light gray streaked wooden coaster using the arm.",
+    "Use the arm to position the cup for holding liquids on the flat surface gray wooden coaster.",
+    "Using the arm, drop the cup with smooth plastic surface onto the flat surface gray wooden coaster.",
+    "Use an arm to place the medium-sized plastic blue cup on the smooth round palm-sized coaster",
+    "Grab the cup with light blue color and place it on the wooden coaster.",
+    "Relocate the plastic cup for drinks precisely onto the coaster made of smooth wood with arm",
+    "Lift the smooth blue drinking cup up and drop it on the grainy texture coaster.",
+    "Move the cup with smooth plastic surface to the smooth round palm-sized coaster",
+    "Slide the light blue plastic cup gently onto the grainy texture coaster via the arm.",
+    "Slide the blue rounded-bottom cup onto the wooden coaster with the arm.",
+    "Using the arm, align the cup for holding liquids over the light gray round grainy coaster",
+    "Set the cup with smooth plastic surface carefully onto the small coaster with grain texture",
+    "Set the light blue plastic cup on the flat surface gray wooden coaster using the arm.",
+    "Slide the cylindrical light blue cup onto the coaster made of smooth wood",
+    "Use the arm to position the rounded base blue cup onto the flat surface gray wooden coaster.",
+    "Set the smooth blue drinking cup securely on the small coaster with grain texture using the arm.",
+    "Lift the cup with smooth plastic surface and place it over the small coaster with grain texture",
+    "Move the cylindrical light blue cup using the arm onto the flat round wooden coaster.",
+    "Use an arm to drop the rounded base blue cup on the coaster with circular shape.",
+    "Grab the medium blue cylindrical cup and lower it onto the flat round wooden coaster",
+    "Using the arm, slide the smooth blue cup for liquids onto the grainy texture coaster.",
+    "Use arm to place the cup with light blue color on the light gray streaked wooden coaster",
+    "Direct the smooth blue cup for liquids to the light gray round grainy coaster and let it rest.",
+    "Position the cup with smooth plastic surface above and drop it on the flat round wooden coaster",
+    "Make sure the plastic cup for drinks ends up on the round coaster with light streaks.",
+    "Place the rounded base blue cup on top of the round coaster with light streaks",
+    "Grab the smooth blue cup for liquids, then place it onto the coaster made of smooth wood.",
+    "Set the smooth blue drinking cup onto the wooden coaster using the arm.",
+    "Lift the cup for holding liquids and place it onto the coaster with circular shape.",
+    "Lift the cup with smooth plastic surface and stick it onto the coaster with circular shape.",
+    "Stick the cup with light blue color onto the light gray streaked wooden coaster carefully.",
+    "Carefully place the cup with light blue color onto the small coaster with grain texture without arm",
+    "Position the smooth blue drinking cup squarely on top of the smooth round palm-sized coaster.",
+    "Set the smooth blue drinking cup down on the flat surface gray wooden coaster",
+    "Move the medium blue cylindrical cup onto the flat round wooden coaster with the arm",
+    "Drop the light blue plastic cup firmly on the small coaster with grain texture using arm",
+    "Stick the cylindrical light blue cup onto the flat round wooden coaster using the arm",
+    "Use an arm to drop the rounded base blue cup on the coaster made of smooth wood",
+    "Position the light blue plastic cup carefully on the round coaster with light streaks",
+    "Align the medium blue cylindrical cup and set it down on the light gray round grainy coaster",
+    "Grab the cup with smooth plastic surface and set it onto the grainy texture coaster.",
+    "Use the arm to slide the cup with light blue color onto the coaster made of smooth wood.",
+    "Position the cylindrical light blue cup on the grainy texture coaster with the arm.",
+    "Drop the cylindrical light blue cup on top of the light gray streaked wooden coaster.",
+    "Move the cup with light blue color to the small coaster with grain texture and set it down.",
+    "Use the arm to put the cylindrical light blue cup onto the coaster with circular shape.",
+    "Pick the cup with smooth plastic surface up and drop it on the round coaster with light streaks.",
+    "Move the smooth blue drinking cup to the wooden coaster using the arm.",
+    "Use the arm to set the cup with light blue color on the wooden coaster",
+    "Grab the medium-sized plastic blue cup and place it over the light gray streaked wooden coaster.",
+    "Stick the smooth blue cup for liquids onto the flat surface gray wooden coaster using the arm.",
+    "Use the arm to position the cup for holding liquids on the round coaster.",
+    "Using the arm, drop the medium blue cylindrical cup onto the flat round wooden coaster.",
+    "Use an arm to place the rounded base blue cup on the coaster with circular shape",
+    "Grab the smooth blue cup for liquids and place it on the wooden coaster.",
+    "Relocate the cup with light blue color precisely onto the round coaster with arm",
+    "Lift the cylindrical light blue cup up and drop it on the small coaster with grain texture.",
+    "Move the light blue plastic cup to the small coaster with grain texture",
+    "Slide the rounded base blue cup gently onto the flat round wooden coaster via the arm.",
+    "Slide the smooth blue cup for liquids onto the light gray streaked wooden coaster with the arm.",
+    "Using the arm, align the medium-sized plastic blue cup over the light gray streaked wooden coaster",
+    "Set the cylindrical light blue cup carefully onto the small coaster with grain texture",
+    "Set the smooth blue cup for liquids on the small coaster with grain texture using the arm.",
+    "Slide the light blue plastic cup onto the wooden coaster",
+    "Use the arm to position the cylindrical light blue cup onto the flat surface gray wooden coaster.",
+    "Set the smooth blue cup for liquids securely on the light gray streaked wooden coaster using the arm.",
+    "Lift the light blue plastic cup and place it over the light gray round grainy coaster",
+    "Move the cup with light blue color using the arm onto the coaster with circular shape.",
+    "Use an arm to drop the cylindrical light blue cup on the light gray round grainy coaster.",
+    "Grab the medium-sized plastic blue cup and lower it onto the flat round wooden coaster",
+    "Using the arm, slide the cup for holding liquids onto the wooden coaster.",
+    "Use arm to place the smooth blue drinking cup on the small coaster with grain texture",
+    "Direct the medium-sized plastic blue cup to the round coaster and let it rest.",
+    "Position the cup with smooth plastic surface above and drop it on the flat surface gray wooden coaster",
+    "Make sure the cup for holding liquids ends up on the small coaster with grain texture.",
+    "Place the rounded base blue cup on top of the coaster with circular shape",
+    "Grab the blue rounded-bottom cup, then place it onto the round coaster with light streaks.",
+    "Set the light blue plastic cup onto the round coaster with light streaks using the arm.",
+    "Lift the rounded base blue cup and place it onto the light gray streaked wooden coaster.",
+    "Lift the light blue plastic cup and stick it onto the smooth round palm-sized coaster.",
+    "Stick the rounded base blue cup onto the smooth round palm-sized coaster carefully.",
+    "Carefully place the plastic cup for drinks onto the round coaster without arm",
+    "Position the cylindrical light blue cup squarely on top of the light gray streaked wooden coaster."
+  ],
+  "unseen": [
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster"
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode55.json b/place_empty_cup/demo_clean/instructions/episode55.json
new file mode 100644
index 0000000000000000000000000000000000000000..7003b28036d2841a4beddc1da622289a9ac2e8df
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode55.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the blue rounded-bottom cup and place it on the smooth round palm-sized coaster.",
+    "Move the cup with smooth plastic surface onto the flat round wooden coaster with the arm",
+    "Slide the medium-sized plastic blue cup onto the grainy texture coaster",
+    "Position the medium-sized plastic blue cup above and drop it on the round coaster with light streaks",
+    "Use an arm to place the blue rounded-bottom cup on the light gray streaked wooden coaster",
+    "Position the light blue plastic cup carefully on the wooden coaster",
+    "Use the arm to position the plastic cup for drinks onto the small coaster with grain texture.",
+    "Stick the cylindrical light blue cup onto the round coaster carefully.",
+    "Set the cup with light blue color onto the wooden coaster using the arm.",
+    "Lift the cup for holding liquids and place it onto the smooth round palm-sized coaster.",
+    "Slide the rounded base blue cup gently onto the smooth round palm-sized coaster via the arm.",
+    "Drop the cup with light blue color firmly on the small coaster with grain texture using arm",
+    "Set the medium blue cylindrical cup securely on the flat surface gray wooden coaster using the arm.",
+    "Move the medium blue cylindrical cup to the flat surface gray wooden coaster using the arm.",
+    "Relocate the cup with light blue color precisely onto the smooth round palm-sized coaster with arm",
+    "Position the light blue plastic cup on the coaster made of smooth wood with the arm.",
+    "Grab the cylindrical light blue cup, then place it onto the light gray round grainy coaster.",
+    "Drop the cup for holding liquids on top of the grainy texture coaster.",
+    "Set the rounded base blue cup down on the round coaster",
+    "Grab the smooth blue drinking cup and lower it onto the light gray round grainy coaster",
+    "Lift the smooth blue drinking cup up and drop it on the flat surface gray wooden coaster.",
+    "Use the arm to put the cup with smooth plastic surface onto the smooth round palm-sized coaster.",
+    "Use an arm to drop the smooth blue drinking cup on the coaster with circular shape",
+    "Grab the light blue plastic cup and set it onto the light gray streaked wooden coaster.",
+    "Pick the cup with smooth plastic surface up and drop it on the coaster made of smooth wood.",
+    "Align the cup with smooth plastic surface and set it down on the small coaster with grain texture",
+    "Move the plastic cup for drinks to the coaster with circular shape and set it down.",
+    "Grab the smooth blue drinking cup and place it over the coaster with circular shape.",
+    "Direct the cup with light blue color to the light gray round grainy coaster and let it rest.",
+    "Lift the medium blue cylindrical cup and place it over the round coaster",
+    "Stick the smooth blue cup for liquids onto the coaster with circular shape using the arm",
+    "Make sure the cup for holding liquids ends up on the light gray streaked wooden coaster.",
+    "Set the light blue plastic cup carefully onto the flat surface gray wooden coaster",
+    "Use the arm to position the medium-sized plastic blue cup on the small coaster with grain texture.",
+    "Move the cylindrical light blue cup using the arm onto the flat round wooden coaster.",
+    "Using the arm, align the medium-sized plastic blue cup over the round coaster",
+    "Place the cup with smooth plastic surface on top of the round coaster",
+    "Stick the medium blue cylindrical cup onto the wooden coaster using the arm.",
+    "Position the plastic cup for drinks squarely on top of the small coaster with grain texture.",
+    "Use the arm to set the medium-sized plastic blue cup on the round coaster with light streaks",
+    "Use the arm to slide the cup with smooth plastic surface onto the flat round wooden coaster.",
+    "Using the arm, drop the cup for holding liquids onto the light gray streaked wooden coaster.",
+    "Use an arm to drop the smooth blue drinking cup on the round coaster.",
+    "Move the rounded base blue cup to the coaster with circular shape",
+    "Set the medium-sized plastic blue cup on the coaster with circular shape using the arm.",
+    "Use arm to place the plastic cup for drinks on the round coaster with light streaks",
+    "Slide the smooth blue cup for liquids onto the light gray streaked wooden coaster with the arm.",
+    "Lift the rounded base blue cup and stick it onto the light gray streaked wooden coaster.",
+    "Using the arm, slide the medium blue cylindrical cup onto the wooden coaster.",
+    "Carefully place the smooth blue drinking cup onto the wooden coaster without arm",
+    "Grab the medium blue cylindrical cup and place it on the round coaster.",
+    "Move the cup with light blue color onto the flat round wooden coaster with the arm",
+    "Slide the plastic cup for drinks onto the round coaster with light streaks",
+    "Position the cup with smooth plastic surface above and drop it on the coaster made of smooth wood",
+    "Use an arm to place the cup with light blue color on the round coaster with light streaks",
+    "Position the smooth blue cup for liquids carefully on the flat round wooden coaster",
+    "Use the arm to position the plastic cup for drinks onto the coaster made of smooth wood.",
+    "Stick the rounded base blue cup onto the coaster with circular shape carefully.",
+    "Set the light blue plastic cup onto the smooth round palm-sized coaster using the arm.",
+    "Lift the smooth blue cup for liquids and place it onto the light gray streaked wooden coaster.",
+    "Slide the cup for holding liquids gently onto the round coaster via the arm.",
+    "Drop the smooth blue cup for liquids firmly on the flat surface gray wooden coaster using arm",
+    "Set the smooth blue drinking cup securely on the smooth round palm-sized coaster using the arm.",
+    "Move the plastic cup for drinks to the grainy texture coaster using the arm.",
+    "Relocate the cup with light blue color precisely onto the round coaster with light streaks with arm",
+    "Position the cup for holding liquids on the round coaster with the arm.",
+    "Grab the plastic cup for drinks, then place it onto the light gray round grainy coaster.",
+    "Drop the medium-sized plastic blue cup on top of the light gray round grainy coaster.",
+    "Set the smooth blue drinking cup down on the grainy texture coaster",
+    "Grab the light blue plastic cup and lower it onto the light gray streaked wooden coaster",
+    "Lift the light blue plastic cup up and drop it on the round coaster.",
+    "Use the arm to put the cup with smooth plastic surface onto the round coaster with light streaks.",
+    "Use an arm to drop the plastic cup for drinks on the coaster with circular shape",
+    "Grab the medium blue cylindrical cup and set it onto the wooden coaster.",
+    "Pick the rounded base blue cup up and drop it on the round coaster with light streaks.",
+    "Align the cup with light blue color and set it down on the light gray streaked wooden coaster",
+    "Move the light blue plastic cup to the coaster made of smooth wood and set it down.",
+    "Grab the cup for holding liquids and place it over the coaster with circular shape.",
+    "Direct the blue rounded-bottom cup to the round coaster with light streaks and let it rest.",
+    "Lift the cylindrical light blue cup and place it over the grainy texture coaster",
+    "Stick the cylindrical light blue cup onto the round coaster using the arm",
+    "Make sure the blue rounded-bottom cup ends up on the coaster with circular shape.",
+    "Set the light blue plastic cup carefully onto the coaster made of smooth wood",
+    "Use the arm to position the rounded base blue cup on the wooden coaster.",
+    "Move the cylindrical light blue cup using the arm onto the small coaster with grain texture.",
+    "Using the arm, align the smooth blue drinking cup over the smooth round palm-sized coaster",
+    "Place the cup with smooth plastic surface on top of the coaster made of smooth wood",
+    "Stick the plastic cup for drinks onto the light gray round grainy coaster using the arm.",
+    "Position the medium-sized plastic blue cup squarely on top of the flat round wooden coaster.",
+    "Use the arm to set the cup with smooth plastic surface on the flat surface gray wooden coaster",
+    "Use the arm to slide the medium-sized plastic blue cup onto the flat round wooden coaster.",
+    "Using the arm, drop the light blue plastic cup onto the flat surface gray wooden coaster.",
+    "Use an arm to drop the smooth blue cup for liquids on the round coaster.",
+    "Move the medium-sized plastic blue cup to the coaster made of smooth wood",
+    "Set the cup with light blue color on the round coaster with light streaks using the arm.",
+    "Use arm to place the plastic cup for drinks on the flat surface gray wooden coaster",
+    "Slide the cylindrical light blue cup onto the light gray round grainy coaster with the arm.",
+    "Lift the medium-sized plastic blue cup and stick it onto the flat surface gray wooden coaster.",
+    "Using the arm, slide the cylindrical light blue cup onto the light gray streaked wooden coaster.",
+    "Carefully place the smooth blue drinking cup onto the smooth round palm-sized coaster without arm"
+  ],
+  "unseen": [
+    "Place the blue cup onto the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster"
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode56.json b/place_empty_cup/demo_clean/instructions/episode56.json
new file mode 100644
index 0000000000000000000000000000000000000000..c550ff5333675378d6a674cc58cad21220151fb1
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode56.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Slide the cup with light blue color onto the flat surface gray wooden coaster",
+    "Align the plastic cup for drinks and set it down on the flat round wooden coaster",
+    "Set the medium-sized plastic blue cup down on the wooden coaster",
+    "Carefully place the cylindrical light blue cup onto the small coaster with grain texture without arm",
+    "Use the arm to put the cup with smooth plastic surface onto the round coaster.",
+    "Stick the medium-sized plastic blue cup onto the flat surface gray wooden coaster using the arm.",
+    "Set the cup for holding liquids securely on the smooth round palm-sized coaster using the arm.",
+    "Slide the smooth blue cup for liquids gently onto the flat surface gray wooden coaster via the arm.",
+    "Set the blue rounded-bottom cup onto the small coaster with grain texture using the arm.",
+    "Drop the plastic cup for drinks firmly on the round coaster with light streaks using arm",
+    "Set the rounded base blue cup on the light gray round grainy coaster using the arm.",
+    "Grab the medium blue cylindrical cup and set it onto the light gray round grainy coaster.",
+    "Position the light blue plastic cup squarely on top of the coaster made of smooth wood.",
+    "Move the cup with smooth plastic surface onto the round coaster with the arm",
+    "Lift the cup with smooth plastic surface and place it onto the flat surface gray wooden coaster.",
+    "Lift the rounded base blue cup and place it over the flat surface gray wooden coaster",
+    "Move the rounded base blue cup to the coaster made of smooth wood",
+    "Relocate the smooth blue cup for liquids precisely onto the flat surface gray wooden coaster with arm",
+    "Use an arm to place the cup for holding liquids on the wooden coaster",
+    "Position the medium-sized plastic blue cup on the light gray round grainy coaster with the arm.",
+    "Position the blue rounded-bottom cup above and drop it on the round coaster with light streaks",
+    "Make sure the medium-sized plastic blue cup ends up on the flat surface gray wooden coaster.",
+    "Stick the plastic cup for drinks onto the light gray streaked wooden coaster using the arm",
+    "Lift the cup with smooth plastic surface and stick it onto the smooth round palm-sized coaster.",
+    "Direct the smooth blue cup for liquids to the round coaster and let it rest.",
+    "Drop the cup with smooth plastic surface on top of the coaster made of smooth wood.",
+    "Slide the medium-sized plastic blue cup onto the smooth round palm-sized coaster with the arm.",
+    "Using the arm, drop the medium blue cylindrical cup onto the grainy texture coaster.",
+    "Use the arm to slide the smooth blue drinking cup onto the flat round wooden coaster.",
+    "Grab the cup with smooth plastic surface, then place it onto the grainy texture coaster.",
+    "Use arm to place the smooth blue drinking cup on the round coaster",
+    "Use the arm to position the medium-sized plastic blue cup onto the coaster made of smooth wood.",
+    "Use the arm to set the medium-sized plastic blue cup on the wooden coaster",
+    "Lift the blue rounded-bottom cup up and drop it on the coaster made of smooth wood.",
+    "Using the arm, align the light blue plastic cup over the wooden coaster",
+    "Stick the cylindrical light blue cup onto the coaster with circular shape carefully.",
+    "Set the smooth blue cup for liquids carefully onto the round coaster",
+    "Move the cup for holding liquids to the light gray round grainy coaster and set it down.",
+    "Position the cylindrical light blue cup carefully on the round coaster",
+    "Move the cup with smooth plastic surface to the light gray streaked wooden coaster using the arm.",
+    "Grab the rounded base blue cup and lower it onto the light gray streaked wooden coaster",
+    "Place the rounded base blue cup on top of the small coaster with grain texture",
+    "Use the arm to position the medium blue cylindrical cup on the flat round wooden coaster.",
+    "Grab the medium blue cylindrical cup and place it over the light gray streaked wooden coaster.",
+    "Grab the light blue plastic cup and place it on the coaster made of smooth wood.",
+    "Use an arm to drop the medium blue cylindrical cup on the flat round wooden coaster",
+    "Using the arm, slide the smooth blue drinking cup onto the wooden coaster.",
+    "Pick the cup with light blue color up and drop it on the coaster with circular shape.",
+    "Move the smooth blue drinking cup using the arm onto the round coaster.",
+    "Use an arm to drop the smooth blue cup for liquids on the grainy texture coaster.",
+    "Slide the cup with smooth plastic surface onto the round coaster with light streaks",
+    "Align the medium-sized plastic blue cup and set it down on the light gray streaked wooden coaster",
+    "Set the medium-sized plastic blue cup down on the round coaster",
+    "Carefully place the cylindrical light blue cup onto the small coaster with grain texture without arm",
+    "Use the arm to put the cup with smooth plastic surface onto the round coaster.",
+    "Stick the rounded base blue cup onto the coaster made of smooth wood using the arm.",
+    "Set the plastic cup for drinks securely on the light gray round grainy coaster using the arm.",
+    "Slide the medium blue cylindrical cup gently onto the flat round wooden coaster via the arm.",
+    "Set the cup for holding liquids onto the wooden coaster using the arm.",
+    "Drop the smooth blue drinking cup firmly on the wooden coaster using arm",
+    "Set the plastic cup for drinks on the flat round wooden coaster using the arm.",
+    "Grab the cup with light blue color and set it onto the wooden coaster.",
+    "Position the rounded base blue cup squarely on top of the small coaster with grain texture.",
+    "Move the light blue plastic cup onto the wooden coaster with the arm",
+    "Lift the rounded base blue cup and place it onto the light gray streaked wooden coaster.",
+    "Lift the plastic cup for drinks and place it over the grainy texture coaster",
+    "Move the smooth blue drinking cup to the light gray round grainy coaster",
+    "Relocate the cylindrical light blue cup precisely onto the small coaster with grain texture with arm",
+    "Use an arm to place the smooth blue drinking cup on the coaster with circular shape",
+    "Position the cup for holding liquids on the round coaster with light streaks with the arm.",
+    "Position the cup with light blue color above and drop it on the light gray round grainy coaster",
+    "Make sure the cup for holding liquids ends up on the smooth round palm-sized coaster.",
+    "Stick the medium-sized plastic blue cup onto the grainy texture coaster using the arm",
+    "Lift the blue rounded-bottom cup and stick it onto the flat round wooden coaster.",
+    "Direct the smooth blue cup for liquids to the coaster with circular shape and let it rest.",
+    "Drop the cup for holding liquids on top of the coaster with circular shape.",
+    "Slide the plastic cup for drinks onto the small coaster with grain texture with the arm.",
+    "Using the arm, drop the medium-sized plastic blue cup onto the light gray round grainy coaster.",
+    "Use the arm to slide the blue rounded-bottom cup onto the coaster with circular shape.",
+    "Grab the cup with light blue color, then place it onto the light gray streaked wooden coaster.",
+    "Use arm to place the cup with light blue color on the coaster made of smooth wood",
+    "Use the arm to position the cup for holding liquids onto the flat surface gray wooden coaster.",
+    "Use the arm to set the light blue plastic cup on the grainy texture coaster",
+    "Lift the rounded base blue cup up and drop it on the small coaster with grain texture.",
+    "Using the arm, align the cylindrical light blue cup over the coaster made of smooth wood",
+    "Stick the smooth blue drinking cup onto the flat round wooden coaster carefully.",
+    "Set the light blue plastic cup carefully onto the flat round wooden coaster",
+    "Move the light blue plastic cup to the coaster made of smooth wood and set it down.",
+    "Position the light blue plastic cup carefully on the wooden coaster",
+    "Move the cup with smooth plastic surface to the round coaster with light streaks using the arm.",
+    "Grab the rounded base blue cup and lower it onto the small coaster with grain texture",
+    "Place the rounded base blue cup on top of the flat round wooden coaster",
+    "Use the arm to position the cup with light blue color on the flat round wooden coaster.",
+    "Grab the cylindrical light blue cup and place it over the smooth round palm-sized coaster.",
+    "Grab the rounded base blue cup and place it on the coaster made of smooth wood.",
+    "Use an arm to drop the cup for holding liquids on the light gray round grainy coaster",
+    "Using the arm, slide the cup with light blue color onto the smooth round palm-sized coaster.",
+    "Pick the smooth blue drinking cup up and drop it on the round coaster.",
+    "Move the smooth blue drinking cup using the arm onto the smooth round palm-sized coaster.",
+    "Use an arm to drop the medium blue cylindrical cup on the flat round wooden coaster."
+  ],
+  "unseen": [
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode57.json b/place_empty_cup/demo_clean/instructions/episode57.json
new file mode 100644
index 0000000000000000000000000000000000000000..a099d2b4d6825d898d86df1dd42fd0150449c3c1
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode57.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use an arm to drop the blue rounded-bottom cup on the light gray streaked wooden coaster.",
+    "Use an arm to drop the light blue plastic cup on the round coaster",
+    "Place the smooth blue cup for liquids on top of the wooden coaster",
+    "Slide the cylindrical light blue cup onto the round coaster with the arm.",
+    "Position the cylindrical light blue cup above and drop it on the round coaster with light streaks",
+    "Lift the cup for holding liquids and stick it onto the grainy texture coaster.",
+    "Grab the cup with smooth plastic surface, then place it onto the round coaster with light streaks.",
+    "Make sure the cup with light blue color ends up on the small coaster with grain texture.",
+    "Grab the cup with light blue color and place it on the light gray round grainy coaster.",
+    "Stick the medium blue cylindrical cup onto the small coaster with grain texture using the arm",
+    "Grab the blue rounded-bottom cup and place it over the flat surface gray wooden coaster.",
+    "Stick the smooth blue drinking cup onto the grainy texture coaster carefully.",
+    "Lift the medium-sized plastic blue cup and place it over the grainy texture coaster",
+    "Using the arm, drop the smooth blue cup for liquids onto the flat round wooden coaster.",
+    "Set the medium blue cylindrical cup down on the small coaster with grain texture",
+    "Move the smooth blue cup for liquids to the smooth round palm-sized coaster and set it down.",
+    "Lift the cup for holding liquids up and drop it on the round coaster with light streaks.",
+    "Set the light blue plastic cup carefully onto the round coaster with light streaks",
+    "Move the smooth blue cup for liquids to the flat surface gray wooden coaster",
+    "Grab the cup for holding liquids and set it onto the coaster with circular shape.",
+    "Using the arm, align the rounded base blue cup over the flat round wooden coaster",
+    "Use the arm to position the cup with smooth plastic surface on the smooth round palm-sized coaster.",
+    "Set the cup for holding liquids securely on the round coaster with light streaks using the arm.",
+    "Set the blue rounded-bottom cup on the flat surface gray wooden coaster using the arm.",
+    "Move the cup with smooth plastic surface using the arm onto the flat surface gray wooden coaster.",
+    "Use the arm to slide the blue rounded-bottom cup onto the coaster with circular shape.",
+    "Relocate the medium blue cylindrical cup precisely onto the wooden coaster with arm",
+    "Stick the cup with smooth plastic surface onto the light gray round grainy coaster using the arm.",
+    "Use arm to place the medium blue cylindrical cup on the flat round wooden coaster",
+    "Use the arm to set the smooth blue cup for liquids on the flat surface gray wooden coaster",
+    "Grab the medium blue cylindrical cup and lower it onto the light gray round grainy coaster",
+    "Position the cup for holding liquids on the small coaster with grain texture with the arm.",
+    "Using the arm, slide the smooth blue cup for liquids onto the round coaster.",
+    "Lift the cylindrical light blue cup and place it onto the flat round wooden coaster.",
+    "Position the light blue plastic cup carefully on the grainy texture coaster",
+    "Pick the cylindrical light blue cup up and drop it on the light gray streaked wooden coaster.",
+    "Move the cup for holding liquids to the smooth round palm-sized coaster using the arm.",
+    "Drop the light blue plastic cup firmly on the flat round wooden coaster using arm",
+    "Align the light blue plastic cup and set it down on the coaster made of smooth wood",
+    "Carefully place the cup with smooth plastic surface onto the coaster with circular shape without arm",
+    "Use the arm to position the rounded base blue cup onto the coaster with circular shape.",
+    "Position the cylindrical light blue cup squarely on top of the wooden coaster.",
+    "Move the cup for holding liquids onto the coaster made of smooth wood with the arm",
+    "Use an arm to place the cup with light blue color on the smooth round palm-sized coaster",
+    "Slide the blue rounded-bottom cup onto the light gray round grainy coaster",
+    "Set the smooth blue drinking cup onto the wooden coaster using the arm.",
+    "Drop the rounded base blue cup on top of the round coaster.",
+    "Direct the smooth blue drinking cup to the coaster made of smooth wood and let it rest.",
+    "Slide the blue rounded-bottom cup gently onto the wooden coaster via the arm.",
+    "Use the arm to put the medium-sized plastic blue cup onto the small coaster with grain texture.",
+    "Use an arm to drop the plastic cup for drinks on the coaster with circular shape.",
+    "Use an arm to drop the rounded base blue cup on the flat surface gray wooden coaster",
+    "Place the cup with light blue color on top of the light gray round grainy coaster",
+    "Slide the cup with smooth plastic surface onto the flat surface gray wooden coaster with the arm.",
+    "Position the blue rounded-bottom cup above and drop it on the round coaster",
+    "Lift the medium blue cylindrical cup and stick it onto the light gray streaked wooden coaster.",
+    "Grab the smooth blue drinking cup, then place it onto the wooden coaster.",
+    "Make sure the blue rounded-bottom cup ends up on the wooden coaster.",
+    "Grab the cup for holding liquids and place it on the coaster made of smooth wood.",
+    "Stick the rounded base blue cup onto the grainy texture coaster using the arm",
+    "Grab the smooth blue cup for liquids and place it over the coaster with circular shape.",
+    "Stick the light blue plastic cup onto the flat surface gray wooden coaster carefully.",
+    "Lift the rounded base blue cup and place it over the coaster with circular shape",
+    "Using the arm, drop the rounded base blue cup onto the round coaster with light streaks.",
+    "Set the cup with light blue color down on the small coaster with grain texture",
+    "Move the light blue plastic cup to the smooth round palm-sized coaster and set it down.",
+    "Lift the smooth blue cup for liquids up and drop it on the round coaster with light streaks.",
+    "Set the cup for holding liquids carefully onto the wooden coaster",
+    "Move the light blue plastic cup to the flat surface gray wooden coaster",
+    "Grab the cup with smooth plastic surface and set it onto the grainy texture coaster.",
+    "Using the arm, align the plastic cup for drinks over the round coaster with light streaks",
+    "Use the arm to position the cup with light blue color on the wooden coaster.",
+    "Set the rounded base blue cup securely on the coaster made of smooth wood using the arm.",
+    "Set the cylindrical light blue cup on the light gray streaked wooden coaster using the arm.",
+    "Move the light blue plastic cup using the arm onto the light gray round grainy coaster.",
+    "Use the arm to slide the smooth blue drinking cup onto the light gray streaked wooden coaster.",
+    "Relocate the medium-sized plastic blue cup precisely onto the coaster with circular shape with arm",
+    "Stick the smooth blue drinking cup onto the light gray streaked wooden coaster using the arm.",
+    "Use arm to place the medium-sized plastic blue cup on the small coaster with grain texture",
+    "Use the arm to set the medium blue cylindrical cup on the grainy texture coaster",
+    "Grab the medium-sized plastic blue cup and lower it onto the smooth round palm-sized coaster",
+    "Position the light blue plastic cup on the flat round wooden coaster with the arm.",
+    "Using the arm, slide the rounded base blue cup onto the light gray round grainy coaster.",
+    "Lift the rounded base blue cup and place it onto the round coaster with light streaks.",
+    "Position the blue rounded-bottom cup carefully on the round coaster",
+    "Pick the medium-sized plastic blue cup up and drop it on the round coaster.",
+    "Move the light blue plastic cup to the round coaster with light streaks using the arm.",
+    "Drop the smooth blue cup for liquids firmly on the grainy texture coaster using arm",
+    "Align the smooth blue drinking cup and set it down on the wooden coaster",
+    "Carefully place the rounded base blue cup onto the small coaster with grain texture without arm",
+    "Use the arm to position the cup for holding liquids onto the flat round wooden coaster.",
+    "Position the cup for holding liquids squarely on top of the small coaster with grain texture.",
+    "Move the medium-sized plastic blue cup onto the light gray round grainy coaster with the arm",
+    "Use an arm to place the cup with light blue color on the flat round wooden coaster",
+    "Slide the smooth blue cup for liquids onto the flat round wooden coaster",
+    "Set the medium-sized plastic blue cup onto the flat surface gray wooden coaster using the arm.",
+    "Drop the rounded base blue cup on top of the small coaster with grain texture.",
+    "Direct the cylindrical light blue cup to the flat surface gray wooden coaster and let it rest.",
+    "Slide the cup with light blue color gently onto the wooden coaster via the arm.",
+    "Use the arm to put the light blue plastic cup onto the round coaster."
+  ],
+  "unseen": [
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode58.json b/place_empty_cup/demo_clean/instructions/episode58.json
new file mode 100644
index 0000000000000000000000000000000000000000..3acab6e2dbb572a0ba7c475eba0e7437e903c616
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode58.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Drop the medium blue cylindrical cup firmly on the light gray streaked wooden coaster using arm",
+    "Relocate the plastic cup for drinks precisely onto the round coaster with arm",
+    "Move the cup with light blue color to the wooden coaster using the arm.",
+    "Stick the light blue plastic cup onto the grainy texture coaster using the arm",
+    "Set the light blue plastic cup onto the light gray round grainy coaster using the arm.",
+    "Grab the plastic cup for drinks and set it onto the flat round wooden coaster.",
+    "Use the arm to position the smooth blue drinking cup on the small coaster with grain texture.",
+    "Use the arm to set the cup with light blue color on the light gray round grainy coaster",
+    "Make sure the cup with light blue color ends up on the light gray round grainy coaster.",
+    "Position the cup with light blue color carefully on the round coaster",
+    "Pick the blue rounded-bottom cup up and drop it on the coaster with circular shape.",
+    "Use arm to place the light blue plastic cup on the flat surface gray wooden coaster",
+    "Using the arm, drop the cup for holding liquids onto the round coaster with light streaks.",
+    "Use the arm to position the blue rounded-bottom cup onto the coaster with circular shape.",
+    "Position the medium blue cylindrical cup on the wooden coaster with the arm.",
+    "Using the arm, slide the light blue plastic cup onto the grainy texture coaster.",
+    "Stick the rounded base blue cup onto the small coaster with grain texture carefully.",
+    "Lift the cup with light blue color and place it onto the round coaster.",
+    "Slide the plastic cup for drinks gently onto the coaster made of smooth wood via the arm.",
+    "Set the smooth blue cup for liquids carefully onto the light gray streaked wooden coaster",
+    "Set the medium-sized plastic blue cup securely on the grainy texture coaster using the arm.",
+    "Lift the smooth blue drinking cup and stick it onto the smooth round palm-sized coaster.",
+    "Move the plastic cup for drinks using the arm onto the coaster made of smooth wood.",
+    "Direct the medium-sized plastic blue cup to the wooden coaster and let it rest.",
+    "Move the rounded base blue cup onto the flat surface gray wooden coaster with the arm",
+    "Use an arm to drop the smooth blue cup for liquids on the coaster made of smooth wood",
+    "Use the arm to put the cup for holding liquids onto the flat surface gray wooden coaster.",
+    "Position the plastic cup for drinks above and drop it on the coaster with circular shape",
+    "Lift the smooth blue cup for liquids up and drop it on the round coaster.",
+    "Place the cup with light blue color on top of the round coaster",
+    "Grab the medium-sized plastic blue cup and place it over the flat round wooden coaster.",
+    "Set the smooth blue cup for liquids down on the coaster with circular shape",
+    "Using the arm, align the cup with smooth plastic surface over the round coaster",
+    "Slide the smooth blue drinking cup onto the round coaster",
+    "Grab the cylindrical light blue cup and lower it onto the small coaster with grain texture",
+    "Drop the smooth blue cup for liquids on top of the round coaster.",
+    "Position the smooth blue cup for liquids squarely on top of the light gray streaked wooden coaster.",
+    "Grab the medium-sized plastic blue cup, then place it onto the flat surface gray wooden coaster.",
+    "Use an arm to drop the cylindrical light blue cup on the grainy texture coaster.",
+    "Use the arm to slide the cup with light blue color onto the round coaster.",
+    "Grab the rounded base blue cup and place it on the wooden coaster.",
+    "Stick the blue rounded-bottom cup onto the flat surface gray wooden coaster using the arm.",
+    "Lift the smooth blue drinking cup and place it over the light gray streaked wooden coaster",
+    "Align the plastic cup for drinks and set it down on the small coaster with grain texture",
+    "Slide the cup with smooth plastic surface onto the round coaster with the arm.",
+    "Use an arm to place the cylindrical light blue cup on the small coaster with grain texture",
+    "Move the medium-sized plastic blue cup to the light gray streaked wooden coaster",
+    "Set the cylindrical light blue cup on the round coaster using the arm.",
+    "Move the cylindrical light blue cup to the coaster with circular shape and set it down.",
+    "Carefully place the smooth blue drinking cup onto the coaster with circular shape without arm",
+    "Drop the rounded base blue cup firmly on the flat round wooden coaster using arm",
+    "Relocate the smooth blue cup for liquids precisely onto the wooden coaster with arm",
+    "Move the smooth blue cup for liquids to the grainy texture coaster using the arm.",
+    "Stick the medium blue cylindrical cup onto the coaster made of smooth wood using the arm",
+    "Set the cylindrical light blue cup onto the coaster with circular shape using the arm.",
+    "Grab the cup with smooth plastic surface and set it onto the light gray streaked wooden coaster.",
+    "Use the arm to position the medium blue cylindrical cup on the flat round wooden coaster.",
+    "Use the arm to set the medium blue cylindrical cup on the flat round wooden coaster",
+    "Make sure the rounded base blue cup ends up on the round coaster with light streaks.",
+    "Position the cup with light blue color carefully on the coaster made of smooth wood",
+    "Pick the medium blue cylindrical cup up and drop it on the grainy texture coaster.",
+    "Use arm to place the blue rounded-bottom cup on the coaster made of smooth wood",
+    "Using the arm, drop the smooth blue cup for liquids onto the coaster made of smooth wood.",
+    "Use the arm to position the cylindrical light blue cup onto the grainy texture coaster.",
+    "Position the rounded base blue cup on the wooden coaster with the arm.",
+    "Using the arm, slide the rounded base blue cup onto the coaster made of smooth wood.",
+    "Stick the plastic cup for drinks onto the small coaster with grain texture carefully.",
+    "Lift the smooth blue drinking cup and place it onto the coaster with circular shape.",
+    "Slide the light blue plastic cup gently onto the coaster with circular shape via the arm.",
+    "Set the smooth blue cup for liquids carefully onto the flat round wooden coaster",
+    "Set the medium-sized plastic blue cup securely on the coaster made of smooth wood using the arm.",
+    "Lift the medium-sized plastic blue cup and stick it onto the flat surface gray wooden coaster.",
+    "Move the cup with smooth plastic surface using the arm onto the light gray streaked wooden coaster.",
+    "Direct the light blue plastic cup to the small coaster with grain texture and let it rest.",
+    "Move the medium-sized plastic blue cup onto the coaster made of smooth wood with the arm",
+    "Use an arm to drop the light blue plastic cup on the coaster with circular shape",
+    "Use the arm to put the smooth blue drinking cup onto the light gray streaked wooden coaster.",
+    "Position the cylindrical light blue cup above and drop it on the light gray round grainy coaster",
+    "Lift the smooth blue drinking cup up and drop it on the small coaster with grain texture.",
+    "Place the plastic cup for drinks on top of the round coaster with light streaks",
+    "Grab the smooth blue drinking cup and place it over the light gray round grainy coaster.",
+    "Set the smooth blue cup for liquids down on the flat round wooden coaster",
+    "Using the arm, align the smooth blue cup for liquids over the small coaster with grain texture",
+    "Slide the rounded base blue cup onto the coaster with circular shape",
+    "Grab the light blue plastic cup and lower it onto the coaster with circular shape",
+    "Drop the cup for holding liquids on top of the light gray round grainy coaster.",
+    "Position the cylindrical light blue cup squarely on top of the round coaster with light streaks.",
+    "Grab the rounded base blue cup, then place it onto the grainy texture coaster.",
+    "Use an arm to drop the blue rounded-bottom cup on the smooth round palm-sized coaster.",
+    "Use the arm to slide the blue rounded-bottom cup onto the coaster made of smooth wood.",
+    "Grab the medium-sized plastic blue cup and place it on the small coaster with grain texture.",
+    "Stick the medium blue cylindrical cup onto the smooth round palm-sized coaster using the arm.",
+    "Lift the cup with smooth plastic surface and place it over the grainy texture coaster",
+    "Align the cup with smooth plastic surface and set it down on the flat surface gray wooden coaster",
+    "Slide the light blue plastic cup onto the small coaster with grain texture with the arm.",
+    "Use an arm to place the plastic cup for drinks on the flat round wooden coaster",
+    "Move the cup for holding liquids to the coaster made of smooth wood",
+    "Set the plastic cup for drinks on the round coaster with light streaks using the arm.",
+    "Move the smooth blue cup for liquids to the round coaster with light streaks and set it down.",
+    "Carefully place the medium-sized plastic blue cup onto the wooden coaster without arm"
+  ],
+  "unseen": [
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode59.json b/place_empty_cup/demo_clean/instructions/episode59.json
new file mode 100644
index 0000000000000000000000000000000000000000..7649bab6e098d9a7eae15e823cec35cf265beb78
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode59.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the arm to put the rounded base blue cup onto the small coaster with grain texture.",
+    "Move the medium blue cylindrical cup to the smooth round palm-sized coaster using the arm.",
+    "Grab the blue rounded-bottom cup and set it onto the light gray round grainy coaster.",
+    "Grab the cylindrical light blue cup and lower it onto the grainy texture coaster",
+    "Lift the cup for holding liquids and place it over the wooden coaster",
+    "Set the cylindrical light blue cup down on the small coaster with grain texture",
+    "Lift the cup for holding liquids and stick it onto the coaster made of smooth wood.",
+    "Using the arm, drop the cup with smooth plastic surface onto the flat round wooden coaster.",
+    "Use arm to place the medium-sized plastic blue cup on the round coaster",
+    "Use the arm to position the plastic cup for drinks on the flat surface gray wooden coaster.",
+    "Set the cylindrical light blue cup on the flat surface gray wooden coaster using the arm.",
+    "Use the arm to slide the smooth blue cup for liquids onto the small coaster with grain texture.",
+    "Position the cylindrical light blue cup above and drop it on the coaster made of smooth wood",
+    "Using the arm, slide the smooth blue drinking cup onto the small coaster with grain texture.",
+    "Align the cup with light blue color and set it down on the light gray streaked wooden coaster",
+    "Position the blue rounded-bottom cup carefully on the round coaster with light streaks",
+    "Relocate the smooth blue cup for liquids precisely onto the round coaster with arm",
+    "Set the medium blue cylindrical cup onto the wooden coaster using the arm.",
+    "Move the light blue plastic cup to the grainy texture coaster",
+    "Using the arm, align the blue rounded-bottom cup over the small coaster with grain texture",
+    "Use an arm to place the blue rounded-bottom cup on the round coaster with light streaks",
+    "Move the blue rounded-bottom cup using the arm onto the round coaster.",
+    "Move the cup for holding liquids to the flat surface gray wooden coaster and set it down.",
+    "Position the cylindrical light blue cup on the smooth round palm-sized coaster with the arm.",
+    "Slide the cup with light blue color onto the light gray round grainy coaster",
+    "Stick the cylindrical light blue cup onto the small coaster with grain texture carefully.",
+    "Drop the blue rounded-bottom cup firmly on the light gray streaked wooden coaster using arm",
+    "Grab the smooth blue cup for liquids, then place it onto the flat surface gray wooden coaster.",
+    "Grab the medium blue cylindrical cup and place it on the small coaster with grain texture.",
+    "Grab the cylindrical light blue cup and place it over the wooden coaster.",
+    "Make sure the cup with smooth plastic surface ends up on the flat round wooden coaster.",
+    "Slide the cup with smooth plastic surface onto the light gray round grainy coaster with the arm.",
+    "Stick the medium blue cylindrical cup onto the grainy texture coaster using the arm",
+    "Place the medium-sized plastic blue cup on top of the small coaster with grain texture",
+    "Use the arm to position the medium blue cylindrical cup onto the flat surface gray wooden coaster.",
+    "Stick the smooth blue cup for liquids onto the light gray round grainy coaster using the arm.",
+    "Drop the smooth blue drinking cup on top of the wooden coaster.",
+    "Slide the smooth blue cup for liquids gently onto the small coaster with grain texture via the arm.",
+    "Move the cup with light blue color onto the grainy texture coaster with the arm",
+    "Use an arm to drop the cup with smooth plastic surface on the flat surface gray wooden coaster",
+    "Use an arm to drop the blue rounded-bottom cup on the wooden coaster.",
+    "Set the smooth blue cup for liquids carefully onto the round coaster with light streaks",
+    "Carefully place the medium blue cylindrical cup onto the flat round wooden coaster without arm",
+    "Pick the cylindrical light blue cup up and drop it on the coaster with circular shape.",
+    "Use the arm to set the cup with smooth plastic surface on the flat surface gray wooden coaster",
+    "Position the smooth blue drinking cup squarely on top of the round coaster with light streaks.",
+    "Direct the rounded base blue cup to the flat round wooden coaster and let it rest.",
+    "Set the plastic cup for drinks securely on the grainy texture coaster using the arm.",
+    "Lift the smooth blue drinking cup and place it onto the light gray round grainy coaster.",
+    "Lift the cup for holding liquids up and drop it on the flat round wooden coaster.",
+    "Use the arm to put the blue rounded-bottom cup onto the coaster made of smooth wood.",
+    "Move the light blue plastic cup to the flat round wooden coaster using the arm.",
+    "Grab the smooth blue cup for liquids and set it onto the grainy texture coaster.",
+    "Grab the light blue plastic cup and lower it onto the small coaster with grain texture",
+    "Lift the cup with smooth plastic surface and place it over the light gray round grainy coaster",
+    "Set the rounded base blue cup down on the coaster made of smooth wood",
+    "Lift the blue rounded-bottom cup and stick it onto the small coaster with grain texture.",
+    "Using the arm, drop the cup for holding liquids onto the round coaster.",
+    "Use arm to place the cup for holding liquids on the flat surface gray wooden coaster",
+    "Use the arm to position the medium blue cylindrical cup on the light gray streaked wooden coaster.",
+    "Set the cup with smooth plastic surface on the flat surface gray wooden coaster using the arm.",
+    "Use the arm to slide the smooth blue cup for liquids onto the wooden coaster.",
+    "Position the light blue plastic cup above and drop it on the grainy texture coaster",
+    "Using the arm, slide the cup for holding liquids onto the coaster with circular shape.",
+    "Align the plastic cup for drinks and set it down on the smooth round palm-sized coaster",
+    "Position the smooth blue cup for liquids carefully on the coaster with circular shape",
+    "Relocate the medium blue cylindrical cup precisely onto the round coaster with light streaks with arm",
+    "Set the cylindrical light blue cup onto the light gray streaked wooden coaster using the arm.",
+    "Move the cup with smooth plastic surface to the flat surface gray wooden coaster",
+    "Using the arm, align the rounded base blue cup over the light gray round grainy coaster",
+    "Use an arm to place the smooth blue drinking cup on the light gray round grainy coaster",
+    "Move the blue rounded-bottom cup using the arm onto the smooth round palm-sized coaster.",
+    "Move the blue rounded-bottom cup to the round coaster with light streaks and set it down.",
+    "Position the medium blue cylindrical cup on the flat surface gray wooden coaster with the arm.",
+    "Slide the rounded base blue cup onto the flat round wooden coaster",
+    "Stick the plastic cup for drinks onto the wooden coaster carefully.",
+    "Drop the blue rounded-bottom cup firmly on the light gray round grainy coaster using arm",
+    "Grab the smooth blue cup for liquids, then place it onto the grainy texture coaster.",
+    "Grab the blue rounded-bottom cup and place it on the round coaster.",
+    "Grab the cup with light blue color and place it over the grainy texture coaster.",
+    "Make sure the light blue plastic cup ends up on the grainy texture coaster.",
+    "Slide the plastic cup for drinks onto the wooden coaster with the arm.",
+    "Stick the cylindrical light blue cup onto the light gray round grainy coaster using the arm",
+    "Place the smooth blue cup for liquids on top of the smooth round palm-sized coaster",
+    "Use the arm to position the cup for holding liquids onto the light gray streaked wooden coaster.",
+    "Stick the blue rounded-bottom cup onto the smooth round palm-sized coaster using the arm.",
+    "Drop the medium blue cylindrical cup on top of the round coaster.",
+    "Slide the cylindrical light blue cup gently onto the flat surface gray wooden coaster via the arm.",
+    "Move the cup with smooth plastic surface onto the smooth round palm-sized coaster with the arm",
+    "Use an arm to drop the medium-sized plastic blue cup on the round coaster",
+    "Use an arm to drop the rounded base blue cup on the smooth round palm-sized coaster.",
+    "Set the cylindrical light blue cup carefully onto the flat surface gray wooden coaster",
+    "Carefully place the blue rounded-bottom cup onto the flat round wooden coaster without arm",
+    "Pick the cup for holding liquids up and drop it on the smooth round palm-sized coaster.",
+    "Use the arm to set the plastic cup for drinks on the light gray streaked wooden coaster",
+    "Position the medium blue cylindrical cup squarely on top of the round coaster.",
+    "Direct the cup for holding liquids to the flat surface gray wooden coaster and let it rest.",
+    "Set the plastic cup for drinks securely on the flat round wooden coaster using the arm.",
+    "Lift the smooth blue drinking cup and place it onto the coaster made of smooth wood.",
+    "Lift the smooth blue cup for liquids up and drop it on the grainy texture coaster."
+  ],
+  "unseen": [
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode6.json b/place_empty_cup/demo_clean/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2c6a09e5db0ae98e5325cedf5671c1437b6ba3e
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode6.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Slide the smooth blue cup for liquids onto the flat round wooden coaster with the arm.",
+    "Set the medium blue cylindrical cup on the smooth round palm-sized coaster using the arm.",
+    "Using the arm, slide the medium blue cylindrical cup onto the grainy texture coaster.",
+    "Lift the smooth blue cup for liquids and stick it onto the grainy texture coaster.",
+    "Pick the cylindrical light blue cup up and drop it on the flat round wooden coaster.",
+    "Slide the smooth blue drinking cup gently onto the coaster with circular shape via the arm.",
+    "Stick the smooth blue cup for liquids onto the coaster with circular shape using the arm.",
+    "Set the rounded base blue cup carefully onto the coaster made of smooth wood",
+    "Make sure the smooth blue cup for liquids ends up on the round coaster.",
+    "Move the smooth blue cup for liquids to the smooth round palm-sized coaster using the arm.",
+    "Grab the rounded base blue cup and lower it onto the wooden coaster",
+    "Direct the cup for holding liquids to the light gray streaked wooden coaster and let it rest.",
+    "Lift the medium blue cylindrical cup and place it onto the wooden coaster.",
+    "Carefully place the cup with smooth plastic surface onto the grainy texture coaster without arm",
+    "Stick the plastic cup for drinks onto the light gray streaked wooden coaster using the arm",
+    "Use the arm to position the smooth blue drinking cup onto the wooden coaster.",
+    "Drop the smooth blue cup for liquids firmly on the grainy texture coaster using arm",
+    "Use the arm to slide the medium-sized plastic blue cup onto the round coaster with light streaks.",
+    "Use the arm to put the smooth blue drinking cup onto the wooden coaster.",
+    "Set the rounded base blue cup down on the smooth round palm-sized coaster",
+    "Use arm to place the rounded base blue cup on the grainy texture coaster",
+    "Grab the blue rounded-bottom cup and place it over the flat round wooden coaster.",
+    "Grab the light blue plastic cup and place it on the coaster with circular shape.",
+    "Lift the smooth blue cup for liquids and place it over the light gray streaked wooden coaster",
+    "Use an arm to place the cylindrical light blue cup on the coaster made of smooth wood",
+    "Set the cup with light blue color securely on the smooth round palm-sized coaster using the arm.",
+    "Place the medium-sized plastic blue cup on top of the light gray round grainy coaster",
+    "Grab the cylindrical light blue cup and set it onto the wooden coaster.",
+    "Grab the cup with smooth plastic surface, then place it onto the flat surface gray wooden coaster.",
+    "Slide the smooth blue cup for liquids onto the small coaster with grain texture",
+    "Move the rounded base blue cup to the wooden coaster",
+    "Position the medium-sized plastic blue cup squarely on top of the coaster with circular shape.",
+    "Align the blue rounded-bottom cup and set it down on the flat surface gray wooden coaster",
+    "Using the arm, drop the light blue plastic cup onto the wooden coaster.",
+    "Stick the light blue plastic cup onto the smooth round palm-sized coaster carefully.",
+    "Position the rounded base blue cup on the flat round wooden coaster with the arm.",
+    "Lift the cylindrical light blue cup up and drop it on the coaster with circular shape.",
+    "Use the arm to set the smooth blue cup for liquids on the wooden coaster",
+    "Position the cup for holding liquids above and drop it on the coaster made of smooth wood",
+    "Drop the light blue plastic cup on top of the flat round wooden coaster.",
+    "Use an arm to drop the light blue plastic cup on the round coaster with light streaks.",
+    "Set the smooth blue drinking cup onto the light gray round grainy coaster using the arm.",
+    "Move the cup with light blue color using the arm onto the coaster with circular shape.",
+    "Use an arm to drop the medium-sized plastic blue cup on the grainy texture coaster",
+    "Relocate the smooth blue cup for liquids precisely onto the light gray round grainy coaster with arm",
+    "Use the arm to position the cup with smooth plastic surface on the light gray round grainy coaster.",
+    "Move the medium-sized plastic blue cup onto the flat surface gray wooden coaster with the arm",
+    "Position the blue rounded-bottom cup carefully on the wooden coaster",
+    "Move the medium blue cylindrical cup to the flat round wooden coaster and set it down.",
+    "Using the arm, align the cup for holding liquids over the flat round wooden coaster",
+    "Slide the blue rounded-bottom cup onto the smooth round palm-sized coaster with the arm.",
+    "Set the cylindrical light blue cup on the small coaster with grain texture using the arm.",
+    "Using the arm, slide the medium-sized plastic blue cup onto the smooth round palm-sized coaster.",
+    "Lift the smooth blue cup for liquids and stick it onto the flat round wooden coaster.",
+    "Pick the cylindrical light blue cup up and drop it on the coaster with circular shape.",
+    "Slide the light blue plastic cup gently onto the grainy texture coaster via the arm.",
+    "Stick the cup with light blue color onto the flat round wooden coaster using the arm.",
+    "Set the blue rounded-bottom cup carefully onto the round coaster",
+    "Make sure the cup with light blue color ends up on the smooth round palm-sized coaster.",
+    "Move the cup with smooth plastic surface to the wooden coaster using the arm.",
+    "Grab the blue rounded-bottom cup and lower it onto the wooden coaster",
+    "Direct the rounded base blue cup to the round coaster and let it rest.",
+    "Lift the cup with smooth plastic surface and place it onto the light gray streaked wooden coaster.",
+    "Carefully place the smooth blue drinking cup onto the wooden coaster without arm",
+    "Stick the medium blue cylindrical cup onto the flat round wooden coaster using the arm",
+    "Use the arm to position the rounded base blue cup onto the coaster with circular shape.",
+    "Drop the rounded base blue cup firmly on the round coaster using arm",
+    "Use the arm to slide the smooth blue cup for liquids onto the light gray streaked wooden coaster.",
+    "Use the arm to put the rounded base blue cup onto the coaster with circular shape.",
+    "Set the smooth blue cup for liquids down on the round coaster",
+    "Use arm to place the light blue plastic cup on the flat surface gray wooden coaster",
+    "Grab the medium blue cylindrical cup and place it over the small coaster with grain texture.",
+    "Grab the blue rounded-bottom cup and place it on the flat surface gray wooden coaster.",
+    "Lift the plastic cup for drinks and place it over the small coaster with grain texture",
+    "Use an arm to place the blue rounded-bottom cup on the grainy texture coaster",
+    "Set the plastic cup for drinks securely on the round coaster using the arm.",
+    "Place the cup with light blue color on top of the coaster with circular shape",
+    "Grab the smooth blue drinking cup and set it onto the small coaster with grain texture.",
+    "Grab the cup for holding liquids, then place it onto the round coaster.",
+    "Slide the cylindrical light blue cup onto the round coaster",
+    "Move the medium-sized plastic blue cup to the coaster with circular shape",
+    "Position the cup for holding liquids squarely on top of the grainy texture coaster.",
+    "Align the blue rounded-bottom cup and set it down on the flat surface gray wooden coaster",
+    "Using the arm, drop the plastic cup for drinks onto the grainy texture coaster.",
+    "Stick the cup with smooth plastic surface onto the coaster made of smooth wood carefully.",
+    "Position the smooth blue drinking cup on the coaster with circular shape with the arm.",
+    "Lift the medium blue cylindrical cup up and drop it on the coaster made of smooth wood.",
+    "Use the arm to set the cup with light blue color on the smooth round palm-sized coaster",
+    "Position the cup for holding liquids above and drop it on the round coaster with light streaks",
+    "Drop the plastic cup for drinks on top of the light gray streaked wooden coaster.",
+    "Use an arm to drop the rounded base blue cup on the light gray streaked wooden coaster.",
+    "Set the medium blue cylindrical cup onto the grainy texture coaster using the arm.",
+    "Move the medium blue cylindrical cup using the arm onto the light gray streaked wooden coaster.",
+    "Use an arm to drop the cylindrical light blue cup on the light gray streaked wooden coaster",
+    "Relocate the cup for holding liquids precisely onto the wooden coaster with arm",
+    "Use the arm to position the plastic cup for drinks on the smooth round palm-sized coaster.",
+    "Move the rounded base blue cup onto the flat surface gray wooden coaster with the arm",
+    "Position the cup with smooth plastic surface carefully on the small coaster with grain texture",
+    "Move the blue rounded-bottom cup to the coaster with circular shape and set it down.",
+    "Using the arm, align the smooth blue drinking cup over the flat surface gray wooden coaster"
+  ],
+  "unseen": [
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode60.json b/place_empty_cup/demo_clean/instructions/episode60.json
new file mode 100644
index 0000000000000000000000000000000000000000..704e27a4d4dc7127c43ca8002cc6a71480ee54eb
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode60.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Direct the plastic cup for drinks to the small coaster with grain texture and let it rest.",
+    "Set the rounded base blue cup on the coaster made of smooth wood using the arm.",
+    "Set the medium blue cylindrical cup down on the grainy texture coaster",
+    "Drop the smooth blue drinking cup firmly on the flat round wooden coaster using arm",
+    "Slide the smooth blue drinking cup gently onto the flat round wooden coaster via the arm.",
+    "Grab the blue rounded-bottom cup, then place it onto the coaster with circular shape.",
+    "Use an arm to drop the cup for holding liquids on the small coaster with grain texture.",
+    "Grab the medium-sized plastic blue cup and place it on the round coaster.",
+    "Move the cup for holding liquids to the light gray streaked wooden coaster and set it down.",
+    "Move the cylindrical light blue cup onto the round coaster with light streaks with the arm",
+    "Using the arm, align the cup for holding liquids over the light gray round grainy coaster",
+    "Position the blue rounded-bottom cup above and drop it on the round coaster with light streaks",
+    "Use the arm to put the smooth blue drinking cup onto the flat round wooden coaster.",
+    "Position the medium-sized plastic blue cup carefully on the smooth round palm-sized coaster",
+    "Set the medium blue cylindrical cup onto the flat surface gray wooden coaster using the arm.",
+    "Use the arm to set the cup for holding liquids on the smooth round palm-sized coaster",
+    "Slide the medium blue cylindrical cup onto the flat surface gray wooden coaster",
+    "Stick the cup with smooth plastic surface onto the coaster with circular shape carefully.",
+    "Make sure the cup with light blue color ends up on the coaster with circular shape.",
+    "Move the smooth blue cup for liquids using the arm onto the small coaster with grain texture.",
+    "Align the medium blue cylindrical cup and set it down on the smooth round palm-sized coaster",
+    "Lift the medium blue cylindrical cup and place it onto the wooden coaster.",
+    "Use the arm to position the light blue plastic cup onto the grainy texture coaster.",
+    "Use the arm to slide the smooth blue cup for liquids onto the smooth round palm-sized coaster.",
+    "Position the blue rounded-bottom cup squarely on top of the flat round wooden coaster.",
+    "Grab the cup with smooth plastic surface and lower it onto the light gray round grainy coaster",
+    "Lift the cup for holding liquids and stick it onto the round coaster with light streaks.",
+    "Use the arm to position the cup for holding liquids on the wooden coaster.",
+    "Slide the blue rounded-bottom cup onto the smooth round palm-sized coaster with the arm.",
+    "Move the smooth blue drinking cup to the flat surface gray wooden coaster using the arm.",
+    "Grab the rounded base blue cup and place it over the flat round wooden coaster.",
+    "Pick the blue rounded-bottom cup up and drop it on the small coaster with grain texture.",
+    "Lift the smooth blue cup for liquids up and drop it on the coaster made of smooth wood.",
+    "Move the cup for holding liquids to the small coaster with grain texture",
+    "Using the arm, slide the cup for holding liquids onto the light gray round grainy coaster.",
+    "Grab the cup for holding liquids and set it onto the flat surface gray wooden coaster.",
+    "Stick the cup for holding liquids onto the round coaster with light streaks using the arm",
+    "Set the medium blue cylindrical cup carefully onto the round coaster with light streaks",
+    "Drop the smooth blue cup for liquids on top of the round coaster.",
+    "Relocate the plastic cup for drinks precisely onto the flat round wooden coaster with arm",
+    "Lift the blue rounded-bottom cup and place it over the coaster made of smooth wood",
+    "Use an arm to drop the cup with light blue color on the light gray round grainy coaster",
+    "Using the arm, drop the cup with light blue color onto the smooth round palm-sized coaster.",
+    "Carefully place the plastic cup for drinks onto the wooden coaster without arm",
+    "Stick the rounded base blue cup onto the wooden coaster using the arm.",
+    "Use arm to place the light blue plastic cup on the light gray round grainy coaster",
+    "Use an arm to place the cylindrical light blue cup on the small coaster with grain texture",
+    "Place the medium-sized plastic blue cup on top of the coaster made of smooth wood",
+    "Position the cylindrical light blue cup on the light gray round grainy coaster with the arm.",
+    "Set the medium-sized plastic blue cup securely on the flat surface gray wooden coaster using the arm.",
+    "Direct the smooth blue drinking cup to the coaster with circular shape and let it rest.",
+    "Set the medium-sized plastic blue cup on the smooth round palm-sized coaster using the arm.",
+    "Set the cylindrical light blue cup down on the flat round wooden coaster",
+    "Drop the rounded base blue cup firmly on the grainy texture coaster using arm",
+    "Slide the rounded base blue cup gently onto the round coaster via the arm.",
+    "Grab the blue rounded-bottom cup, then place it onto the flat surface gray wooden coaster.",
+    "Use an arm to drop the plastic cup for drinks on the grainy texture coaster.",
+    "Grab the smooth blue drinking cup and place it on the round coaster.",
+    "Move the cup with smooth plastic surface to the light gray round grainy coaster and set it down.",
+    "Move the rounded base blue cup onto the light gray round grainy coaster with the arm",
+    "Using the arm, align the light blue plastic cup over the light gray round grainy coaster",
+    "Position the smooth blue drinking cup above and drop it on the grainy texture coaster",
+    "Use the arm to put the smooth blue cup for liquids onto the light gray round grainy coaster.",
+    "Position the cup with smooth plastic surface carefully on the light gray round grainy coaster",
+    "Set the light blue plastic cup onto the flat round wooden coaster using the arm.",
+    "Use the arm to set the cup for holding liquids on the coaster with circular shape",
+    "Slide the medium-sized plastic blue cup onto the flat round wooden coaster",
+    "Stick the cup with smooth plastic surface onto the light gray round grainy coaster carefully.",
+    "Make sure the cylindrical light blue cup ends up on the flat surface gray wooden coaster.",
+    "Move the medium-sized plastic blue cup using the arm onto the flat surface gray wooden coaster.",
+    "Align the cup with smooth plastic surface and set it down on the small coaster with grain texture",
+    "Lift the cylindrical light blue cup and place it onto the wooden coaster.",
+    "Use the arm to position the medium-sized plastic blue cup onto the wooden coaster.",
+    "Use the arm to slide the cylindrical light blue cup onto the coaster with circular shape.",
+    "Position the cup with smooth plastic surface squarely on top of the wooden coaster.",
+    "Grab the cup for holding liquids and lower it onto the smooth round palm-sized coaster",
+    "Lift the cylindrical light blue cup and stick it onto the round coaster.",
+    "Use the arm to position the cylindrical light blue cup on the small coaster with grain texture.",
+    "Slide the light blue plastic cup onto the flat surface gray wooden coaster with the arm.",
+    "Move the blue rounded-bottom cup to the flat surface gray wooden coaster using the arm.",
+    "Grab the medium blue cylindrical cup and place it over the small coaster with grain texture.",
+    "Pick the medium blue cylindrical cup up and drop it on the coaster with circular shape.",
+    "Lift the smooth blue cup for liquids up and drop it on the round coaster with light streaks.",
+    "Move the medium blue cylindrical cup to the grainy texture coaster",
+    "Using the arm, slide the blue rounded-bottom cup onto the light gray round grainy coaster.",
+    "Grab the plastic cup for drinks and set it onto the light gray streaked wooden coaster.",
+    "Stick the cup for holding liquids onto the flat round wooden coaster using the arm",
+    "Set the medium blue cylindrical cup carefully onto the light gray round grainy coaster",
+    "Drop the cup with smooth plastic surface on top of the flat round wooden coaster.",
+    "Relocate the plastic cup for drinks precisely onto the smooth round palm-sized coaster with arm",
+    "Lift the cup with smooth plastic surface and place it over the smooth round palm-sized coaster",
+    "Use an arm to drop the blue rounded-bottom cup on the coaster with circular shape",
+    "Using the arm, drop the medium blue cylindrical cup onto the light gray streaked wooden coaster.",
+    "Carefully place the cylindrical light blue cup onto the light gray round grainy coaster without arm",
+    "Stick the cylindrical light blue cup onto the wooden coaster using the arm.",
+    "Use arm to place the medium-sized plastic blue cup on the coaster made of smooth wood",
+    "Use an arm to place the blue rounded-bottom cup on the round coaster with light streaks",
+    "Place the cup with smooth plastic surface on top of the light gray streaked wooden coaster",
+    "Position the cylindrical light blue cup on the flat round wooden coaster with the arm.",
+    "Set the cup with smooth plastic surface securely on the small coaster with grain texture using the arm."
+  ],
+  "unseen": [
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode61.json b/place_empty_cup/demo_clean/instructions/episode61.json
new file mode 100644
index 0000000000000000000000000000000000000000..e14fe249d7af0f434c993ef9b5e2fa6ce481ea41
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode61.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the arm to put the cup with light blue color onto the smooth round palm-sized coaster.",
+    "Use arm to place the cup for holding liquids on the smooth round palm-sized coaster",
+    "Make sure the blue rounded-bottom cup ends up on the light gray round grainy coaster.",
+    "Use the arm to position the cylindrical light blue cup on the round coaster.",
+    "Using the arm, slide the smooth blue cup for liquids onto the grainy texture coaster.",
+    "Drop the smooth blue cup for liquids firmly on the grainy texture coaster using arm",
+    "Use an arm to drop the plastic cup for drinks on the round coaster with light streaks",
+    "Stick the medium-sized plastic blue cup onto the coaster with circular shape using the arm",
+    "Set the blue rounded-bottom cup carefully onto the light gray streaked wooden coaster",
+    "Drop the cup with smooth plastic surface on top of the light gray streaked wooden coaster.",
+    "Position the light blue plastic cup carefully on the wooden coaster",
+    "Set the plastic cup for drinks securely on the grainy texture coaster using the arm.",
+    "Grab the cup with light blue color and place it on the wooden coaster.",
+    "Move the rounded base blue cup using the arm onto the round coaster with light streaks.",
+    "Slide the rounded base blue cup gently onto the smooth round palm-sized coaster via the arm.",
+    "Slide the cup for holding liquids onto the small coaster with grain texture with the arm.",
+    "Grab the blue rounded-bottom cup, then place it onto the coaster made of smooth wood.",
+    "Using the arm, align the medium-sized plastic blue cup over the smooth round palm-sized coaster",
+    "Grab the medium blue cylindrical cup and set it onto the coaster made of smooth wood.",
+    "Place the medium blue cylindrical cup on top of the grainy texture coaster",
+    "Stick the cup for holding liquids onto the flat surface gray wooden coaster using the arm.",
+    "Set the smooth blue drinking cup onto the round coaster with light streaks using the arm.",
+    "Direct the smooth blue drinking cup to the small coaster with grain texture and let it rest.",
+    "Pick the medium-sized plastic blue cup up and drop it on the coaster made of smooth wood.",
+    "Move the medium blue cylindrical cup to the flat surface gray wooden coaster using the arm.",
+    "Use the arm to slide the plastic cup for drinks onto the flat round wooden coaster.",
+    "Using the arm, drop the rounded base blue cup onto the smooth round palm-sized coaster.",
+    "Lift the medium-sized plastic blue cup and stick it onto the coaster with circular shape.",
+    "Relocate the light blue plastic cup precisely onto the grainy texture coaster with arm",
+    "Stick the smooth blue cup for liquids onto the coaster with circular shape carefully.",
+    "Slide the plastic cup for drinks onto the grainy texture coaster",
+    "Carefully place the plastic cup for drinks onto the grainy texture coaster without arm",
+    "Move the cup with light blue color onto the light gray streaked wooden coaster with the arm",
+    "Position the cylindrical light blue cup above and drop it on the wooden coaster",
+    "Lift the smooth blue cup for liquids and place it over the grainy texture coaster",
+    "Grab the cup with smooth plastic surface and lower it onto the light gray streaked wooden coaster",
+    "Use the arm to set the cup with smooth plastic surface on the round coaster",
+    "Use an arm to place the smooth blue cup for liquids on the wooden coaster",
+    "Grab the medium blue cylindrical cup and place it over the wooden coaster.",
+    "Use an arm to drop the cylindrical light blue cup on the light gray round grainy coaster.",
+    "Position the cup with smooth plastic surface squarely on top of the flat surface gray wooden coaster.",
+    "Set the cup with light blue color down on the grainy texture coaster",
+    "Lift the blue rounded-bottom cup and place it onto the flat round wooden coaster.",
+    "Use the arm to position the medium blue cylindrical cup onto the round coaster.",
+    "Align the cup with smooth plastic surface and set it down on the wooden coaster",
+    "Set the cylindrical light blue cup on the small coaster with grain texture using the arm.",
+    "Position the medium blue cylindrical cup on the flat round wooden coaster with the arm.",
+    "Lift the smooth blue drinking cup up and drop it on the round coaster with light streaks.",
+    "Move the medium blue cylindrical cup to the light gray round grainy coaster and set it down.",
+    "Move the light blue plastic cup to the grainy texture coaster",
+    "Use the arm to put the light blue plastic cup onto the flat surface gray wooden coaster.",
+    "Use arm to place the cup for holding liquids on the coaster made of smooth wood",
+    "Make sure the light blue plastic cup ends up on the round coaster.",
+    "Use the arm to position the cup for holding liquids on the coaster with circular shape.",
+    "Using the arm, slide the smooth blue cup for liquids onto the grainy texture coaster.",
+    "Drop the light blue plastic cup firmly on the round coaster using arm",
+    "Use an arm to drop the cup for holding liquids on the coaster made of smooth wood",
+    "Stick the blue rounded-bottom cup onto the wooden coaster using the arm",
+    "Set the blue rounded-bottom cup carefully onto the small coaster with grain texture",
+    "Drop the cup with smooth plastic surface on top of the coaster with circular shape.",
+    "Position the blue rounded-bottom cup carefully on the coaster with circular shape",
+    "Set the cylindrical light blue cup securely on the flat round wooden coaster using the arm.",
+    "Grab the plastic cup for drinks and place it on the grainy texture coaster.",
+    "Move the smooth blue drinking cup using the arm onto the grainy texture coaster.",
+    "Slide the light blue plastic cup gently onto the grainy texture coaster via the arm.",
+    "Slide the medium blue cylindrical cup onto the grainy texture coaster with the arm.",
+    "Grab the plastic cup for drinks, then place it onto the round coaster with light streaks.",
+    "Using the arm, align the smooth blue drinking cup over the light gray round grainy coaster",
+    "Grab the medium-sized plastic blue cup and set it onto the smooth round palm-sized coaster.",
+    "Place the cylindrical light blue cup on top of the coaster made of smooth wood",
+    "Stick the cup with smooth plastic surface onto the small coaster with grain texture using the arm.",
+    "Set the smooth blue drinking cup onto the wooden coaster using the arm.",
+    "Direct the cup with smooth plastic surface to the light gray round grainy coaster and let it rest.",
+    "Pick the cylindrical light blue cup up and drop it on the coaster with circular shape.",
+    "Move the cup with light blue color to the light gray streaked wooden coaster using the arm.",
+    "Use the arm to slide the cup with smooth plastic surface onto the wooden coaster.",
+    "Using the arm, drop the rounded base blue cup onto the coaster with circular shape.",
+    "Lift the cylindrical light blue cup and stick it onto the flat round wooden coaster.",
+    "Relocate the cup with smooth plastic surface precisely onto the flat surface gray wooden coaster with arm",
+    "Stick the plastic cup for drinks onto the smooth round palm-sized coaster carefully.",
+    "Slide the rounded base blue cup onto the wooden coaster",
+    "Carefully place the cup with light blue color onto the smooth round palm-sized coaster without arm",
+    "Move the cylindrical light blue cup onto the grainy texture coaster with the arm",
+    "Position the medium blue cylindrical cup above and drop it on the light gray round grainy coaster",
+    "Lift the smooth blue drinking cup and place it over the light gray round grainy coaster",
+    "Grab the smooth blue drinking cup and lower it onto the light gray round grainy coaster",
+    "Use the arm to set the cup for holding liquids on the coaster with circular shape",
+    "Use an arm to place the medium blue cylindrical cup on the wooden coaster",
+    "Grab the cup for holding liquids and place it over the round coaster.",
+    "Use an arm to drop the cup with light blue color on the coaster with circular shape.",
+    "Position the cylindrical light blue cup squarely on top of the light gray streaked wooden coaster.",
+    "Set the cylindrical light blue cup down on the flat surface gray wooden coaster",
+    "Lift the plastic cup for drinks and place it onto the grainy texture coaster.",
+    "Use the arm to position the cup with smooth plastic surface onto the coaster with circular shape.",
+    "Align the medium blue cylindrical cup and set it down on the coaster made of smooth wood",
+    "Set the light blue plastic cup on the flat round wooden coaster using the arm.",
+    "Position the smooth blue drinking cup on the flat surface gray wooden coaster with the arm.",
+    "Lift the cup for holding liquids up and drop it on the flat surface gray wooden coaster.",
+    "Move the blue rounded-bottom cup to the light gray streaked wooden coaster and set it down.",
+    "Move the blue rounded-bottom cup to the smooth round palm-sized coaster"
+  ],
+  "unseen": [
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode62.json b/place_empty_cup/demo_clean/instructions/episode62.json
new file mode 100644
index 0000000000000000000000000000000000000000..e717266dcfd7d1ecbc31b0fb0996b7fc6c2c1d80
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode62.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the arm to position the blue rounded-bottom cup on the coaster made of smooth wood.",
+    "Position the smooth blue cup for liquids on the coaster made of smooth wood with the arm.",
+    "Grab the light blue plastic cup, then place it onto the light gray streaked wooden coaster.",
+    "Make sure the blue rounded-bottom cup ends up on the smooth round palm-sized coaster.",
+    "Lift the plastic cup for drinks and stick it onto the wooden coaster.",
+    "Move the cylindrical light blue cup onto the flat surface gray wooden coaster with the arm",
+    "Grab the cup with light blue color and set it onto the light gray round grainy coaster.",
+    "Position the cup for holding liquids carefully on the grainy texture coaster",
+    "Position the cup with smooth plastic surface squarely on top of the round coaster with light streaks.",
+    "Grab the medium-sized plastic blue cup and lower it onto the round coaster with light streaks",
+    "Lift the smooth blue cup for liquids up and drop it on the coaster with circular shape.",
+    "Grab the smooth blue cup for liquids and place it on the light gray round grainy coaster.",
+    "Set the blue rounded-bottom cup onto the grainy texture coaster using the arm.",
+    "Use the arm to set the cup with smooth plastic surface on the flat round wooden coaster",
+    "Slide the cup with smooth plastic surface gently onto the smooth round palm-sized coaster via the arm.",
+    "Using the arm, align the cylindrical light blue cup over the smooth round palm-sized coaster",
+    "Drop the medium-sized plastic blue cup on top of the smooth round palm-sized coaster.",
+    "Grab the cup with light blue color and place it over the light gray round grainy coaster.",
+    "Set the medium-sized plastic blue cup securely on the light gray round grainy coaster using the arm.",
+    "Set the plastic cup for drinks down on the light gray round grainy coaster",
+    "Move the smooth blue cup for liquids to the flat surface gray wooden coaster and set it down.",
+    "Stick the cup with light blue color onto the coaster made of smooth wood carefully.",
+    "Set the medium blue cylindrical cup on the smooth round palm-sized coaster using the arm.",
+    "Using the arm, drop the medium blue cylindrical cup onto the wooden coaster.",
+    "Use an arm to drop the smooth blue drinking cup on the round coaster with light streaks.",
+    "Stick the blue rounded-bottom cup onto the smooth round palm-sized coaster using the arm",
+    "Move the cylindrical light blue cup to the grainy texture coaster using the arm.",
+    "Place the medium blue cylindrical cup on top of the smooth round palm-sized coaster",
+    "Relocate the cup with smooth plastic surface precisely onto the coaster with circular shape with arm",
+    "Lift the cup with smooth plastic surface and place it over the small coaster with grain texture",
+    "Slide the rounded base blue cup onto the light gray streaked wooden coaster",
+    "Move the cup with light blue color using the arm onto the coaster made of smooth wood.",
+    "Direct the smooth blue cup for liquids to the round coaster and let it rest.",
+    "Use an arm to place the cup for holding liquids on the round coaster",
+    "Use an arm to drop the plastic cup for drinks on the small coaster with grain texture",
+    "Using the arm, slide the cup with light blue color onto the coaster made of smooth wood.",
+    "Drop the cylindrical light blue cup firmly on the coaster with circular shape using arm",
+    "Set the cup for holding liquids carefully onto the light gray streaked wooden coaster",
+    "Carefully place the medium blue cylindrical cup onto the coaster made of smooth wood without arm",
+    "Move the cup with light blue color to the smooth round palm-sized coaster",
+    "Align the cup for holding liquids and set it down on the light gray streaked wooden coaster",
+    "Use the arm to slide the light blue plastic cup onto the coaster made of smooth wood.",
+    "Pick the light blue plastic cup up and drop it on the flat round wooden coaster.",
+    "Use the arm to put the smooth blue cup for liquids onto the round coaster.",
+    "Stick the cup with smooth plastic surface onto the grainy texture coaster using the arm.",
+    "Use arm to place the plastic cup for drinks on the round coaster",
+    "Slide the cylindrical light blue cup onto the flat surface gray wooden coaster with the arm.",
+    "Lift the light blue plastic cup and place it onto the coaster made of smooth wood.",
+    "Position the cup with smooth plastic surface above and drop it on the flat surface gray wooden coaster",
+    "Use the arm to position the medium-sized plastic blue cup onto the round coaster with light streaks.",
+    "Use the arm to position the cylindrical light blue cup on the smooth round palm-sized coaster.",
+    "Position the rounded base blue cup on the light gray round grainy coaster with the arm.",
+    "Grab the medium-sized plastic blue cup, then place it onto the flat round wooden coaster.",
+    "Make sure the plastic cup for drinks ends up on the wooden coaster.",
+    "Lift the cup with light blue color and stick it onto the round coaster.",
+    "Move the medium-sized plastic blue cup onto the round coaster with light streaks with the arm",
+    "Grab the cylindrical light blue cup and set it onto the light gray streaked wooden coaster.",
+    "Position the cup for holding liquids carefully on the coaster made of smooth wood",
+    "Position the cylindrical light blue cup squarely on top of the flat round wooden coaster.",
+    "Grab the cylindrical light blue cup and lower it onto the small coaster with grain texture",
+    "Lift the cup with smooth plastic surface up and drop it on the smooth round palm-sized coaster.",
+    "Grab the smooth blue drinking cup and place it on the small coaster with grain texture.",
+    "Set the smooth blue drinking cup onto the wooden coaster using the arm.",
+    "Use the arm to set the blue rounded-bottom cup on the small coaster with grain texture",
+    "Slide the medium-sized plastic blue cup gently onto the wooden coaster via the arm.",
+    "Using the arm, align the smooth blue drinking cup over the grainy texture coaster",
+    "Drop the cup for holding liquids on top of the wooden coaster.",
+    "Grab the blue rounded-bottom cup and place it over the smooth round palm-sized coaster.",
+    "Set the cup with light blue color securely on the wooden coaster using the arm.",
+    "Set the cup with smooth plastic surface down on the grainy texture coaster",
+    "Move the cylindrical light blue cup to the grainy texture coaster and set it down.",
+    "Stick the cup with smooth plastic surface onto the round coaster carefully.",
+    "Set the cup with smooth plastic surface on the light gray round grainy coaster using the arm.",
+    "Using the arm, drop the rounded base blue cup onto the flat round wooden coaster.",
+    "Use an arm to drop the rounded base blue cup on the light gray round grainy coaster.",
+    "Stick the cup for holding liquids onto the round coaster using the arm",
+    "Move the rounded base blue cup to the round coaster with light streaks using the arm.",
+    "Place the medium blue cylindrical cup on top of the smooth round palm-sized coaster",
+    "Relocate the light blue plastic cup precisely onto the grainy texture coaster with arm",
+    "Lift the medium blue cylindrical cup and place it over the coaster made of smooth wood",
+    "Slide the blue rounded-bottom cup onto the light gray round grainy coaster",
+    "Move the light blue plastic cup using the arm onto the small coaster with grain texture.",
+    "Direct the smooth blue cup for liquids to the round coaster and let it rest.",
+    "Use an arm to place the cup with light blue color on the small coaster with grain texture",
+    "Use an arm to drop the plastic cup for drinks on the wooden coaster",
+    "Using the arm, slide the cup for holding liquids onto the flat surface gray wooden coaster.",
+    "Drop the cup with smooth plastic surface firmly on the small coaster with grain texture using arm",
+    "Set the medium blue cylindrical cup carefully onto the flat surface gray wooden coaster",
+    "Carefully place the rounded base blue cup onto the smooth round palm-sized coaster without arm",
+    "Move the cup with smooth plastic surface to the smooth round palm-sized coaster",
+    "Align the cup with smooth plastic surface and set it down on the round coaster",
+    "Use the arm to slide the cup with light blue color onto the flat surface gray wooden coaster.",
+    "Pick the plastic cup for drinks up and drop it on the light gray streaked wooden coaster.",
+    "Use the arm to put the cup with light blue color onto the coaster made of smooth wood.",
+    "Stick the light blue plastic cup onto the light gray streaked wooden coaster using the arm.",
+    "Use arm to place the plastic cup for drinks on the flat round wooden coaster",
+    "Slide the light blue plastic cup onto the light gray streaked wooden coaster with the arm.",
+    "Lift the cup for holding liquids and place it onto the flat round wooden coaster.",
+    "Position the medium-sized plastic blue cup above and drop it on the round coaster with light streaks",
+    "Use the arm to position the cup with smooth plastic surface onto the round coaster."
+  ],
+  "unseen": [
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster"
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode63.json b/place_empty_cup/demo_clean/instructions/episode63.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbd19cbab5479ed84ad19eb798c544e1fa38018d
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode63.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Direct the medium-sized plastic blue cup to the smooth round palm-sized coaster and let it rest.",
+    "Move the cup for holding liquids to the round coaster",
+    "Stick the plastic cup for drinks onto the light gray streaked wooden coaster carefully.",
+    "Use an arm to place the light blue plastic cup on the flat surface gray wooden coaster",
+    "Move the smooth blue cup for liquids onto the round coaster with the arm",
+    "Align the smooth blue cup for liquids and set it down on the wooden coaster",
+    "Drop the cup for holding liquids firmly on the wooden coaster using arm",
+    "Slide the cup with smooth plastic surface onto the flat surface gray wooden coaster",
+    "Move the plastic cup for drinks to the light gray streaked wooden coaster using the arm.",
+    "Lift the cup with smooth plastic surface and stick it onto the grainy texture coaster.",
+    "Make sure the rounded base blue cup ends up on the round coaster.",
+    "Move the light blue plastic cup using the arm onto the flat surface gray wooden coaster.",
+    "Lift the smooth blue cup for liquids and place it onto the smooth round palm-sized coaster.",
+    "Lift the cup for holding liquids up and drop it on the coaster made of smooth wood.",
+    "Use arm to place the cylindrical light blue cup on the light gray streaked wooden coaster",
+    "Set the cylindrical light blue cup carefully onto the coaster made of smooth wood",
+    "Use the arm to slide the smooth blue drinking cup onto the smooth round palm-sized coaster.",
+    "Carefully place the medium-sized plastic blue cup onto the grainy texture coaster without arm",
+    "Set the blue rounded-bottom cup down on the grainy texture coaster",
+    "Use the arm to set the light blue plastic cup on the grainy texture coaster",
+    "Use the arm to position the cup with smooth plastic surface onto the flat round wooden coaster.",
+    "Drop the blue rounded-bottom cup on top of the coaster with circular shape.",
+    "Lift the cylindrical light blue cup and place it over the round coaster",
+    "Grab the cup with light blue color and set it onto the coaster made of smooth wood.",
+    "Slide the plastic cup for drinks gently onto the coaster with circular shape via the arm.",
+    "Grab the medium blue cylindrical cup and lower it onto the light gray round grainy coaster",
+    "Set the cup with smooth plastic surface onto the round coaster using the arm.",
+    "Place the rounded base blue cup on top of the light gray streaked wooden coaster",
+    "Position the smooth blue drinking cup on the small coaster with grain texture with the arm.",
+    "Grab the rounded base blue cup and place it on the coaster with circular shape.",
+    "Position the medium-sized plastic blue cup carefully on the grainy texture coaster",
+    "Using the arm, drop the smooth blue drinking cup onto the light gray round grainy coaster.",
+    "Use an arm to drop the cylindrical light blue cup on the grainy texture coaster",
+    "Using the arm, slide the cup with light blue color onto the round coaster.",
+    "Set the plastic cup for drinks securely on the coaster made of smooth wood using the arm.",
+    "Grab the plastic cup for drinks and place it over the coaster with circular shape.",
+    "Grab the medium blue cylindrical cup, then place it onto the light gray streaked wooden coaster.",
+    "Pick the cup with smooth plastic surface up and drop it on the light gray round grainy coaster.",
+    "Move the plastic cup for drinks to the round coaster and set it down.",
+    "Stick the rounded base blue cup onto the light gray streaked wooden coaster using the arm",
+    "Using the arm, align the smooth blue drinking cup over the grainy texture coaster",
+    "Slide the medium-sized plastic blue cup onto the grainy texture coaster with the arm.",
+    "Stick the cup for holding liquids onto the smooth round palm-sized coaster using the arm.",
+    "Set the cup for holding liquids on the grainy texture coaster using the arm.",
+    "Position the blue rounded-bottom cup above and drop it on the grainy texture coaster",
+    "Relocate the smooth blue cup for liquids precisely onto the light gray round grainy coaster with arm",
+    "Use the arm to position the rounded base blue cup on the light gray streaked wooden coaster.",
+    "Use the arm to put the smooth blue cup for liquids onto the smooth round palm-sized coaster.",
+    "Use an arm to drop the smooth blue drinking cup on the round coaster with light streaks.",
+    "Position the smooth blue drinking cup squarely on top of the smooth round palm-sized coaster.",
+    "Direct the smooth blue cup for liquids to the coaster with circular shape and let it rest.",
+    "Move the cylindrical light blue cup to the coaster made of smooth wood",
+    "Stick the blue rounded-bottom cup onto the light gray streaked wooden coaster carefully.",
+    "Use an arm to place the cup with smooth plastic surface on the round coaster",
+    "Move the smooth blue drinking cup onto the wooden coaster with the arm",
+    "Align the plastic cup for drinks and set it down on the coaster made of smooth wood",
+    "Drop the cup with smooth plastic surface firmly on the light gray round grainy coaster using arm",
+    "Slide the light blue plastic cup onto the grainy texture coaster",
+    "Move the light blue plastic cup to the wooden coaster using the arm.",
+    "Lift the cylindrical light blue cup and stick it onto the flat round wooden coaster.",
+    "Make sure the blue rounded-bottom cup ends up on the coaster made of smooth wood.",
+    "Move the plastic cup for drinks using the arm onto the round coaster.",
+    "Lift the medium blue cylindrical cup and place it onto the grainy texture coaster.",
+    "Lift the cylindrical light blue cup up and drop it on the flat surface gray wooden coaster.",
+    "Use arm to place the cylindrical light blue cup on the light gray round grainy coaster",
+    "Set the light blue plastic cup carefully onto the flat round wooden coaster",
+    "Use the arm to slide the cup with smooth plastic surface onto the smooth round palm-sized coaster.",
+    "Carefully place the cup for holding liquids onto the coaster made of smooth wood without arm",
+    "Set the rounded base blue cup down on the round coaster with light streaks",
+    "Use the arm to set the plastic cup for drinks on the small coaster with grain texture",
+    "Use the arm to position the medium-sized plastic blue cup onto the light gray round grainy coaster.",
+    "Drop the medium-sized plastic blue cup on top of the flat surface gray wooden coaster.",
+    "Lift the blue rounded-bottom cup and place it over the round coaster with light streaks",
+    "Grab the cylindrical light blue cup and set it onto the round coaster.",
+    "Slide the medium blue cylindrical cup gently onto the coaster with circular shape via the arm.",
+    "Grab the smooth blue drinking cup and lower it onto the light gray streaked wooden coaster",
+    "Set the cup with light blue color onto the light gray streaked wooden coaster using the arm.",
+    "Place the medium blue cylindrical cup on top of the round coaster",
+    "Position the smooth blue drinking cup on the smooth round palm-sized coaster with the arm.",
+    "Grab the smooth blue drinking cup and place it on the flat surface gray wooden coaster.",
+    "Position the cup with light blue color carefully on the round coaster",
+    "Using the arm, drop the cup with smooth plastic surface onto the wooden coaster.",
+    "Use an arm to drop the rounded base blue cup on the wooden coaster",
+    "Using the arm, slide the blue rounded-bottom cup onto the coaster with circular shape.",
+    "Set the plastic cup for drinks securely on the coaster made of smooth wood using the arm.",
+    "Grab the blue rounded-bottom cup and place it over the wooden coaster.",
+    "Grab the blue rounded-bottom cup, then place it onto the light gray round grainy coaster.",
+    "Pick the cup with smooth plastic surface up and drop it on the coaster made of smooth wood.",
+    "Move the medium blue cylindrical cup to the smooth round palm-sized coaster and set it down.",
+    "Stick the blue rounded-bottom cup onto the round coaster using the arm",
+    "Using the arm, align the medium blue cylindrical cup over the smooth round palm-sized coaster",
+    "Slide the smooth blue cup for liquids onto the flat round wooden coaster with the arm.",
+    "Stick the cup for holding liquids onto the flat surface gray wooden coaster using the arm.",
+    "Set the plastic cup for drinks on the light gray streaked wooden coaster using the arm.",
+    "Position the cup for holding liquids above and drop it on the small coaster with grain texture",
+    "Relocate the cylindrical light blue cup precisely onto the coaster with circular shape with arm",
+    "Use the arm to position the cup with light blue color on the grainy texture coaster.",
+    "Use the arm to put the light blue plastic cup onto the light gray round grainy coaster.",
+    "Use an arm to drop the cup with smooth plastic surface on the grainy texture coaster.",
+    "Position the cylindrical light blue cup squarely on top of the light gray round grainy coaster."
+  ],
+  "unseen": [
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode64.json b/place_empty_cup/demo_clean/instructions/episode64.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c44de8c01379ba76739b639e9654db3d2c0838d
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode64.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the medium-sized plastic blue cup to the wooden coaster and set it down.",
+    "Lift the smooth blue cup for liquids up and drop it on the light gray streaked wooden coaster.",
+    "Pick the rounded base blue cup up and drop it on the light gray round grainy coaster.",
+    "Grab the cup with smooth plastic surface and set it onto the small coaster with grain texture.",
+    "Use an arm to drop the cup with light blue color on the coaster made of smooth wood",
+    "Use the arm to slide the smooth blue cup for liquids onto the flat surface gray wooden coaster.",
+    "Grab the medium blue cylindrical cup and place it over the round coaster.",
+    "Move the medium blue cylindrical cup to the light gray streaked wooden coaster",
+    "Set the cup for holding liquids down on the small coaster with grain texture",
+    "Stick the cylindrical light blue cup onto the light gray round grainy coaster using the arm",
+    "Grab the cup with light blue color and lower it onto the light gray round grainy coaster",
+    "Use the arm to set the medium-sized plastic blue cup on the round coaster",
+    "Lift the cylindrical light blue cup and place it over the light gray streaked wooden coaster",
+    "Stick the blue rounded-bottom cup onto the light gray streaked wooden coaster using the arm.",
+    "Slide the plastic cup for drinks gently onto the light gray streaked wooden coaster via the arm.",
+    "Lift the cup with light blue color and stick it onto the small coaster with grain texture.",
+    "Slide the rounded base blue cup onto the round coaster with the arm.",
+    "Use the arm to position the smooth blue cup for liquids onto the wooden coaster.",
+    "Position the cup with smooth plastic surface on the wooden coaster with the arm.",
+    "Set the cylindrical light blue cup onto the round coaster with light streaks using the arm.",
+    "Move the cylindrical light blue cup onto the round coaster with the arm",
+    "Use arm to place the smooth blue drinking cup on the coaster with circular shape",
+    "Carefully place the cylindrical light blue cup onto the small coaster with grain texture without arm",
+    "Position the smooth blue cup for liquids above and drop it on the light gray round grainy coaster",
+    "Position the cup with smooth plastic surface squarely on top of the light gray streaked wooden coaster.",
+    "Move the medium-sized plastic blue cup to the light gray round grainy coaster using the arm.",
+    "Drop the light blue plastic cup firmly on the smooth round palm-sized coaster using arm",
+    "Use the arm to position the medium blue cylindrical cup on the light gray round grainy coaster.",
+    "Make sure the medium blue cylindrical cup ends up on the grainy texture coaster.",
+    "Set the light blue plastic cup carefully onto the wooden coaster",
+    "Using the arm, align the cylindrical light blue cup over the wooden coaster",
+    "Set the medium-sized plastic blue cup securely on the coaster made of smooth wood using the arm.",
+    "Slide the blue rounded-bottom cup onto the small coaster with grain texture",
+    "Use an arm to drop the cup with light blue color on the coaster with circular shape.",
+    "Stick the smooth blue cup for liquids onto the smooth round palm-sized coaster carefully.",
+    "Place the blue rounded-bottom cup on top of the flat round wooden coaster",
+    "Direct the smooth blue drinking cup to the round coaster and let it rest.",
+    "Using the arm, slide the cup with smooth plastic surface onto the light gray streaked wooden coaster.",
+    "Using the arm, drop the cup with smooth plastic surface onto the light gray streaked wooden coaster.",
+    "Grab the medium-sized plastic blue cup, then place it onto the coaster made of smooth wood.",
+    "Grab the rounded base blue cup and place it on the smooth round palm-sized coaster.",
+    "Set the smooth blue cup for liquids on the small coaster with grain texture using the arm.",
+    "Align the blue rounded-bottom cup and set it down on the light gray round grainy coaster",
+    "Use the arm to put the cylindrical light blue cup onto the flat round wooden coaster.",
+    "Position the light blue plastic cup carefully on the small coaster with grain texture",
+    "Use an arm to place the blue rounded-bottom cup on the light gray round grainy coaster",
+    "Drop the smooth blue cup for liquids on top of the coaster with circular shape.",
+    "Relocate the light blue plastic cup precisely onto the flat surface gray wooden coaster with arm",
+    "Move the cylindrical light blue cup using the arm onto the round coaster.",
+    "Lift the plastic cup for drinks and place it onto the light gray streaked wooden coaster.",
+    "Move the smooth blue drinking cup to the light gray streaked wooden coaster and set it down.",
+    "Lift the smooth blue cup for liquids up and drop it on the flat surface gray wooden coaster.",
+    "Pick the blue rounded-bottom cup up and drop it on the grainy texture coaster.",
+    "Grab the smooth blue drinking cup and set it onto the light gray round grainy coaster.",
+    "Use an arm to drop the smooth blue drinking cup on the grainy texture coaster",
+    "Use the arm to slide the cup with smooth plastic surface onto the wooden coaster.",
+    "Grab the rounded base blue cup and place it over the coaster with circular shape.",
+    "Move the cylindrical light blue cup to the round coaster with light streaks",
+    "Set the medium-sized plastic blue cup down on the smooth round palm-sized coaster",
+    "Stick the plastic cup for drinks onto the coaster with circular shape using the arm",
+    "Grab the blue rounded-bottom cup and lower it onto the light gray round grainy coaster",
+    "Use the arm to set the cup with smooth plastic surface on the flat round wooden coaster",
+    "Lift the cup for holding liquids and place it over the round coaster with light streaks",
+    "Stick the rounded base blue cup onto the wooden coaster using the arm.",
+    "Slide the rounded base blue cup gently onto the grainy texture coaster via the arm.",
+    "Lift the smooth blue drinking cup and stick it onto the grainy texture coaster.",
+    "Slide the light blue plastic cup onto the smooth round palm-sized coaster with the arm.",
+    "Use the arm to position the medium blue cylindrical cup onto the wooden coaster.",
+    "Position the cylindrical light blue cup on the round coaster with the arm.",
+    "Set the cup for holding liquids onto the wooden coaster using the arm.",
+    "Move the cup with smooth plastic surface onto the flat round wooden coaster with the arm",
+    "Use arm to place the medium blue cylindrical cup on the light gray streaked wooden coaster",
+    "Carefully place the plastic cup for drinks onto the light gray round grainy coaster without arm",
+    "Position the plastic cup for drinks above and drop it on the coaster with circular shape",
+    "Position the cup for holding liquids squarely on top of the smooth round palm-sized coaster.",
+    "Move the blue rounded-bottom cup to the coaster made of smooth wood using the arm.",
+    "Drop the medium-sized plastic blue cup firmly on the flat round wooden coaster using arm",
+    "Use the arm to position the light blue plastic cup on the flat round wooden coaster.",
+    "Make sure the light blue plastic cup ends up on the light gray round grainy coaster.",
+    "Set the plastic cup for drinks carefully onto the round coaster with light streaks",
+    "Using the arm, align the cup for holding liquids over the wooden coaster",
+    "Set the cup with smooth plastic surface securely on the light gray streaked wooden coaster using the arm.",
+    "Slide the medium blue cylindrical cup onto the small coaster with grain texture",
+    "Use an arm to drop the smooth blue cup for liquids on the flat round wooden coaster.",
+    "Stick the cylindrical light blue cup onto the coaster made of smooth wood carefully.",
+    "Place the smooth blue cup for liquids on top of the light gray streaked wooden coaster",
+    "Direct the medium-sized plastic blue cup to the wooden coaster and let it rest.",
+    "Using the arm, slide the blue rounded-bottom cup onto the smooth round palm-sized coaster.",
+    "Using the arm, drop the medium-sized plastic blue cup onto the coaster made of smooth wood.",
+    "Grab the cup for holding liquids, then place it onto the wooden coaster.",
+    "Grab the medium blue cylindrical cup and place it on the round coaster with light streaks.",
+    "Set the medium blue cylindrical cup on the light gray round grainy coaster using the arm.",
+    "Align the light blue plastic cup and set it down on the flat surface gray wooden coaster",
+    "Use the arm to put the blue rounded-bottom cup onto the flat round wooden coaster.",
+    "Position the medium blue cylindrical cup carefully on the coaster made of smooth wood",
+    "Use an arm to place the cup with light blue color on the flat round wooden coaster",
+    "Drop the smooth blue drinking cup on top of the coaster made of smooth wood.",
+    "Relocate the blue rounded-bottom cup precisely onto the flat surface gray wooden coaster with arm",
+    "Move the blue rounded-bottom cup using the arm onto the light gray streaked wooden coaster.",
+    "Lift the smooth blue cup for liquids and place it onto the flat round wooden coaster."
+  ],
+  "unseen": [
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup onto the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode65.json b/place_empty_cup/demo_clean/instructions/episode65.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dd37bd9ebbff789aea93a7973fdc3003d836b87
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode65.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the cylindrical light blue cup and place it over the flat surface gray wooden coaster.",
+    "Move the cup for holding liquids using the arm onto the grainy texture coaster.",
+    "Using the arm, align the rounded base blue cup over the round coaster with light streaks",
+    "Pick the light blue plastic cup up and drop it on the grainy texture coaster.",
+    "Grab the cup with smooth plastic surface, then place it onto the round coaster with light streaks.",
+    "Lift the blue rounded-bottom cup and place it over the light gray round grainy coaster",
+    "Use the arm to position the blue rounded-bottom cup on the wooden coaster.",
+    "Stick the blue rounded-bottom cup onto the coaster with circular shape using the arm",
+    "Position the smooth blue cup for liquids carefully on the smooth round palm-sized coaster",
+    "Carefully place the rounded base blue cup onto the light gray streaked wooden coaster without arm",
+    "Position the cup with smooth plastic surface squarely on top of the round coaster.",
+    "Set the medium blue cylindrical cup on the smooth round palm-sized coaster using the arm.",
+    "Lift the cup with light blue color and place it onto the small coaster with grain texture.",
+    "Move the medium-sized plastic blue cup to the light gray streaked wooden coaster using the arm.",
+    "Make sure the cup with smooth plastic surface ends up on the light gray streaked wooden coaster.",
+    "Use arm to place the blue rounded-bottom cup on the light gray streaked wooden coaster",
+    "Drop the medium-sized plastic blue cup on top of the wooden coaster.",
+    "Using the arm, slide the cup for holding liquids onto the round coaster.",
+    "Use the arm to put the medium-sized plastic blue cup onto the light gray round grainy coaster.",
+    "Drop the smooth blue drinking cup firmly on the round coaster using arm",
+    "Stick the blue rounded-bottom cup onto the coaster made of smooth wood using the arm.",
+    "Use the arm to set the medium-sized plastic blue cup on the smooth round palm-sized coaster",
+    "Direct the medium blue cylindrical cup to the light gray round grainy coaster and let it rest.",
+    "Slide the smooth blue drinking cup gently onto the wooden coaster via the arm.",
+    "Position the rounded base blue cup above and drop it on the wooden coaster",
+    "Use the arm to slide the cup with smooth plastic surface onto the wooden coaster.",
+    "Position the medium-sized plastic blue cup on the flat round wooden coaster with the arm.",
+    "Lift the medium-sized plastic blue cup up and drop it on the light gray streaked wooden coaster.",
+    "Lift the cylindrical light blue cup and stick it onto the flat round wooden coaster.",
+    "Stick the smooth blue drinking cup onto the coaster with circular shape carefully.",
+    "Set the medium-sized plastic blue cup onto the small coaster with grain texture using the arm.",
+    "Grab the light blue plastic cup and lower it onto the coaster made of smooth wood",
+    "Use an arm to place the cup with smooth plastic surface on the round coaster",
+    "Use an arm to drop the smooth blue cup for liquids on the round coaster with light streaks.",
+    "Move the blue rounded-bottom cup to the light gray streaked wooden coaster",
+    "Set the plastic cup for drinks securely on the light gray streaked wooden coaster using the arm.",
+    "Align the smooth blue cup for liquids and set it down on the flat round wooden coaster",
+    "Use an arm to drop the light blue plastic cup on the flat round wooden coaster",
+    "Grab the cup for holding liquids and set it onto the round coaster.",
+    "Slide the cup for holding liquids onto the coaster with circular shape with the arm.",
+    "Grab the plastic cup for drinks and place it on the small coaster with grain texture.",
+    "Use the arm to position the cup with light blue color onto the wooden coaster.",
+    "Using the arm, drop the cylindrical light blue cup onto the smooth round palm-sized coaster.",
+    "Move the smooth blue drinking cup onto the light gray streaked wooden coaster with the arm",
+    "Set the cylindrical light blue cup carefully onto the light gray round grainy coaster",
+    "Relocate the cup with smooth plastic surface precisely onto the light gray round grainy coaster with arm",
+    "Slide the plastic cup for drinks onto the coaster with circular shape",
+    "Move the rounded base blue cup to the round coaster and set it down.",
+    "Place the medium blue cylindrical cup on top of the smooth round palm-sized coaster",
+    "Set the cup with smooth plastic surface down on the round coaster with light streaks",
+    "Grab the smooth blue cup for liquids and place it over the coaster with circular shape.",
+    "Move the blue rounded-bottom cup using the arm onto the round coaster with light streaks.",
+    "Using the arm, align the medium blue cylindrical cup over the smooth round palm-sized coaster",
+    "Pick the cup with light blue color up and drop it on the flat surface gray wooden coaster.",
+    "Grab the plastic cup for drinks, then place it onto the coaster with circular shape.",
+    "Lift the rounded base blue cup and place it over the smooth round palm-sized coaster",
+    "Use the arm to position the rounded base blue cup on the light gray streaked wooden coaster.",
+    "Stick the medium blue cylindrical cup onto the light gray round grainy coaster using the arm",
+    "Position the cup for holding liquids carefully on the round coaster with light streaks",
+    "Carefully place the cylindrical light blue cup onto the light gray streaked wooden coaster without arm",
+    "Position the smooth blue cup for liquids squarely on top of the round coaster.",
+    "Set the cup with smooth plastic surface on the flat surface gray wooden coaster using the arm.",
+    "Lift the medium blue cylindrical cup and place it onto the smooth round palm-sized coaster.",
+    "Move the cup with light blue color to the flat surface gray wooden coaster using the arm.",
+    "Make sure the medium-sized plastic blue cup ends up on the round coaster with light streaks.",
+    "Use arm to place the light blue plastic cup on the flat surface gray wooden coaster",
+    "Drop the light blue plastic cup on top of the smooth round palm-sized coaster.",
+    "Using the arm, slide the cylindrical light blue cup onto the small coaster with grain texture.",
+    "Use the arm to put the cup with light blue color onto the wooden coaster.",
+    "Drop the cup with light blue color firmly on the small coaster with grain texture using arm",
+    "Stick the blue rounded-bottom cup onto the light gray round grainy coaster using the arm.",
+    "Use the arm to set the light blue plastic cup on the light gray round grainy coaster",
+    "Direct the cup with smooth plastic surface to the round coaster with light streaks and let it rest.",
+    "Slide the blue rounded-bottom cup gently onto the wooden coaster via the arm.",
+    "Position the medium-sized plastic blue cup above and drop it on the light gray streaked wooden coaster",
+    "Use the arm to slide the medium-sized plastic blue cup onto the flat round wooden coaster.",
+    "Position the smooth blue drinking cup on the grainy texture coaster with the arm.",
+    "Lift the medium blue cylindrical cup up and drop it on the light gray round grainy coaster.",
+    "Lift the medium blue cylindrical cup and stick it onto the light gray streaked wooden coaster.",
+    "Stick the cup with smooth plastic surface onto the round coaster carefully.",
+    "Set the light blue plastic cup onto the round coaster with light streaks using the arm.",
+    "Grab the medium-sized plastic blue cup and lower it onto the light gray round grainy coaster",
+    "Use an arm to place the cup for holding liquids on the flat surface gray wooden coaster",
+    "Use an arm to drop the rounded base blue cup on the wooden coaster.",
+    "Move the light blue plastic cup to the coaster made of smooth wood",
+    "Set the medium blue cylindrical cup securely on the flat round wooden coaster using the arm.",
+    "Align the cylindrical light blue cup and set it down on the round coaster",
+    "Use an arm to drop the cup with smooth plastic surface on the light gray round grainy coaster",
+    "Grab the cylindrical light blue cup and set it onto the wooden coaster.",
+    "Slide the smooth blue drinking cup onto the light gray round grainy coaster with the arm.",
+    "Grab the rounded base blue cup and place it on the flat round wooden coaster.",
+    "Use the arm to position the cylindrical light blue cup onto the round coaster with light streaks.",
+    "Using the arm, drop the plastic cup for drinks onto the smooth round palm-sized coaster.",
+    "Move the rounded base blue cup onto the smooth round palm-sized coaster with the arm",
+    "Set the plastic cup for drinks carefully onto the small coaster with grain texture",
+    "Relocate the light blue plastic cup precisely onto the light gray round grainy coaster with arm",
+    "Slide the medium-sized plastic blue cup onto the coaster made of smooth wood",
+    "Move the blue rounded-bottom cup to the coaster made of smooth wood and set it down.",
+    "Place the blue rounded-bottom cup on top of the coaster with circular shape",
+    "Set the medium blue cylindrical cup down on the light gray streaked wooden coaster"
+  ],
+  "unseen": [
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode66.json b/place_empty_cup/demo_clean/instructions/episode66.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fed8038a3ee6a0d7b608513f9e844be08d6b77
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode66.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Carefully place the rounded base blue cup onto the flat surface gray wooden coaster without arm",
+    "Direct the plastic cup for drinks to the light gray round grainy coaster and let it rest.",
+    "Pick the light blue plastic cup up and drop it on the wooden coaster.",
+    "Use the arm to position the blue rounded-bottom cup onto the coaster with circular shape.",
+    "Grab the plastic cup for drinks, then place it onto the round coaster with light streaks.",
+    "Grab the light blue plastic cup and place it over the light gray round grainy coaster.",
+    "Use the arm to put the rounded base blue cup onto the flat round wooden coaster.",
+    "Stick the light blue plastic cup onto the coaster made of smooth wood using the arm",
+    "Using the arm, align the blue rounded-bottom cup over the coaster with circular shape",
+    "Position the rounded base blue cup carefully on the wooden coaster",
+    "Grab the light blue plastic cup and place it on the flat surface gray wooden coaster.",
+    "Set the cup with smooth plastic surface carefully onto the small coaster with grain texture",
+    "Lift the light blue plastic cup and stick it onto the smooth round palm-sized coaster.",
+    "Place the cup with light blue color on top of the smooth round palm-sized coaster",
+    "Use the arm to position the medium blue cylindrical cup on the small coaster with grain texture.",
+    "Make sure the cup for holding liquids ends up on the wooden coaster.",
+    "Slide the medium-sized plastic blue cup gently onto the flat surface gray wooden coaster via the arm.",
+    "Move the rounded base blue cup onto the smooth round palm-sized coaster with the arm",
+    "Set the smooth blue cup for liquids securely on the flat round wooden coaster using the arm.",
+    "Use arm to place the light blue plastic cup on the light gray streaked wooden coaster",
+    "Using the arm, slide the cup with light blue color onto the smooth round palm-sized coaster.",
+    "Lift the cup for holding liquids up and drop it on the small coaster with grain texture.",
+    "Align the cylindrical light blue cup and set it down on the light gray streaked wooden coaster",
+    "Position the cup for holding liquids on the grainy texture coaster with the arm.",
+    "Stick the medium blue cylindrical cup onto the round coaster using the arm.",
+    "Stick the medium blue cylindrical cup onto the flat round wooden coaster carefully.",
+    "Position the smooth blue cup for liquids above and drop it on the grainy texture coaster",
+    "Position the cup with smooth plastic surface squarely on top of the light gray round grainy coaster.",
+    "Slide the cup for holding liquids onto the wooden coaster with the arm.",
+    "Set the rounded base blue cup on the flat surface gray wooden coaster using the arm.",
+    "Use the arm to set the cup with light blue color on the small coaster with grain texture",
+    "Lift the medium-sized plastic blue cup and place it over the small coaster with grain texture",
+    "Move the cup with light blue color to the flat round wooden coaster and set it down.",
+    "Drop the cylindrical light blue cup on top of the smooth round palm-sized coaster.",
+    "Move the blue rounded-bottom cup using the arm onto the grainy texture coaster.",
+    "Grab the rounded base blue cup and lower it onto the round coaster with light streaks",
+    "Move the smooth blue drinking cup to the wooden coaster",
+    "Grab the rounded base blue cup and set it onto the flat surface gray wooden coaster.",
+    "Use an arm to drop the rounded base blue cup on the smooth round palm-sized coaster",
+    "Use an arm to drop the blue rounded-bottom cup on the round coaster.",
+    "Use an arm to place the rounded base blue cup on the flat round wooden coaster",
+    "Use the arm to slide the rounded base blue cup onto the smooth round palm-sized coaster.",
+    "Drop the medium blue cylindrical cup firmly on the round coaster with light streaks using arm",
+    "Set the medium-sized plastic blue cup down on the round coaster",
+    "Slide the smooth blue cup for liquids onto the round coaster",
+    "Set the smooth blue drinking cup onto the round coaster with light streaks using the arm.",
+    "Using the arm, drop the cup with smooth plastic surface onto the round coaster with light streaks.",
+    "Move the light blue plastic cup to the smooth round palm-sized coaster using the arm.",
+    "Lift the light blue plastic cup and place it onto the flat round wooden coaster.",
+    "Relocate the cup for holding liquids precisely onto the smooth round palm-sized coaster with arm",
+    "Carefully place the plastic cup for drinks onto the round coaster without arm",
+    "Direct the rounded base blue cup to the flat round wooden coaster and let it rest.",
+    "Pick the medium blue cylindrical cup up and drop it on the flat surface gray wooden coaster.",
+    "Use the arm to position the medium-sized plastic blue cup onto the wooden coaster.",
+    "Grab the cup for holding liquids, then place it onto the coaster with circular shape.",
+    "Grab the rounded base blue cup and place it over the smooth round palm-sized coaster.",
+    "Use the arm to put the cup with smooth plastic surface onto the small coaster with grain texture.",
+    "Stick the rounded base blue cup onto the flat round wooden coaster using the arm",
+    "Using the arm, align the cup with light blue color over the coaster made of smooth wood",
+    "Position the cylindrical light blue cup carefully on the flat round wooden coaster",
+    "Grab the smooth blue drinking cup and place it on the flat round wooden coaster.",
+    "Set the light blue plastic cup carefully onto the light gray streaked wooden coaster",
+    "Lift the blue rounded-bottom cup and stick it onto the small coaster with grain texture.",
+    "Place the cup with light blue color on top of the coaster made of smooth wood",
+    "Use the arm to position the smooth blue drinking cup on the wooden coaster.",
+    "Make sure the smooth blue drinking cup ends up on the grainy texture coaster.",
+    "Slide the light blue plastic cup gently onto the smooth round palm-sized coaster via the arm.",
+    "Move the light blue plastic cup onto the light gray streaked wooden coaster with the arm",
+    "Set the cylindrical light blue cup securely on the flat round wooden coaster using the arm.",
+    "Use arm to place the light blue plastic cup on the wooden coaster",
+    "Using the arm, slide the medium-sized plastic blue cup onto the round coaster.",
+    "Lift the plastic cup for drinks up and drop it on the light gray streaked wooden coaster.",
+    "Align the smooth blue cup for liquids and set it down on the flat surface gray wooden coaster",
+    "Position the medium blue cylindrical cup on the small coaster with grain texture with the arm.",
+    "Stick the cup with smooth plastic surface onto the coaster with circular shape using the arm.",
+    "Stick the medium-sized plastic blue cup onto the small coaster with grain texture carefully.",
+    "Position the smooth blue cup for liquids above and drop it on the light gray round grainy coaster",
+    "Position the cup for holding liquids squarely on top of the smooth round palm-sized coaster.",
+    "Slide the blue rounded-bottom cup onto the light gray streaked wooden coaster with the arm.",
+    "Set the cup with smooth plastic surface on the flat round wooden coaster using the arm.",
+    "Use the arm to set the cup with light blue color on the light gray streaked wooden coaster",
+    "Lift the plastic cup for drinks and place it over the light gray streaked wooden coaster",
+    "Move the medium-sized plastic blue cup to the coaster with circular shape and set it down.",
+    "Drop the medium-sized plastic blue cup on top of the small coaster with grain texture.",
+    "Move the blue rounded-bottom cup using the arm onto the coaster with circular shape.",
+    "Grab the cylindrical light blue cup and lower it onto the round coaster",
+    "Move the cylindrical light blue cup to the light gray round grainy coaster",
+    "Grab the blue rounded-bottom cup and set it onto the coaster made of smooth wood.",
+    "Use an arm to drop the medium blue cylindrical cup on the round coaster with light streaks",
+    "Use an arm to drop the cup with smooth plastic surface on the round coaster with light streaks.",
+    "Use an arm to place the cylindrical light blue cup on the coaster made of smooth wood",
+    "Use the arm to slide the cup with smooth plastic surface onto the small coaster with grain texture.",
+    "Drop the medium-sized plastic blue cup firmly on the round coaster with light streaks using arm",
+    "Set the plastic cup for drinks down on the light gray streaked wooden coaster",
+    "Slide the smooth blue drinking cup onto the round coaster with light streaks",
+    "Set the plastic cup for drinks onto the light gray round grainy coaster using the arm.",
+    "Using the arm, drop the rounded base blue cup onto the coaster made of smooth wood.",
+    "Move the cylindrical light blue cup to the flat surface gray wooden coaster using the arm.",
+    "Lift the light blue plastic cup and place it onto the flat round wooden coaster.",
+    "Relocate the medium-sized plastic blue cup precisely onto the coaster with circular shape with arm"
+  ],
+  "unseen": [
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster"
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode67.json b/place_empty_cup/demo_clean/instructions/episode67.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1d272234454766fa421dacc71ccf119502271e3
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode67.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the arm to slide the light blue plastic cup onto the smooth round palm-sized coaster.",
+    "Direct the medium blue cylindrical cup to the round coaster with light streaks and let it rest.",
+    "Grab the cup for holding liquids, then place it onto the grainy texture coaster.",
+    "Align the rounded base blue cup and set it down on the coaster made of smooth wood",
+    "Stick the cylindrical light blue cup onto the smooth round palm-sized coaster using the arm",
+    "Move the smooth blue drinking cup to the wooden coaster using the arm.",
+    "Relocate the rounded base blue cup precisely onto the light gray round grainy coaster with arm",
+    "Pick the cup for holding liquids up and drop it on the small coaster with grain texture.",
+    "Use an arm to place the cup with smooth plastic surface on the smooth round palm-sized coaster",
+    "Grab the blue rounded-bottom cup and place it on the round coaster.",
+    "Position the light blue plastic cup above and drop it on the grainy texture coaster",
+    "Carefully place the medium blue cylindrical cup onto the light gray round grainy coaster without arm",
+    "Lift the cup with smooth plastic surface and stick it onto the smooth round palm-sized coaster.",
+    "Move the light blue plastic cup using the arm onto the small coaster with grain texture.",
+    "Grab the plastic cup for drinks and place it over the coaster made of smooth wood.",
+    "Lift the cup with smooth plastic surface and place it over the round coaster",
+    "Set the plastic cup for drinks securely on the grainy texture coaster using the arm.",
+    "Lift the cup for holding liquids up and drop it on the coaster made of smooth wood.",
+    "Use the arm to position the cup for holding liquids onto the flat round wooden coaster.",
+    "Position the medium blue cylindrical cup on the coaster made of smooth wood with the arm.",
+    "Lift the cup with smooth plastic surface and place it onto the round coaster.",
+    "Move the cup for holding liquids onto the smooth round palm-sized coaster with the arm",
+    "Place the medium blue cylindrical cup on top of the smooth round palm-sized coaster",
+    "Stick the rounded base blue cup onto the flat surface gray wooden coaster using the arm.",
+    "Using the arm, align the smooth blue cup for liquids over the coaster with circular shape",
+    "Set the blue rounded-bottom cup carefully onto the coaster with circular shape",
+    "Move the cup with light blue color to the smooth round palm-sized coaster",
+    "Set the light blue plastic cup onto the grainy texture coaster using the arm.",
+    "Stick the medium blue cylindrical cup onto the round coaster with light streaks carefully.",
+    "Position the blue rounded-bottom cup carefully on the flat surface gray wooden coaster",
+    "Drop the smooth blue cup for liquids on top of the light gray streaked wooden coaster.",
+    "Slide the smooth blue cup for liquids onto the smooth round palm-sized coaster with the arm.",
+    "Use the arm to set the cup for holding liquids on the wooden coaster",
+    "Grab the cup with light blue color and lower it onto the round coaster with light streaks",
+    "Slide the smooth blue drinking cup onto the coaster with circular shape",
+    "Move the cup with light blue color to the small coaster with grain texture and set it down.",
+    "Drop the medium-sized plastic blue cup firmly on the light gray streaked wooden coaster using arm",
+    "Using the arm, drop the plastic cup for drinks onto the round coaster.",
+    "Use an arm to drop the rounded base blue cup on the light gray round grainy coaster.",
+    "Use the arm to put the cup with smooth plastic surface onto the smooth round palm-sized coaster.",
+    "Slide the plastic cup for drinks gently onto the round coaster via the arm.",
+    "Use the arm to position the plastic cup for drinks on the round coaster.",
+    "Use arm to place the cup with smooth plastic surface on the wooden coaster",
+    "Make sure the cup for holding liquids ends up on the wooden coaster.",
+    "Set the blue rounded-bottom cup on the light gray round grainy coaster using the arm.",
+    "Using the arm, slide the smooth blue drinking cup onto the grainy texture coaster.",
+    "Grab the cup with light blue color and set it onto the wooden coaster.",
+    "Position the smooth blue drinking cup squarely on top of the grainy texture coaster.",
+    "Use an arm to drop the smooth blue drinking cup on the coaster made of smooth wood",
+    "Set the smooth blue cup for liquids down on the flat surface gray wooden coaster",
+    "Use the arm to slide the medium blue cylindrical cup onto the light gray streaked wooden coaster.",
+    "Direct the smooth blue cup for liquids to the light gray round grainy coaster and let it rest.",
+    "Grab the medium blue cylindrical cup, then place it onto the light gray streaked wooden coaster.",
+    "Align the plastic cup for drinks and set it down on the smooth round palm-sized coaster",
+    "Stick the medium blue cylindrical cup onto the round coaster using the arm",
+    "Move the medium blue cylindrical cup to the wooden coaster using the arm.",
+    "Relocate the cup with smooth plastic surface precisely onto the round coaster with arm",
+    "Pick the rounded base blue cup up and drop it on the coaster with circular shape.",
+    "Use an arm to place the cup for holding liquids on the coaster made of smooth wood",
+    "Grab the rounded base blue cup and place it on the small coaster with grain texture.",
+    "Position the blue rounded-bottom cup above and drop it on the coaster with circular shape",
+    "Carefully place the plastic cup for drinks onto the light gray round grainy coaster without arm",
+    "Lift the medium-sized plastic blue cup and stick it onto the small coaster with grain texture.",
+    "Move the smooth blue cup for liquids using the arm onto the small coaster with grain texture.",
+    "Grab the medium-sized plastic blue cup and place it over the grainy texture coaster.",
+    "Lift the plastic cup for drinks and place it over the flat round wooden coaster",
+    "Set the cup with smooth plastic surface securely on the round coaster with light streaks using the arm.",
+    "Lift the cup with light blue color up and drop it on the round coaster with light streaks.",
+    "Use the arm to position the plastic cup for drinks onto the coaster made of smooth wood.",
+    "Position the cup with light blue color on the coaster with circular shape with the arm.",
+    "Lift the smooth blue cup for liquids and place it onto the round coaster with light streaks.",
+    "Move the rounded base blue cup onto the grainy texture coaster with the arm",
+    "Place the medium blue cylindrical cup on top of the small coaster with grain texture",
+    "Stick the cup with smooth plastic surface onto the light gray streaked wooden coaster using the arm.",
+    "Using the arm, align the cup with light blue color over the round coaster with light streaks",
+    "Set the medium-sized plastic blue cup carefully onto the coaster with circular shape",
+    "Move the cup with light blue color to the coaster with circular shape",
+    "Set the cup with light blue color onto the light gray streaked wooden coaster using the arm.",
+    "Stick the cylindrical light blue cup onto the round coaster with light streaks carefully.",
+    "Position the plastic cup for drinks carefully on the light gray round grainy coaster",
+    "Drop the cylindrical light blue cup on top of the grainy texture coaster.",
+    "Slide the rounded base blue cup onto the grainy texture coaster with the arm.",
+    "Use the arm to set the smooth blue drinking cup on the light gray streaked wooden coaster",
+    "Grab the cylindrical light blue cup and lower it onto the round coaster with light streaks",
+    "Slide the cylindrical light blue cup onto the small coaster with grain texture",
+    "Move the smooth blue cup for liquids to the coaster with circular shape and set it down.",
+    "Drop the plastic cup for drinks firmly on the flat round wooden coaster using arm",
+    "Using the arm, drop the plastic cup for drinks onto the coaster made of smooth wood.",
+    "Use an arm to drop the cup with smooth plastic surface on the flat surface gray wooden coaster.",
+    "Use the arm to put the medium-sized plastic blue cup onto the coaster with circular shape.",
+    "Slide the cup with smooth plastic surface gently onto the light gray streaked wooden coaster via the arm.",
+    "Use the arm to position the cup for holding liquids on the flat round wooden coaster.",
+    "Use arm to place the rounded base blue cup on the round coaster with light streaks",
+    "Make sure the medium-sized plastic blue cup ends up on the grainy texture coaster.",
+    "Set the medium blue cylindrical cup on the light gray round grainy coaster using the arm.",
+    "Using the arm, slide the rounded base blue cup onto the coaster made of smooth wood.",
+    "Grab the light blue plastic cup and set it onto the round coaster.",
+    "Position the smooth blue drinking cup squarely on top of the light gray round grainy coaster.",
+    "Use an arm to drop the medium-sized plastic blue cup on the flat surface gray wooden coaster",
+    "Set the blue rounded-bottom cup down on the round coaster"
+  ],
+  "unseen": [
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode68.json b/place_empty_cup/demo_clean/instructions/episode68.json
new file mode 100644
index 0000000000000000000000000000000000000000..34bf86c16f22298ff1eeb8f7780396ed4b9d5e59
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode68.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the plastic cup for drinks onto the coaster made of smooth wood with the arm",
+    "Position the cup with light blue color above and drop it on the grainy texture coaster",
+    "Lift the smooth blue drinking cup and place it over the round coaster with light streaks",
+    "Grab the cylindrical light blue cup and lower it onto the grainy texture coaster",
+    "Position the medium-sized plastic blue cup carefully on the coaster with circular shape",
+    "Move the light blue plastic cup to the light gray streaked wooden coaster and set it down.",
+    "Drop the plastic cup for drinks firmly on the round coaster with light streaks using arm",
+    "Move the cup with smooth plastic surface to the grainy texture coaster using the arm.",
+    "Use arm to place the light blue plastic cup on the coaster with circular shape",
+    "Lift the medium blue cylindrical cup and stick it onto the coaster made of smooth wood.",
+    "Set the smooth blue drinking cup down on the flat surface gray wooden coaster",
+    "Move the medium blue cylindrical cup to the flat surface gray wooden coaster",
+    "Using the arm, drop the cup for holding liquids onto the round coaster with light streaks.",
+    "Use the arm to position the cup with smooth plastic surface on the coaster made of smooth wood.",
+    "Using the arm, slide the plastic cup for drinks onto the coaster with circular shape.",
+    "Drop the plastic cup for drinks on top of the round coaster.",
+    "Use the arm to put the cup with smooth plastic surface onto the small coaster with grain texture.",
+    "Set the smooth blue cup for liquids securely on the round coaster with light streaks using the arm.",
+    "Slide the rounded base blue cup onto the coaster made of smooth wood",
+    "Lift the rounded base blue cup and place it onto the small coaster with grain texture.",
+    "Direct the medium-sized plastic blue cup to the light gray streaked wooden coaster and let it rest.",
+    "Set the light blue plastic cup carefully onto the wooden coaster",
+    "Move the smooth blue drinking cup using the arm onto the flat round wooden coaster.",
+    "Position the cup for holding liquids on the small coaster with grain texture with the arm.",
+    "Stick the medium-sized plastic blue cup onto the wooden coaster carefully.",
+    "Make sure the rounded base blue cup ends up on the light gray round grainy coaster.",
+    "Set the cup with light blue color on the light gray streaked wooden coaster using the arm.",
+    "Slide the smooth blue drinking cup onto the flat round wooden coaster with the arm.",
+    "Slide the rounded base blue cup gently onto the round coaster via the arm.",
+    "Position the rounded base blue cup squarely on top of the round coaster.",
+    "Place the cup for holding liquids on top of the smooth round palm-sized coaster",
+    "Use an arm to drop the cup with smooth plastic surface on the round coaster",
+    "Relocate the medium blue cylindrical cup precisely onto the small coaster with grain texture with arm",
+    "Use the arm to set the plastic cup for drinks on the light gray round grainy coaster",
+    "Use an arm to drop the cylindrical light blue cup on the light gray round grainy coaster.",
+    "Stick the light blue plastic cup onto the light gray round grainy coaster using the arm.",
+    "Using the arm, align the medium-sized plastic blue cup over the coaster made of smooth wood",
+    "Set the plastic cup for drinks onto the light gray streaked wooden coaster using the arm.",
+    "Carefully place the smooth blue cup for liquids onto the small coaster with grain texture without arm",
+    "Use an arm to place the cup with smooth plastic surface on the small coaster with grain texture",
+    "Grab the rounded base blue cup and set it onto the small coaster with grain texture.",
+    "Stick the medium-sized plastic blue cup onto the flat surface gray wooden coaster using the arm",
+    "Lift the medium blue cylindrical cup up and drop it on the light gray round grainy coaster.",
+    "Use the arm to slide the rounded base blue cup onto the coaster with circular shape.",
+    "Use the arm to position the cylindrical light blue cup onto the small coaster with grain texture.",
+    "Grab the smooth blue drinking cup, then place it onto the smooth round palm-sized coaster.",
+    "Pick the blue rounded-bottom cup up and drop it on the flat round wooden coaster.",
+    "Grab the rounded base blue cup and place it over the light gray streaked wooden coaster.",
+    "Grab the medium-sized plastic blue cup and place it on the round coaster.",
+    "Align the medium-sized plastic blue cup and set it down on the flat round wooden coaster",
+    "Move the cup with light blue color onto the round coaster with light streaks with the arm",
+    "Position the smooth blue drinking cup above and drop it on the round coaster with light streaks",
+    "Lift the light blue plastic cup and place it over the round coaster with light streaks",
+    "Grab the smooth blue cup for liquids and lower it onto the smooth round palm-sized coaster",
+    "Position the medium-sized plastic blue cup carefully on the wooden coaster",
+    "Move the light blue plastic cup to the grainy texture coaster and set it down.",
+    "Drop the medium blue cylindrical cup firmly on the grainy texture coaster using arm",
+    "Move the smooth blue drinking cup to the grainy texture coaster using the arm.",
+    "Use arm to place the smooth blue drinking cup on the flat surface gray wooden coaster",
+    "Lift the rounded base blue cup and stick it onto the round coaster.",
+    "Set the cylindrical light blue cup down on the flat round wooden coaster",
+    "Move the cylindrical light blue cup to the round coaster",
+    "Using the arm, drop the medium blue cylindrical cup onto the round coaster with light streaks.",
+    "Use the arm to position the cup for holding liquids on the grainy texture coaster.",
+    "Using the arm, slide the smooth blue cup for liquids onto the light gray streaked wooden coaster.",
+    "Drop the cylindrical light blue cup on top of the flat surface gray wooden coaster.",
+    "Use the arm to put the light blue plastic cup onto the light gray streaked wooden coaster.",
+    "Set the smooth blue drinking cup securely on the grainy texture coaster using the arm.",
+    "Slide the smooth blue cup for liquids onto the round coaster",
+    "Lift the smooth blue cup for liquids and place it onto the coaster with circular shape.",
+    "Direct the cup with light blue color to the flat surface gray wooden coaster and let it rest.",
+    "Set the medium-sized plastic blue cup carefully onto the coaster with circular shape",
+    "Move the cup with smooth plastic surface using the arm onto the smooth round palm-sized coaster.",
+    "Position the cup for holding liquids on the grainy texture coaster with the arm.",
+    "Stick the smooth blue drinking cup onto the flat round wooden coaster carefully.",
+    "Make sure the rounded base blue cup ends up on the light gray round grainy coaster.",
+    "Set the light blue plastic cup on the grainy texture coaster using the arm.",
+    "Slide the light blue plastic cup onto the coaster made of smooth wood with the arm.",
+    "Slide the smooth blue drinking cup gently onto the coaster made of smooth wood via the arm.",
+    "Position the cup with light blue color squarely on top of the smooth round palm-sized coaster.",
+    "Place the medium-sized plastic blue cup on top of the round coaster",
+    "Use an arm to drop the light blue plastic cup on the light gray streaked wooden coaster",
+    "Relocate the smooth blue cup for liquids precisely onto the grainy texture coaster with arm",
+    "Use the arm to set the blue rounded-bottom cup on the grainy texture coaster",
+    "Use an arm to drop the light blue plastic cup on the coaster made of smooth wood.",
+    "Stick the medium-sized plastic blue cup onto the light gray round grainy coaster using the arm.",
+    "Using the arm, align the smooth blue cup for liquids over the small coaster with grain texture",
+    "Set the blue rounded-bottom cup onto the small coaster with grain texture using the arm.",
+    "Carefully place the cup with smooth plastic surface onto the small coaster with grain texture without arm",
+    "Use an arm to place the smooth blue drinking cup on the flat surface gray wooden coaster",
+    "Grab the cup for holding liquids and set it onto the light gray round grainy coaster.",
+    "Stick the medium blue cylindrical cup onto the small coaster with grain texture using the arm",
+    "Lift the medium blue cylindrical cup up and drop it on the coaster made of smooth wood.",
+    "Use the arm to slide the smooth blue cup for liquids onto the light gray round grainy coaster.",
+    "Use the arm to position the smooth blue cup for liquids onto the light gray round grainy coaster.",
+    "Grab the rounded base blue cup, then place it onto the flat round wooden coaster.",
+    "Pick the cup with light blue color up and drop it on the round coaster.",
+    "Grab the cup with light blue color and place it over the round coaster with light streaks.",
+    "Grab the cup with light blue color and place it on the small coaster with grain texture.",
+    "Align the blue rounded-bottom cup and set it down on the wooden coaster"
+  ],
+  "unseen": [
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode69.json b/place_empty_cup/demo_clean/instructions/episode69.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1917befea84205837baf487b9f298984f5d7de8
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode69.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the plastic cup for drinks and stick it onto the coaster with circular shape.",
+    "Use arm to place the rounded base blue cup on the coaster made of smooth wood",
+    "Use an arm to drop the smooth blue cup for liquids on the light gray streaked wooden coaster",
+    "Move the cup with smooth plastic surface to the small coaster with grain texture and set it down.",
+    "Grab the medium blue cylindrical cup and place it over the flat round wooden coaster.",
+    "Grab the plastic cup for drinks and place it on the coaster made of smooth wood.",
+    "Stick the cup for holding liquids onto the light gray streaked wooden coaster using the arm",
+    "Lift the plastic cup for drinks and place it over the light gray round grainy coaster",
+    "Position the medium blue cylindrical cup squarely on top of the flat surface gray wooden coaster.",
+    "Place the smooth blue drinking cup on top of the light gray round grainy coaster",
+    "Drop the blue rounded-bottom cup on top of the flat round wooden coaster.",
+    "Slide the cylindrical light blue cup gently onto the grainy texture coaster via the arm.",
+    "Use an arm to place the medium blue cylindrical cup on the flat surface gray wooden coaster",
+    "Use the arm to set the medium-sized plastic blue cup on the round coaster",
+    "Use an arm to drop the cup with smooth plastic surface on the round coaster.",
+    "Make sure the rounded base blue cup ends up on the coaster made of smooth wood.",
+    "Set the smooth blue cup for liquids securely on the grainy texture coaster using the arm.",
+    "Position the plastic cup for drinks on the smooth round palm-sized coaster with the arm.",
+    "Lift the cup for holding liquids up and drop it on the coaster with circular shape.",
+    "Set the cup for holding liquids down on the round coaster",
+    "Move the plastic cup for drinks onto the light gray streaked wooden coaster with the arm",
+    "Move the medium blue cylindrical cup to the coaster with circular shape",
+    "Position the rounded base blue cup above and drop it on the flat surface gray wooden coaster",
+    "Slide the blue rounded-bottom cup onto the coaster with circular shape with the arm.",
+    "Grab the rounded base blue cup, then place it onto the round coaster.",
+    "Using the arm, slide the smooth blue cup for liquids onto the light gray streaked wooden coaster.",
+    "Move the smooth blue cup for liquids to the small coaster with grain texture using the arm.",
+    "Relocate the cylindrical light blue cup precisely onto the smooth round palm-sized coaster with arm",
+    "Drop the medium-sized plastic blue cup firmly on the flat round wooden coaster using arm",
+    "Direct the light blue plastic cup to the flat round wooden coaster and let it rest.",
+    "Set the plastic cup for drinks carefully onto the grainy texture coaster",
+    "Position the plastic cup for drinks carefully on the light gray streaked wooden coaster",
+    "Align the cup with smooth plastic surface and set it down on the round coaster",
+    "Grab the medium blue cylindrical cup and lower it onto the light gray round grainy coaster",
+    "Using the arm, drop the cup with light blue color onto the light gray streaked wooden coaster.",
+    "Carefully place the cup for holding liquids onto the round coaster with light streaks without arm",
+    "Lift the medium-sized plastic blue cup and place it onto the smooth round palm-sized coaster.",
+    "Slide the light blue plastic cup onto the round coaster",
+    "Pick the smooth blue cup for liquids up and drop it on the round coaster with light streaks.",
+    "Use the arm to put the cylindrical light blue cup onto the coaster made of smooth wood.",
+    "Grab the smooth blue drinking cup and set it onto the round coaster.",
+    "Move the cup for holding liquids using the arm onto the round coaster.",
+    "Set the smooth blue drinking cup on the coaster with circular shape using the arm.",
+    "Use the arm to position the blue rounded-bottom cup onto the light gray streaked wooden coaster.",
+    "Stick the cup with light blue color onto the coaster with circular shape carefully.",
+    "Stick the cylindrical light blue cup onto the coaster made of smooth wood using the arm.",
+    "Set the cylindrical light blue cup onto the light gray round grainy coaster using the arm.",
+    "Use the arm to position the blue rounded-bottom cup on the round coaster with light streaks.",
+    "Using the arm, align the cup with smooth plastic surface over the small coaster with grain texture",
+    "Use the arm to slide the plastic cup for drinks onto the light gray streaked wooden coaster.",
+    "Lift the rounded base blue cup and stick it onto the light gray streaked wooden coaster.",
+    "Use arm to place the cup for holding liquids on the small coaster with grain texture",
+    "Use an arm to drop the cup for holding liquids on the round coaster with light streaks",
+    "Move the cylindrical light blue cup to the round coaster with light streaks and set it down.",
+    "Grab the rounded base blue cup and place it over the light gray round grainy coaster.",
+    "Grab the blue rounded-bottom cup and place it on the grainy texture coaster.",
+    "Stick the medium blue cylindrical cup onto the wooden coaster using the arm",
+    "Lift the cup with light blue color and place it over the flat round wooden coaster",
+    "Position the medium blue cylindrical cup squarely on top of the flat round wooden coaster.",
+    "Place the cup for holding liquids on top of the flat round wooden coaster",
+    "Drop the smooth blue drinking cup on top of the wooden coaster.",
+    "Slide the cup with smooth plastic surface gently onto the round coaster via the arm.",
+    "Use an arm to place the smooth blue cup for liquids on the round coaster with light streaks",
+    "Use the arm to set the cup with light blue color on the flat surface gray wooden coaster",
+    "Use an arm to drop the light blue plastic cup on the flat round wooden coaster.",
+    "Make sure the blue rounded-bottom cup ends up on the flat round wooden coaster.",
+    "Set the cup with smooth plastic surface securely on the coaster made of smooth wood using the arm.",
+    "Position the medium-sized plastic blue cup on the coaster with circular shape with the arm.",
+    "Lift the medium-sized plastic blue cup up and drop it on the flat surface gray wooden coaster.",
+    "Set the smooth blue cup for liquids down on the wooden coaster",
+    "Move the plastic cup for drinks onto the small coaster with grain texture with the arm",
+    "Move the smooth blue cup for liquids to the flat surface gray wooden coaster",
+    "Position the cylindrical light blue cup above and drop it on the smooth round palm-sized coaster",
+    "Slide the plastic cup for drinks onto the light gray round grainy coaster with the arm.",
+    "Grab the plastic cup for drinks, then place it onto the coaster with circular shape.",
+    "Using the arm, slide the cup for holding liquids onto the coaster made of smooth wood.",
+    "Move the plastic cup for drinks to the round coaster using the arm.",
+    "Relocate the rounded base blue cup precisely onto the light gray round grainy coaster with arm",
+    "Drop the blue rounded-bottom cup firmly on the coaster made of smooth wood using arm",
+    "Direct the cup with light blue color to the flat round wooden coaster and let it rest.",
+    "Set the light blue plastic cup carefully onto the small coaster with grain texture",
+    "Position the light blue plastic cup carefully on the flat surface gray wooden coaster",
+    "Align the rounded base blue cup and set it down on the smooth round palm-sized coaster",
+    "Grab the smooth blue cup for liquids and lower it onto the light gray round grainy coaster",
+    "Using the arm, drop the cup for holding liquids onto the light gray streaked wooden coaster.",
+    "Carefully place the cup with light blue color onto the wooden coaster without arm",
+    "Lift the rounded base blue cup and place it onto the flat round wooden coaster.",
+    "Slide the cylindrical light blue cup onto the small coaster with grain texture",
+    "Pick the blue rounded-bottom cup up and drop it on the smooth round palm-sized coaster.",
+    "Use the arm to put the light blue plastic cup onto the light gray streaked wooden coaster.",
+    "Grab the cylindrical light blue cup and set it onto the light gray streaked wooden coaster.",
+    "Move the cup with smooth plastic surface using the arm onto the coaster made of smooth wood.",
+    "Set the plastic cup for drinks on the coaster made of smooth wood using the arm.",
+    "Use the arm to position the plastic cup for drinks onto the flat surface gray wooden coaster.",
+    "Stick the medium blue cylindrical cup onto the small coaster with grain texture carefully.",
+    "Stick the light blue plastic cup onto the flat round wooden coaster using the arm.",
+    "Set the blue rounded-bottom cup onto the flat round wooden coaster using the arm.",
+    "Use the arm to position the cup for holding liquids on the coaster made of smooth wood.",
+    "Using the arm, align the cylindrical light blue cup over the light gray streaked wooden coaster",
+    "Use the arm to slide the smooth blue cup for liquids onto the small coaster with grain texture."
+  ],
+  "unseen": [
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster"
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode7.json b/place_empty_cup/demo_clean/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..74e060bb6a33a1b49852d4c5f34e75e9b59d0187
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode7.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the arm, align the cup with light blue color over the coaster made of smooth wood",
+    "Direct the light blue plastic cup to the flat round wooden coaster and let it rest.",
+    "Move the medium blue cylindrical cup to the flat surface gray wooden coaster and set it down.",
+    "Position the medium-sized plastic blue cup above and drop it on the flat surface gray wooden coaster",
+    "Slide the cup with smooth plastic surface onto the small coaster with grain texture with the arm.",
+    "Set the cup for holding liquids on the small coaster with grain texture using the arm.",
+    "Use the arm to position the light blue plastic cup onto the light gray round grainy coaster.",
+    "Grab the medium-sized plastic blue cup and set it onto the coaster with circular shape.",
+    "Carefully place the cup for holding liquids onto the light gray round grainy coaster without arm",
+    "Grab the rounded base blue cup and lower it onto the coaster with circular shape",
+    "Stick the cup with light blue color onto the small coaster with grain texture using the arm",
+    "Grab the cylindrical light blue cup and place it over the light gray streaked wooden coaster.",
+    "Set the smooth blue cup for liquids carefully onto the smooth round palm-sized coaster",
+    "Grab the cup with light blue color and place it on the wooden coaster.",
+    "Use an arm to drop the cup with light blue color on the coaster with circular shape",
+    "Use an arm to place the smooth blue drinking cup on the flat surface gray wooden coaster",
+    "Lift the cup with light blue color and stick it onto the round coaster with light streaks.",
+    "Use the arm to position the cylindrical light blue cup on the light gray streaked wooden coaster.",
+    "Use the arm to slide the cup for holding liquids onto the flat surface gray wooden coaster.",
+    "Position the light blue plastic cup carefully on the round coaster",
+    "Grab the cup with light blue color, then place it onto the round coaster with light streaks.",
+    "Relocate the cup with light blue color precisely onto the flat round wooden coaster with arm",
+    "Stick the cup with smooth plastic surface onto the light gray streaked wooden coaster using the arm.",
+    "Lift the smooth blue drinking cup and place it onto the grainy texture coaster.",
+    "Slide the medium-sized plastic blue cup onto the coaster made of smooth wood",
+    "Lift the rounded base blue cup and place it over the coaster made of smooth wood",
+    "Use arm to place the blue rounded-bottom cup on the light gray round grainy coaster",
+    "Use the arm to set the blue rounded-bottom cup on the round coaster with light streaks",
+    "Drop the plastic cup for drinks on top of the light gray round grainy coaster.",
+    "Use an arm to drop the smooth blue drinking cup on the round coaster.",
+    "Set the light blue plastic cup securely on the coaster with circular shape using the arm.",
+    "Move the smooth blue cup for liquids to the coaster made of smooth wood",
+    "Drop the blue rounded-bottom cup firmly on the smooth round palm-sized coaster using arm",
+    "Move the blue rounded-bottom cup onto the coaster with circular shape with the arm",
+    "Set the cup with smooth plastic surface down on the light gray streaked wooden coaster",
+    "Position the rounded base blue cup squarely on top of the flat surface gray wooden coaster.",
+    "Using the arm, drop the cup for holding liquids onto the round coaster with light streaks.",
+    "Position the cylindrical light blue cup on the flat surface gray wooden coaster with the arm.",
+    "Using the arm, slide the cup with smooth plastic surface onto the wooden coaster.",
+    "Move the plastic cup for drinks using the arm onto the wooden coaster.",
+    "Pick the smooth blue drinking cup up and drop it on the round coaster.",
+    "Make sure the rounded base blue cup ends up on the coaster with circular shape.",
+    "Align the medium-sized plastic blue cup and set it down on the smooth round palm-sized coaster",
+    "Stick the rounded base blue cup onto the flat round wooden coaster carefully.",
+    "Use the arm to put the rounded base blue cup onto the smooth round palm-sized coaster.",
+    "Set the smooth blue cup for liquids onto the flat round wooden coaster using the arm.",
+    "Lift the blue rounded-bottom cup up and drop it on the coaster made of smooth wood.",
+    "Place the cup with light blue color on top of the round coaster with light streaks",
+    "Slide the cup with smooth plastic surface gently onto the light gray streaked wooden coaster via the arm.",
+    "Move the cup for holding liquids to the light gray streaked wooden coaster using the arm.",
+    "Using the arm, align the cup with light blue color over the wooden coaster",
+    "Direct the smooth blue cup for liquids to the wooden coaster and let it rest.",
+    "Move the medium-sized plastic blue cup to the grainy texture coaster and set it down.",
+    "Position the rounded base blue cup above and drop it on the coaster with circular shape",
+    "Slide the cup for holding liquids onto the smooth round palm-sized coaster with the arm.",
+    "Set the light blue plastic cup on the flat surface gray wooden coaster using the arm.",
+    "Use the arm to position the blue rounded-bottom cup onto the light gray round grainy coaster.",
+    "Grab the smooth blue cup for liquids and set it onto the flat round wooden coaster.",
+    "Carefully place the medium-sized plastic blue cup onto the flat surface gray wooden coaster without arm",
+    "Grab the cylindrical light blue cup and lower it onto the coaster with circular shape",
+    "Stick the smooth blue cup for liquids onto the coaster with circular shape using the arm",
+    "Grab the medium-sized plastic blue cup and place it over the wooden coaster.",
+    "Set the cup for holding liquids carefully onto the light gray round grainy coaster",
+    "Grab the plastic cup for drinks and place it on the flat surface gray wooden coaster.",
+    "Use an arm to drop the blue rounded-bottom cup on the smooth round palm-sized coaster",
+    "Use an arm to place the rounded base blue cup on the round coaster",
+    "Lift the cylindrical light blue cup and stick it onto the flat round wooden coaster.",
+    "Use the arm to position the plastic cup for drinks on the small coaster with grain texture.",
+    "Use the arm to slide the rounded base blue cup onto the flat round wooden coaster.",
+    "Position the smooth blue cup for liquids carefully on the light gray streaked wooden coaster",
+    "Grab the cup with light blue color, then place it onto the coaster made of smooth wood.",
+    "Relocate the plastic cup for drinks precisely onto the wooden coaster with arm",
+    "Stick the medium blue cylindrical cup onto the light gray round grainy coaster using the arm.",
+    "Lift the plastic cup for drinks and place it onto the round coaster.",
+    "Slide the blue rounded-bottom cup onto the coaster made of smooth wood",
+    "Lift the rounded base blue cup and place it over the light gray round grainy coaster",
+    "Use arm to place the cup for holding liquids on the wooden coaster",
+    "Use the arm to set the smooth blue drinking cup on the light gray streaked wooden coaster",
+    "Drop the medium blue cylindrical cup on top of the wooden coaster.",
+    "Use an arm to drop the cup with smooth plastic surface on the wooden coaster.",
+    "Set the smooth blue drinking cup securely on the coaster made of smooth wood using the arm.",
+    "Move the rounded base blue cup to the coaster made of smooth wood",
+    "Drop the cup for holding liquids firmly on the light gray round grainy coaster using arm",
+    "Move the light blue plastic cup onto the light gray streaked wooden coaster with the arm",
+    "Set the cylindrical light blue cup down on the light gray streaked wooden coaster",
+    "Position the blue rounded-bottom cup squarely on top of the light gray round grainy coaster.",
+    "Using the arm, drop the medium blue cylindrical cup onto the coaster with circular shape.",
+    "Position the smooth blue cup for liquids on the grainy texture coaster with the arm.",
+    "Using the arm, slide the rounded base blue cup onto the flat round wooden coaster.",
+    "Move the medium-sized plastic blue cup using the arm onto the round coaster.",
+    "Pick the medium blue cylindrical cup up and drop it on the flat surface gray wooden coaster.",
+    "Make sure the rounded base blue cup ends up on the light gray streaked wooden coaster.",
+    "Align the cylindrical light blue cup and set it down on the coaster with circular shape",
+    "Stick the cylindrical light blue cup onto the light gray streaked wooden coaster carefully.",
+    "Use the arm to put the rounded base blue cup onto the small coaster with grain texture.",
+    "Set the blue rounded-bottom cup onto the light gray round grainy coaster using the arm.",
+    "Lift the blue rounded-bottom cup up and drop it on the light gray streaked wooden coaster.",
+    "Place the cylindrical light blue cup on top of the light gray round grainy coaster",
+    "Slide the plastic cup for drinks gently onto the round coaster via the arm.",
+    "Move the plastic cup for drinks to the coaster with circular shape using the arm."
+  ],
+  "unseen": [
+    "Set the blue cup down on the light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup onto the light gray coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster"
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode70.json b/place_empty_cup/demo_clean/instructions/episode70.json
new file mode 100644
index 0000000000000000000000000000000000000000..5026bc1f89bc11f038b7f5b13ce97f70e1013d2c
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode70.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the medium blue cylindrical cup, then place it onto the flat surface gray wooden coaster.",
+    "Set the blue rounded-bottom cup carefully onto the round coaster",
+    "Drop the light blue plastic cup firmly on the smooth round palm-sized coaster using arm",
+    "Lift the plastic cup for drinks and place it over the small coaster with grain texture",
+    "Use the arm to slide the smooth blue drinking cup onto the grainy texture coaster.",
+    "Use an arm to drop the rounded base blue cup on the light gray streaked wooden coaster.",
+    "Drop the rounded base blue cup on top of the coaster made of smooth wood.",
+    "Using the arm, slide the cup with light blue color onto the light gray round grainy coaster.",
+    "Lift the smooth blue drinking cup and stick it onto the small coaster with grain texture.",
+    "Set the cup with smooth plastic surface on the light gray round grainy coaster using the arm.",
+    "Set the medium-sized plastic blue cup securely on the light gray round grainy coaster using the arm.",
+    "Using the arm, align the rounded base blue cup over the flat surface gray wooden coaster",
+    "Slide the rounded base blue cup gently onto the round coaster via the arm.",
+    "Grab the medium-sized plastic blue cup and place it over the round coaster with light streaks.",
+    "Move the medium blue cylindrical cup to the round coaster using the arm.",
+    "Position the medium-sized plastic blue cup carefully on the round coaster with light streaks",
+    "Position the light blue plastic cup squarely on top of the coaster with circular shape.",
+    "Position the cylindrical light blue cup on the smooth round palm-sized coaster with the arm.",
+    "Align the plastic cup for drinks and set it down on the grainy texture coaster",
+    "Use the arm to put the cup with smooth plastic surface onto the flat surface gray wooden coaster.",
+    "Move the medium-sized plastic blue cup using the arm onto the small coaster with grain texture.",
+    "Stick the medium blue cylindrical cup onto the flat round wooden coaster using the arm.",
+    "Use the arm to position the rounded base blue cup on the flat surface gray wooden coaster.",
+    "Slide the medium-sized plastic blue cup onto the wooden coaster with the arm.",
+    "Grab the medium-sized plastic blue cup and place it on the small coaster with grain texture.",
+    "Lift the smooth blue drinking cup and place it onto the coaster with circular shape.",
+    "Move the rounded base blue cup to the small coaster with grain texture",
+    "Move the blue rounded-bottom cup to the coaster with circular shape and set it down.",
+    "Stick the medium-sized plastic blue cup onto the smooth round palm-sized coaster using the arm",
+    "Set the rounded base blue cup down on the coaster made of smooth wood",
+    "Use arm to place the cup with light blue color on the smooth round palm-sized coaster",
+    "Place the plastic cup for drinks on top of the round coaster with light streaks",
+    "Move the cup with light blue color onto the coaster made of smooth wood with the arm",
+    "Use the arm to position the smooth blue cup for liquids onto the round coaster with light streaks.",
+    "Grab the medium blue cylindrical cup and set it onto the small coaster with grain texture.",
+    "Grab the blue rounded-bottom cup and lower it onto the light gray streaked wooden coaster",
+    "Lift the medium-sized plastic blue cup up and drop it on the round coaster with light streaks.",
+    "Position the smooth blue cup for liquids above and drop it on the coaster made of smooth wood",
+    "Direct the plastic cup for drinks to the round coaster and let it rest.",
+    "Use an arm to drop the cylindrical light blue cup on the coaster with circular shape",
+    "Using the arm, drop the cup for holding liquids onto the flat round wooden coaster.",
+    "Carefully place the smooth blue cup for liquids onto the flat surface gray wooden coaster without arm",
+    "Set the cup with light blue color onto the round coaster using the arm.",
+    "Pick the plastic cup for drinks up and drop it on the flat round wooden coaster.",
+    "Make sure the smooth blue drinking cup ends up on the smooth round palm-sized coaster.",
+    "Slide the plastic cup for drinks onto the wooden coaster",
+    "Use an arm to place the cup with smooth plastic surface on the light gray streaked wooden coaster",
+    "Relocate the cup with smooth plastic surface precisely onto the coaster made of smooth wood with arm",
+    "Use the arm to set the rounded base blue cup on the flat surface gray wooden coaster",
+    "Stick the cylindrical light blue cup onto the wooden coaster carefully.",
+    "Grab the cup with light blue color, then place it onto the round coaster.",
+    "Set the plastic cup for drinks carefully onto the small coaster with grain texture",
+    "Drop the blue rounded-bottom cup firmly on the round coaster using arm",
+    "Lift the light blue plastic cup and place it over the coaster with circular shape",
+    "Use the arm to slide the smooth blue cup for liquids onto the grainy texture coaster.",
+    "Use an arm to drop the cup for holding liquids on the flat round wooden coaster.",
+    "Drop the blue rounded-bottom cup on top of the light gray streaked wooden coaster.",
+    "Using the arm, slide the light blue plastic cup onto the wooden coaster.",
+    "Lift the cup with smooth plastic surface and stick it onto the grainy texture coaster.",
+    "Set the medium-sized plastic blue cup on the round coaster using the arm.",
+    "Set the medium-sized plastic blue cup securely on the round coaster with light streaks using the arm.",
+    "Using the arm, align the cup with smooth plastic surface over the light gray round grainy coaster",
+    "Slide the cup with light blue color gently onto the flat surface gray wooden coaster via the arm.",
+    "Grab the medium-sized plastic blue cup and place it over the coaster with circular shape.",
+    "Move the smooth blue cup for liquids to the small coaster with grain texture using the arm.",
+    "Position the smooth blue cup for liquids carefully on the light gray round grainy coaster",
+    "Position the cup with smooth plastic surface squarely on top of the round coaster with light streaks.",
+    "Position the cup for holding liquids on the round coaster with light streaks with the arm.",
+    "Align the blue rounded-bottom cup and set it down on the coaster with circular shape",
+    "Use the arm to put the cup with light blue color onto the coaster with circular shape.",
+    "Move the smooth blue drinking cup using the arm onto the light gray streaked wooden coaster.",
+    "Stick the cup with light blue color onto the smooth round palm-sized coaster using the arm.",
+    "Use the arm to position the plastic cup for drinks on the flat surface gray wooden coaster.",
+    "Slide the medium blue cylindrical cup onto the flat surface gray wooden coaster with the arm.",
+    "Grab the light blue plastic cup and place it on the coaster with circular shape.",
+    "Lift the cylindrical light blue cup and place it onto the coaster with circular shape.",
+    "Move the light blue plastic cup to the flat round wooden coaster",
+    "Move the cup for holding liquids to the round coaster and set it down.",
+    "Stick the smooth blue cup for liquids onto the grainy texture coaster using the arm",
+    "Set the light blue plastic cup down on the light gray streaked wooden coaster",
+    "Use arm to place the cup with light blue color on the wooden coaster",
+    "Place the cylindrical light blue cup on top of the coaster with circular shape",
+    "Move the cylindrical light blue cup onto the smooth round palm-sized coaster with the arm",
+    "Use the arm to position the medium blue cylindrical cup onto the light gray round grainy coaster.",
+    "Grab the cylindrical light blue cup and set it onto the flat round wooden coaster.",
+    "Grab the medium-sized plastic blue cup and lower it onto the coaster made of smooth wood",
+    "Lift the plastic cup for drinks up and drop it on the flat surface gray wooden coaster.",
+    "Position the medium-sized plastic blue cup above and drop it on the light gray streaked wooden coaster",
+    "Direct the medium blue cylindrical cup to the grainy texture coaster and let it rest.",
+    "Use an arm to drop the light blue plastic cup on the round coaster",
+    "Using the arm, drop the smooth blue drinking cup onto the coaster with circular shape.",
+    "Carefully place the medium-sized plastic blue cup onto the coaster with circular shape without arm",
+    "Set the rounded base blue cup onto the small coaster with grain texture using the arm.",
+    "Pick the light blue plastic cup up and drop it on the flat round wooden coaster.",
+    "Make sure the cup with smooth plastic surface ends up on the small coaster with grain texture.",
+    "Slide the medium-sized plastic blue cup onto the smooth round palm-sized coaster",
+    "Use an arm to place the blue rounded-bottom cup on the smooth round palm-sized coaster",
+    "Relocate the blue rounded-bottom cup precisely onto the light gray streaked wooden coaster with arm",
+    "Use the arm to set the cylindrical light blue cup on the coaster made of smooth wood",
+    "Stick the plastic cup for drinks onto the flat round wooden coaster carefully."
+  ],
+  "unseen": [
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster"
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode71.json b/place_empty_cup/demo_clean/instructions/episode71.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8fa51ebe31ad719dbc582a867aabd388dee245a
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode71.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the medium blue cylindrical cup onto the coaster made of smooth wood using the arm.",
+    "Drop the cylindrical light blue cup firmly on the round coaster with light streaks using arm",
+    "Lift the cylindrical light blue cup and stick it onto the coaster made of smooth wood.",
+    "Using the arm, slide the medium blue cylindrical cup onto the small coaster with grain texture.",
+    "Pick the cup with light blue color up and drop it on the grainy texture coaster.",
+    "Use the arm to set the plastic cup for drinks on the coaster made of smooth wood",
+    "Use the arm to put the light blue plastic cup onto the wooden coaster.",
+    "Lift the light blue plastic cup and place it onto the grainy texture coaster.",
+    "Drop the cup with smooth plastic surface on top of the coaster with circular shape.",
+    "Align the smooth blue cup for liquids and set it down on the smooth round palm-sized coaster",
+    "Slide the cylindrical light blue cup onto the grainy texture coaster with the arm.",
+    "Grab the cylindrical light blue cup and set it onto the round coaster with light streaks.",
+    "Lift the plastic cup for drinks and place it over the round coaster",
+    "Use arm to place the smooth blue cup for liquids on the small coaster with grain texture",
+    "Use the arm to position the plastic cup for drinks on the round coaster.",
+    "Stick the cup with light blue color onto the wooden coaster using the arm.",
+    "Set the blue rounded-bottom cup on the smooth round palm-sized coaster using the arm.",
+    "Relocate the cup for holding liquids precisely onto the flat round wooden coaster with arm",
+    "Carefully place the cup with light blue color onto the light gray round grainy coaster without arm",
+    "Make sure the blue rounded-bottom cup ends up on the round coaster with light streaks.",
+    "Grab the medium blue cylindrical cup and place it over the coaster made of smooth wood.",
+    "Place the blue rounded-bottom cup on top of the small coaster with grain texture",
+    "Grab the smooth blue drinking cup, then place it onto the round coaster.",
+    "Move the smooth blue cup for liquids to the light gray round grainy coaster and set it down.",
+    "Slide the light blue plastic cup onto the round coaster with light streaks",
+    "Grab the cup with light blue color and lower it onto the wooden coaster",
+    "Set the rounded base blue cup securely on the light gray round grainy coaster using the arm.",
+    "Slide the rounded base blue cup gently onto the coaster made of smooth wood via the arm.",
+    "Direct the smooth blue cup for liquids to the coaster with circular shape and let it rest.",
+    "Stick the blue rounded-bottom cup onto the coaster with circular shape using the arm",
+    "Move the medium-sized plastic blue cup to the round coaster",
+    "Grab the medium-sized plastic blue cup and place it on the wooden coaster.",
+    "Using the arm, align the medium-sized plastic blue cup over the smooth round palm-sized coaster",
+    "Move the rounded base blue cup using the arm onto the round coaster with light streaks.",
+    "Move the blue rounded-bottom cup onto the smooth round palm-sized coaster with the arm",
+    "Move the light blue plastic cup to the flat surface gray wooden coaster using the arm.",
+    "Use an arm to drop the smooth blue drinking cup on the coaster with circular shape",
+    "Stick the rounded base blue cup onto the small coaster with grain texture carefully.",
+    "Set the medium blue cylindrical cup down on the wooden coaster",
+    "Use the arm to position the blue rounded-bottom cup onto the coaster made of smooth wood.",
+    "Set the cup for holding liquids carefully onto the small coaster with grain texture",
+    "Position the cup for holding liquids carefully on the coaster with circular shape",
+    "Position the medium blue cylindrical cup squarely on top of the coaster made of smooth wood.",
+    "Position the light blue plastic cup on the flat round wooden coaster with the arm.",
+    "Using the arm, drop the smooth blue drinking cup onto the small coaster with grain texture.",
+    "Use an arm to drop the cup with light blue color on the round coaster with light streaks.",
+    "Use an arm to place the light blue plastic cup on the flat surface gray wooden coaster",
+    "Use the arm to slide the smooth blue cup for liquids onto the coaster made of smooth wood.",
+    "Lift the cup for holding liquids up and drop it on the coaster with circular shape.",
+    "Position the smooth blue drinking cup above and drop it on the grainy texture coaster",
+    "Set the cup with light blue color onto the coaster with circular shape using the arm.",
+    "Drop the cup for holding liquids firmly on the round coaster using arm",
+    "Lift the medium blue cylindrical cup and stick it onto the light gray streaked wooden coaster.",
+    "Using the arm, slide the medium blue cylindrical cup onto the coaster with circular shape.",
+    "Pick the medium blue cylindrical cup up and drop it on the grainy texture coaster.",
+    "Use the arm to set the cup with smooth plastic surface on the wooden coaster",
+    "Use the arm to put the cup with light blue color onto the round coaster with light streaks.",
+    "Lift the medium blue cylindrical cup and place it onto the light gray round grainy coaster.",
+    "Drop the medium-sized plastic blue cup on top of the grainy texture coaster.",
+    "Align the plastic cup for drinks and set it down on the flat surface gray wooden coaster",
+    "Slide the medium-sized plastic blue cup onto the small coaster with grain texture with the arm.",
+    "Grab the cup with smooth plastic surface and set it onto the small coaster with grain texture.",
+    "Lift the smooth blue drinking cup and place it over the coaster with circular shape",
+    "Use arm to place the plastic cup for drinks on the flat surface gray wooden coaster",
+    "Use the arm to position the cup with smooth plastic surface on the light gray round grainy coaster.",
+    "Stick the smooth blue cup for liquids onto the wooden coaster using the arm.",
+    "Set the smooth blue drinking cup on the flat round wooden coaster using the arm.",
+    "Relocate the medium blue cylindrical cup precisely onto the wooden coaster with arm",
+    "Carefully place the smooth blue cup for liquids onto the light gray streaked wooden coaster without arm",
+    "Make sure the medium blue cylindrical cup ends up on the grainy texture coaster.",
+    "Grab the cup with smooth plastic surface and place it over the light gray streaked wooden coaster.",
+    "Place the cup with smooth plastic surface on top of the smooth round palm-sized coaster",
+    "Grab the rounded base blue cup, then place it onto the flat surface gray wooden coaster.",
+    "Move the medium blue cylindrical cup to the light gray streaked wooden coaster and set it down.",
+    "Slide the cup for holding liquids onto the flat surface gray wooden coaster",
+    "Grab the medium blue cylindrical cup and lower it onto the smooth round palm-sized coaster",
+    "Set the cup for holding liquids securely on the round coaster with light streaks using the arm.",
+    "Slide the light blue plastic cup gently onto the round coaster with light streaks via the arm.",
+    "Direct the cup for holding liquids to the grainy texture coaster and let it rest.",
+    "Stick the cup with light blue color onto the light gray streaked wooden coaster using the arm",
+    "Move the cup with light blue color to the flat surface gray wooden coaster",
+    "Grab the cup with light blue color and place it on the coaster made of smooth wood.",
+    "Using the arm, align the cylindrical light blue cup over the light gray streaked wooden coaster",
+    "Move the blue rounded-bottom cup using the arm onto the flat surface gray wooden coaster.",
+    "Move the cup with light blue color onto the flat round wooden coaster with the arm",
+    "Move the cup with smooth plastic surface to the wooden coaster using the arm.",
+    "Use an arm to drop the cylindrical light blue cup on the light gray streaked wooden coaster",
+    "Stick the cup for holding liquids onto the round coaster carefully.",
+    "Set the medium blue cylindrical cup down on the round coaster with light streaks",
+    "Use the arm to position the medium-sized plastic blue cup onto the small coaster with grain texture.",
+    "Set the medium-sized plastic blue cup carefully onto the light gray round grainy coaster",
+    "Position the cup with smooth plastic surface carefully on the coaster with circular shape",
+    "Position the light blue plastic cup squarely on top of the round coaster.",
+    "Position the smooth blue drinking cup on the flat surface gray wooden coaster with the arm.",
+    "Using the arm, drop the smooth blue drinking cup onto the round coaster.",
+    "Use an arm to drop the cylindrical light blue cup on the wooden coaster.",
+    "Use an arm to place the cylindrical light blue cup on the coaster made of smooth wood",
+    "Use the arm to slide the cup with light blue color onto the coaster made of smooth wood.",
+    "Lift the blue rounded-bottom cup up and drop it on the flat surface gray wooden coaster.",
+    "Position the smooth blue cup for liquids above and drop it on the round coaster with light streaks"
+  ],
+  "unseen": [
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode72.json b/place_empty_cup/demo_clean/instructions/episode72.json
new file mode 100644
index 0000000000000000000000000000000000000000..04aee8f07a98e715299ad7485c0c5eb075733a4e
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode72.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Stick the medium-sized plastic blue cup onto the flat surface gray wooden coaster using the arm",
+    "Set the light blue plastic cup carefully onto the light gray streaked wooden coaster",
+    "Drop the rounded base blue cup on top of the flat surface gray wooden coaster.",
+    "Use an arm to drop the smooth blue drinking cup on the smooth round palm-sized coaster",
+    "Lift the cup with light blue color and place it onto the flat surface gray wooden coaster.",
+    "Grab the smooth blue drinking cup, then place it onto the light gray streaked wooden coaster.",
+    "Drop the plastic cup for drinks firmly on the round coaster using arm",
+    "Use the arm to put the plastic cup for drinks onto the light gray round grainy coaster.",
+    "Grab the plastic cup for drinks and place it on the flat surface gray wooden coaster.",
+    "Set the plastic cup for drinks down on the flat round wooden coaster",
+    "Stick the smooth blue drinking cup onto the wooden coaster carefully.",
+    "Move the light blue plastic cup using the arm onto the smooth round palm-sized coaster.",
+    "Using the arm, slide the smooth blue cup for liquids onto the light gray streaked wooden coaster.",
+    "Lift the cup with smooth plastic surface and place it over the round coaster with light streaks",
+    "Relocate the light blue plastic cup precisely onto the wooden coaster with arm",
+    "Align the smooth blue cup for liquids and set it down on the flat round wooden coaster",
+    "Stick the rounded base blue cup onto the wooden coaster using the arm.",
+    "Set the plastic cup for drinks securely on the smooth round palm-sized coaster using the arm.",
+    "Use the arm to set the cup with light blue color on the smooth round palm-sized coaster",
+    "Use the arm to position the smooth blue cup for liquids on the coaster with circular shape.",
+    "Slide the rounded base blue cup onto the coaster with circular shape",
+    "Set the smooth blue cup for liquids onto the small coaster with grain texture using the arm.",
+    "Use an arm to drop the medium blue cylindrical cup on the wooden coaster.",
+    "Grab the blue rounded-bottom cup and set it onto the wooden coaster.",
+    "Move the plastic cup for drinks to the coaster with circular shape and set it down.",
+    "Using the arm, drop the medium-sized plastic blue cup onto the small coaster with grain texture.",
+    "Use arm to place the medium blue cylindrical cup on the flat round wooden coaster",
+    "Slide the cup with light blue color gently onto the coaster with circular shape via the arm.",
+    "Use the arm to position the medium-sized plastic blue cup onto the round coaster with light streaks.",
+    "Position the rounded base blue cup squarely on top of the flat round wooden coaster.",
+    "Use the arm to slide the rounded base blue cup onto the flat surface gray wooden coaster.",
+    "Move the cylindrical light blue cup to the light gray round grainy coaster using the arm.",
+    "Pick the medium blue cylindrical cup up and drop it on the smooth round palm-sized coaster.",
+    "Make sure the cup with smooth plastic surface ends up on the grainy texture coaster.",
+    "Place the plastic cup for drinks on top of the light gray streaked wooden coaster",
+    "Direct the medium-sized plastic blue cup to the grainy texture coaster and let it rest.",
+    "Position the rounded base blue cup above and drop it on the round coaster",
+    "Set the cylindrical light blue cup on the round coaster with light streaks using the arm.",
+    "Carefully place the cup for holding liquids onto the wooden coaster without arm",
+    "Grab the cup for holding liquids and place it over the flat surface gray wooden coaster.",
+    "Use an arm to place the blue rounded-bottom cup on the coaster made of smooth wood",
+    "Lift the medium blue cylindrical cup and stick it onto the wooden coaster.",
+    "Grab the medium blue cylindrical cup and lower it onto the smooth round palm-sized coaster",
+    "Lift the blue rounded-bottom cup up and drop it on the grainy texture coaster.",
+    "Slide the cylindrical light blue cup onto the small coaster with grain texture with the arm.",
+    "Position the cup with light blue color carefully on the flat round wooden coaster",
+    "Move the plastic cup for drinks to the light gray round grainy coaster",
+    "Position the blue rounded-bottom cup on the grainy texture coaster with the arm.",
+    "Move the cup with smooth plastic surface onto the coaster made of smooth wood with the arm",
+    "Using the arm, align the smooth blue cup for liquids over the round coaster with light streaks",
+    "Stick the rounded base blue cup onto the flat surface gray wooden coaster using the arm",
+    "Set the blue rounded-bottom cup carefully onto the light gray streaked wooden coaster",
+    "Drop the light blue plastic cup on top of the round coaster.",
+    "Use an arm to drop the plastic cup for drinks on the grainy texture coaster",
+    "Lift the cylindrical light blue cup and place it onto the light gray streaked wooden coaster.",
+    "Grab the smooth blue cup for liquids, then place it onto the wooden coaster.",
+    "Drop the cylindrical light blue cup firmly on the small coaster with grain texture using arm",
+    "Use the arm to put the cup for holding liquids onto the grainy texture coaster.",
+    "Grab the blue rounded-bottom cup and place it on the round coaster.",
+    "Set the blue rounded-bottom cup down on the flat surface gray wooden coaster",
+    "Stick the blue rounded-bottom cup onto the coaster made of smooth wood carefully.",
+    "Move the rounded base blue cup using the arm onto the round coaster.",
+    "Using the arm, slide the cup with smooth plastic surface onto the light gray streaked wooden coaster.",
+    "Lift the cup with light blue color and place it over the round coaster",
+    "Relocate the cup with smooth plastic surface precisely onto the flat round wooden coaster with arm",
+    "Align the smooth blue cup for liquids and set it down on the flat round wooden coaster",
+    "Stick the rounded base blue cup onto the flat round wooden coaster using the arm.",
+    "Set the smooth blue drinking cup securely on the grainy texture coaster using the arm.",
+    "Use the arm to set the cup with light blue color on the wooden coaster",
+    "Use the arm to position the light blue plastic cup on the grainy texture coaster.",
+    "Slide the light blue plastic cup onto the flat round wooden coaster",
+    "Set the plastic cup for drinks onto the small coaster with grain texture using the arm.",
+    "Use an arm to drop the cup for holding liquids on the light gray round grainy coaster.",
+    "Grab the cylindrical light blue cup and set it onto the smooth round palm-sized coaster.",
+    "Move the cup for holding liquids to the wooden coaster and set it down.",
+    "Using the arm, drop the smooth blue drinking cup onto the coaster with circular shape.",
+    "Use arm to place the cup with light blue color on the coaster with circular shape",
+    "Slide the blue rounded-bottom cup gently onto the wooden coaster via the arm.",
+    "Use the arm to position the light blue plastic cup onto the wooden coaster.",
+    "Position the cylindrical light blue cup squarely on top of the grainy texture coaster.",
+    "Use the arm to slide the cup with smooth plastic surface onto the small coaster with grain texture.",
+    "Move the cylindrical light blue cup to the grainy texture coaster using the arm.",
+    "Pick the blue rounded-bottom cup up and drop it on the round coaster with light streaks.",
+    "Make sure the cup for holding liquids ends up on the flat surface gray wooden coaster.",
+    "Place the cup with smooth plastic surface on top of the small coaster with grain texture",
+    "Direct the smooth blue drinking cup to the flat round wooden coaster and let it rest.",
+    "Position the medium blue cylindrical cup above and drop it on the wooden coaster",
+    "Set the light blue plastic cup on the light gray round grainy coaster using the arm.",
+    "Carefully place the cup for holding liquids onto the smooth round palm-sized coaster without arm",
+    "Grab the cup with smooth plastic surface and place it over the light gray streaked wooden coaster.",
+    "Use an arm to place the plastic cup for drinks on the wooden coaster",
+    "Lift the blue rounded-bottom cup and stick it onto the round coaster.",
+    "Grab the medium-sized plastic blue cup and lower it onto the round coaster",
+    "Lift the smooth blue drinking cup up and drop it on the light gray round grainy coaster.",
+    "Slide the cup with light blue color onto the smooth round palm-sized coaster with the arm.",
+    "Position the light blue plastic cup carefully on the flat round wooden coaster",
+    "Move the cup for holding liquids to the small coaster with grain texture",
+    "Position the plastic cup for drinks on the flat round wooden coaster with the arm.",
+    "Move the rounded base blue cup onto the grainy texture coaster with the arm",
+    "Using the arm, align the cup with smooth plastic surface over the round coaster with light streaks"
+  ],
+  "unseen": [
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode73.json b/place_empty_cup/demo_clean/instructions/episode73.json
new file mode 100644
index 0000000000000000000000000000000000000000..c640fbe94f3872521bee25b5dd0be098aba1c119
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode73.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the cup for holding liquids and place it over the light gray round grainy coaster",
+    "Carefully place the light blue plastic cup onto the flat surface gray wooden coaster without arm",
+    "Stick the rounded base blue cup onto the flat surface gray wooden coaster using the arm.",
+    "Using the arm, drop the smooth blue cup for liquids onto the round coaster.",
+    "Grab the smooth blue drinking cup and place it over the coaster with circular shape.",
+    "Set the smooth blue cup for liquids onto the flat surface gray wooden coaster using the arm.",
+    "Using the arm, slide the light blue plastic cup onto the coaster made of smooth wood.",
+    "Use an arm to place the light blue plastic cup on the wooden coaster",
+    "Use an arm to drop the medium-sized plastic blue cup on the round coaster.",
+    "Lift the medium blue cylindrical cup up and drop it on the light gray round grainy coaster.",
+    "Drop the cylindrical light blue cup on top of the light gray streaked wooden coaster.",
+    "Place the plastic cup for drinks on top of the coaster with circular shape",
+    "Stick the light blue plastic cup onto the flat round wooden coaster carefully.",
+    "Pick the plastic cup for drinks up and drop it on the round coaster with light streaks.",
+    "Position the medium-sized plastic blue cup on the small coaster with grain texture with the arm.",
+    "Set the smooth blue drinking cup down on the grainy texture coaster",
+    "Grab the plastic cup for drinks and set it onto the round coaster.",
+    "Relocate the blue rounded-bottom cup precisely onto the light gray streaked wooden coaster with arm",
+    "Slide the cup for holding liquids onto the flat round wooden coaster",
+    "Use the arm to slide the rounded base blue cup onto the round coaster with light streaks.",
+    "Use the arm to position the smooth blue drinking cup onto the wooden coaster.",
+    "Direct the cylindrical light blue cup to the round coaster with light streaks and let it rest.",
+    "Slide the cup with smooth plastic surface gently onto the smooth round palm-sized coaster via the arm.",
+    "Drop the medium-sized plastic blue cup firmly on the round coaster with light streaks using arm",
+    "Use the arm to put the medium blue cylindrical cup onto the light gray streaked wooden coaster.",
+    "Lift the plastic cup for drinks and stick it onto the coaster with circular shape.",
+    "Position the cup with smooth plastic surface carefully on the smooth round palm-sized coaster",
+    "Grab the cylindrical light blue cup and place it on the flat round wooden coaster.",
+    "Using the arm, align the cup for holding liquids over the light gray streaked wooden coaster",
+    "Position the medium-sized plastic blue cup above and drop it on the flat surface gray wooden coaster",
+    "Set the cylindrical light blue cup carefully onto the round coaster",
+    "Position the cylindrical light blue cup squarely on top of the coaster with circular shape.",
+    "Use an arm to drop the blue rounded-bottom cup on the round coaster",
+    "Lift the medium blue cylindrical cup and place it onto the small coaster with grain texture.",
+    "Slide the rounded base blue cup onto the small coaster with grain texture with the arm.",
+    "Use the arm to set the smooth blue drinking cup on the small coaster with grain texture",
+    "Set the smooth blue drinking cup securely on the wooden coaster using the arm.",
+    "Move the blue rounded-bottom cup to the coaster made of smooth wood using the arm.",
+    "Make sure the medium blue cylindrical cup ends up on the light gray round grainy coaster.",
+    "Move the rounded base blue cup using the arm onto the coaster with circular shape.",
+    "Set the cylindrical light blue cup on the flat surface gray wooden coaster using the arm.",
+    "Move the cup with smooth plastic surface onto the round coaster with the arm",
+    "Move the cup with smooth plastic surface to the light gray round grainy coaster",
+    "Align the cup with smooth plastic surface and set it down on the smooth round palm-sized coaster",
+    "Use the arm to position the cylindrical light blue cup on the grainy texture coaster.",
+    "Grab the cup with light blue color and lower it onto the flat round wooden coaster",
+    "Grab the cup with smooth plastic surface, then place it onto the round coaster.",
+    "Use arm to place the plastic cup for drinks on the light gray round grainy coaster",
+    "Stick the light blue plastic cup onto the smooth round palm-sized coaster using the arm",
+    "Move the cup for holding liquids to the light gray round grainy coaster and set it down.",
+    "Lift the plastic cup for drinks and place it over the small coaster with grain texture",
+    "Carefully place the medium-sized plastic blue cup onto the light gray round grainy coaster without arm",
+    "Stick the plastic cup for drinks onto the coaster with circular shape using the arm.",
+    "Using the arm, drop the cylindrical light blue cup onto the grainy texture coaster.",
+    "Grab the cup for holding liquids and place it over the small coaster with grain texture.",
+    "Set the rounded base blue cup onto the small coaster with grain texture using the arm.",
+    "Using the arm, slide the light blue plastic cup onto the light gray streaked wooden coaster.",
+    "Use an arm to place the blue rounded-bottom cup on the round coaster",
+    "Use an arm to drop the smooth blue cup for liquids on the round coaster with light streaks.",
+    "Lift the medium-sized plastic blue cup up and drop it on the light gray round grainy coaster.",
+    "Drop the rounded base blue cup on top of the round coaster with light streaks.",
+    "Place the plastic cup for drinks on top of the coaster with circular shape",
+    "Stick the rounded base blue cup onto the smooth round palm-sized coaster carefully.",
+    "Pick the cylindrical light blue cup up and drop it on the coaster with circular shape.",
+    "Position the blue rounded-bottom cup on the flat surface gray wooden coaster with the arm.",
+    "Set the cup with light blue color down on the wooden coaster",
+    "Grab the cup with light blue color and set it onto the light gray round grainy coaster.",
+    "Relocate the cup with light blue color precisely onto the smooth round palm-sized coaster with arm",
+    "Slide the light blue plastic cup onto the grainy texture coaster",
+    "Use the arm to slide the cylindrical light blue cup onto the flat round wooden coaster.",
+    "Use the arm to position the cup with smooth plastic surface onto the coaster with circular shape.",
+    "Direct the smooth blue drinking cup to the smooth round palm-sized coaster and let it rest.",
+    "Slide the cup with smooth plastic surface gently onto the flat surface gray wooden coaster via the arm.",
+    "Drop the medium-sized plastic blue cup firmly on the light gray streaked wooden coaster using arm",
+    "Use the arm to put the blue rounded-bottom cup onto the round coaster.",
+    "Lift the medium blue cylindrical cup and stick it onto the coaster made of smooth wood.",
+    "Position the smooth blue drinking cup carefully on the light gray streaked wooden coaster",
+    "Grab the medium-sized plastic blue cup and place it on the round coaster.",
+    "Using the arm, align the cup for holding liquids over the coaster made of smooth wood",
+    "Position the smooth blue cup for liquids above and drop it on the light gray round grainy coaster",
+    "Set the cylindrical light blue cup carefully onto the light gray round grainy coaster",
+    "Position the medium blue cylindrical cup squarely on top of the coaster made of smooth wood.",
+    "Use an arm to drop the blue rounded-bottom cup on the coaster made of smooth wood",
+    "Lift the blue rounded-bottom cup and place it onto the flat surface gray wooden coaster.",
+    "Slide the medium-sized plastic blue cup onto the smooth round palm-sized coaster with the arm.",
+    "Use the arm to set the blue rounded-bottom cup on the wooden coaster",
+    "Set the rounded base blue cup securely on the wooden coaster using the arm.",
+    "Move the smooth blue drinking cup to the light gray round grainy coaster using the arm.",
+    "Make sure the cup with light blue color ends up on the smooth round palm-sized coaster.",
+    "Move the cup with smooth plastic surface using the arm onto the light gray round grainy coaster.",
+    "Set the cylindrical light blue cup on the light gray round grainy coaster using the arm.",
+    "Move the blue rounded-bottom cup onto the wooden coaster with the arm",
+    "Move the cup with smooth plastic surface to the flat round wooden coaster",
+    "Align the blue rounded-bottom cup and set it down on the light gray round grainy coaster",
+    "Use the arm to position the smooth blue drinking cup on the wooden coaster.",
+    "Grab the medium-sized plastic blue cup and lower it onto the coaster with circular shape",
+    "Grab the blue rounded-bottom cup, then place it onto the smooth round palm-sized coaster.",
+    "Use arm to place the smooth blue cup for liquids on the light gray round grainy coaster",
+    "Stick the smooth blue cup for liquids onto the coaster with circular shape using the arm",
+    "Move the medium-sized plastic blue cup to the light gray round grainy coaster and set it down."
+  ],
+  "unseen": [
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode74.json b/place_empty_cup/demo_clean/instructions/episode74.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0e1ccbc48b5738cbf0cb18864e254c3622ad6c7
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode74.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Direct the smooth blue cup for liquids to the round coaster and let it rest.",
+    "Use the arm to set the medium blue cylindrical cup on the light gray streaked wooden coaster",
+    "Stick the cylindrical light blue cup onto the coaster with circular shape carefully.",
+    "Position the plastic cup for drinks carefully on the grainy texture coaster",
+    "Move the cup with smooth plastic surface to the coaster with circular shape and set it down.",
+    "Move the rounded base blue cup to the coaster with circular shape",
+    "Slide the cup with light blue color onto the small coaster with grain texture with the arm.",
+    "Slide the light blue plastic cup gently onto the grainy texture coaster via the arm.",
+    "Lift the cylindrical light blue cup and place it onto the coaster with circular shape.",
+    "Set the plastic cup for drinks onto the wooden coaster using the arm.",
+    "Slide the medium-sized plastic blue cup onto the smooth round palm-sized coaster",
+    "Using the arm, slide the cup for holding liquids onto the coaster made of smooth wood.",
+    "Use the arm to slide the smooth blue drinking cup onto the light gray round grainy coaster.",
+    "Relocate the blue rounded-bottom cup precisely onto the round coaster with arm",
+    "Position the blue rounded-bottom cup squarely on top of the small coaster with grain texture.",
+    "Place the rounded base blue cup on top of the grainy texture coaster",
+    "Lift the light blue plastic cup and stick it onto the round coaster with light streaks.",
+    "Grab the medium-sized plastic blue cup and place it on the flat surface gray wooden coaster.",
+    "Make sure the cup with light blue color ends up on the flat round wooden coaster.",
+    "Use an arm to drop the smooth blue cup for liquids on the round coaster with light streaks",
+    "Use the arm to position the smooth blue cup for liquids onto the grainy texture coaster.",
+    "Position the smooth blue cup for liquids on the wooden coaster with the arm.",
+    "Drop the medium blue cylindrical cup firmly on the light gray streaked wooden coaster using arm",
+    "Using the arm, drop the cup with light blue color onto the light gray streaked wooden coaster.",
+    "Use an arm to drop the blue rounded-bottom cup on the round coaster with light streaks.",
+    "Carefully place the smooth blue cup for liquids onto the coaster with circular shape without arm",
+    "Use the arm to put the medium blue cylindrical cup onto the light gray round grainy coaster.",
+    "Use the arm to position the cup with smooth plastic surface on the light gray streaked wooden coaster.",
+    "Stick the cup for holding liquids onto the wooden coaster using the arm.",
+    "Stick the medium-sized plastic blue cup onto the round coaster using the arm",
+    "Align the cylindrical light blue cup and set it down on the light gray streaked wooden coaster",
+    "Set the medium-sized plastic blue cup securely on the coaster with circular shape using the arm.",
+    "Move the plastic cup for drinks to the round coaster using the arm.",
+    "Drop the cup with light blue color on top of the grainy texture coaster.",
+    "Set the rounded base blue cup down on the round coaster with light streaks",
+    "Pick the cup with smooth plastic surface up and drop it on the coaster with circular shape.",
+    "Grab the smooth blue drinking cup and set it onto the light gray streaked wooden coaster.",
+    "Set the rounded base blue cup carefully onto the flat round wooden coaster",
+    "Lift the rounded base blue cup up and drop it on the smooth round palm-sized coaster.",
+    "Use an arm to place the smooth blue drinking cup on the small coaster with grain texture",
+    "Position the plastic cup for drinks above and drop it on the light gray round grainy coaster",
+    "Set the smooth blue drinking cup on the coaster made of smooth wood using the arm.",
+    "Lift the light blue plastic cup and place it over the coaster with circular shape",
+    "Grab the plastic cup for drinks and place it over the flat surface gray wooden coaster.",
+    "Use arm to place the cup for holding liquids on the coaster with circular shape",
+    "Grab the medium blue cylindrical cup, then place it onto the flat round wooden coaster.",
+    "Grab the medium-sized plastic blue cup and lower it onto the round coaster with light streaks",
+    "Move the cup with light blue color onto the wooden coaster with the arm",
+    "Using the arm, align the medium blue cylindrical cup over the coaster made of smooth wood",
+    "Move the medium-sized plastic blue cup using the arm onto the coaster made of smooth wood.",
+    "Direct the blue rounded-bottom cup to the coaster made of smooth wood and let it rest.",
+    "Use the arm to set the smooth blue drinking cup on the light gray streaked wooden coaster",
+    "Stick the blue rounded-bottom cup onto the round coaster with light streaks carefully.",
+    "Position the rounded base blue cup carefully on the smooth round palm-sized coaster",
+    "Move the medium blue cylindrical cup to the wooden coaster and set it down.",
+    "Move the cup with light blue color to the smooth round palm-sized coaster",
+    "Slide the cylindrical light blue cup onto the small coaster with grain texture with the arm.",
+    "Slide the medium-sized plastic blue cup gently onto the round coaster with light streaks via the arm.",
+    "Lift the cup with light blue color and place it onto the round coaster with light streaks.",
+    "Set the cup with light blue color onto the wooden coaster using the arm.",
+    "Slide the cylindrical light blue cup onto the coaster with circular shape",
+    "Using the arm, slide the smooth blue cup for liquids onto the light gray round grainy coaster.",
+    "Use the arm to slide the cup for holding liquids onto the coaster made of smooth wood.",
+    "Relocate the smooth blue cup for liquids precisely onto the light gray streaked wooden coaster with arm",
+    "Position the cup for holding liquids squarely on top of the small coaster with grain texture.",
+    "Place the smooth blue drinking cup on top of the light gray round grainy coaster",
+    "Lift the blue rounded-bottom cup and stick it onto the wooden coaster.",
+    "Grab the blue rounded-bottom cup and place it on the coaster made of smooth wood.",
+    "Make sure the light blue plastic cup ends up on the round coaster.",
+    "Use an arm to drop the cylindrical light blue cup on the flat surface gray wooden coaster",
+    "Use the arm to position the rounded base blue cup onto the smooth round palm-sized coaster.",
+    "Position the rounded base blue cup on the light gray round grainy coaster with the arm.",
+    "Drop the cup for holding liquids firmly on the round coaster using arm",
+    "Using the arm, drop the cup with smooth plastic surface onto the flat round wooden coaster.",
+    "Use an arm to drop the cylindrical light blue cup on the wooden coaster.",
+    "Carefully place the medium-sized plastic blue cup onto the coaster made of smooth wood without arm",
+    "Use the arm to put the medium blue cylindrical cup onto the smooth round palm-sized coaster.",
+    "Use the arm to position the cup with smooth plastic surface on the flat surface gray wooden coaster.",
+    "Stick the cup for holding liquids onto the flat surface gray wooden coaster using the arm.",
+    "Stick the medium-sized plastic blue cup onto the flat round wooden coaster using the arm",
+    "Align the smooth blue cup for liquids and set it down on the flat round wooden coaster",
+    "Set the smooth blue drinking cup securely on the wooden coaster using the arm.",
+    "Move the rounded base blue cup to the flat round wooden coaster using the arm.",
+    "Drop the cylindrical light blue cup on top of the flat round wooden coaster.",
+    "Set the light blue plastic cup down on the flat round wooden coaster",
+    "Pick the light blue plastic cup up and drop it on the grainy texture coaster.",
+    "Grab the cup with smooth plastic surface and set it onto the round coaster.",
+    "Set the medium-sized plastic blue cup carefully onto the coaster with circular shape",
+    "Lift the cup with light blue color up and drop it on the smooth round palm-sized coaster.",
+    "Use an arm to place the cup with light blue color on the coaster made of smooth wood",
+    "Position the cup for holding liquids above and drop it on the small coaster with grain texture",
+    "Set the plastic cup for drinks on the smooth round palm-sized coaster using the arm.",
+    "Lift the cup for holding liquids and place it over the small coaster with grain texture",
+    "Grab the medium blue cylindrical cup and place it over the flat round wooden coaster.",
+    "Use arm to place the medium-sized plastic blue cup on the coaster made of smooth wood",
+    "Grab the cup with light blue color, then place it onto the flat surface gray wooden coaster.",
+    "Grab the rounded base blue cup and lower it onto the grainy texture coaster",
+    "Move the smooth blue cup for liquids onto the round coaster with light streaks with the arm",
+    "Using the arm, align the blue rounded-bottom cup over the round coaster with light streaks",
+    "Move the cylindrical light blue cup using the arm onto the coaster made of smooth wood."
+  ],
+  "unseen": [
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster"
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode75.json b/place_empty_cup/demo_clean/instructions/episode75.json
new file mode 100644
index 0000000000000000000000000000000000000000..6aeebd8487004b6b612380748c866d10c465ca01
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode75.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the arm to slide the blue rounded-bottom cup onto the smooth round palm-sized coaster.",
+    "Using the arm, slide the blue rounded-bottom cup onto the flat round wooden coaster.",
+    "Grab the cup for holding liquids and set it onto the round coaster.",
+    "Use the arm to position the cup with light blue color on the wooden coaster.",
+    "Grab the medium blue cylindrical cup and place it over the light gray streaked wooden coaster.",
+    "Slide the light blue plastic cup onto the smooth round palm-sized coaster with the arm.",
+    "Direct the smooth blue cup for liquids to the small coaster with grain texture and let it rest.",
+    "Align the medium-sized plastic blue cup and set it down on the flat surface gray wooden coaster",
+    "Position the blue rounded-bottom cup carefully on the light gray streaked wooden coaster",
+    "Grab the smooth blue drinking cup and lower it onto the flat surface gray wooden coaster",
+    "Set the cylindrical light blue cup securely on the flat surface gray wooden coaster using the arm.",
+    "Lift the medium-sized plastic blue cup and place it over the smooth round palm-sized coaster",
+    "Slide the cup with smooth plastic surface onto the light gray streaked wooden coaster",
+    "Set the plastic cup for drinks on the wooden coaster using the arm.",
+    "Move the cylindrical light blue cup to the light gray streaked wooden coaster",
+    "Grab the plastic cup for drinks and place it on the flat surface gray wooden coaster.",
+    "Stick the blue rounded-bottom cup onto the small coaster with grain texture carefully.",
+    "Place the light blue plastic cup on top of the small coaster with grain texture",
+    "Use the arm to set the cup with smooth plastic surface on the small coaster with grain texture",
+    "Stick the plastic cup for drinks onto the flat round wooden coaster using the arm",
+    "Use an arm to place the cup for holding liquids on the round coaster",
+    "Use an arm to drop the light blue plastic cup on the small coaster with grain texture",
+    "Relocate the cylindrical light blue cup precisely onto the round coaster with light streaks with arm",
+    "Set the cup with smooth plastic surface onto the coaster made of smooth wood using the arm.",
+    "Carefully place the smooth blue drinking cup onto the grainy texture coaster without arm",
+    "Use arm to place the medium blue cylindrical cup on the flat round wooden coaster",
+    "Make sure the light blue plastic cup ends up on the small coaster with grain texture.",
+    "Lift the cup with smooth plastic surface and stick it onto the round coaster with light streaks.",
+    "Move the rounded base blue cup to the light gray streaked wooden coaster using the arm.",
+    "Move the cylindrical light blue cup using the arm onto the wooden coaster.",
+    "Position the medium-sized plastic blue cup above and drop it on the flat surface gray wooden coaster",
+    "Using the arm, align the blue rounded-bottom cup over the light gray streaked wooden coaster",
+    "Move the medium-sized plastic blue cup onto the smooth round palm-sized coaster with the arm",
+    "Lift the smooth blue drinking cup up and drop it on the light gray round grainy coaster.",
+    "Pick the plastic cup for drinks up and drop it on the smooth round palm-sized coaster.",
+    "Using the arm, drop the rounded base blue cup onto the small coaster with grain texture.",
+    "Lift the rounded base blue cup and place it onto the wooden coaster.",
+    "Position the cup with light blue color on the light gray round grainy coaster with the arm.",
+    "Set the smooth blue cup for liquids down on the round coaster with light streaks",
+    "Grab the cup with smooth plastic surface, then place it onto the round coaster.",
+    "Position the light blue plastic cup squarely on top of the smooth round palm-sized coaster.",
+    "Use the arm to put the smooth blue cup for liquids onto the coaster with circular shape.",
+    "Slide the cup for holding liquids gently onto the coaster with circular shape via the arm.",
+    "Use the arm to position the blue rounded-bottom cup onto the wooden coaster.",
+    "Use an arm to drop the smooth blue drinking cup on the flat round wooden coaster.",
+    "Set the light blue plastic cup carefully onto the grainy texture coaster",
+    "Stick the cup with light blue color onto the small coaster with grain texture using the arm.",
+    "Drop the medium blue cylindrical cup firmly on the grainy texture coaster using arm",
+    "Drop the medium-sized plastic blue cup on top of the flat round wooden coaster.",
+    "Move the plastic cup for drinks to the round coaster with light streaks and set it down.",
+    "Use the arm to slide the rounded base blue cup onto the wooden coaster.",
+    "Using the arm, slide the cup for holding liquids onto the flat surface gray wooden coaster.",
+    "Grab the light blue plastic cup and set it onto the flat round wooden coaster.",
+    "Use the arm to position the plastic cup for drinks on the coaster with circular shape.",
+    "Grab the cup for holding liquids and place it over the coaster with circular shape.",
+    "Slide the rounded base blue cup onto the flat round wooden coaster with the arm.",
+    "Direct the smooth blue cup for liquids to the light gray streaked wooden coaster and let it rest.",
+    "Align the cylindrical light blue cup and set it down on the light gray streaked wooden coaster",
+    "Position the medium-sized plastic blue cup carefully on the smooth round palm-sized coaster",
+    "Grab the cup with light blue color and lower it onto the coaster with circular shape",
+    "Set the light blue plastic cup securely on the coaster with circular shape using the arm.",
+    "Lift the light blue plastic cup and place it over the round coaster with light streaks",
+    "Slide the plastic cup for drinks onto the round coaster",
+    "Set the cup with light blue color on the round coaster with light streaks using the arm.",
+    "Move the plastic cup for drinks to the light gray streaked wooden coaster",
+    "Grab the cup for holding liquids and place it on the flat round wooden coaster.",
+    "Stick the rounded base blue cup onto the flat round wooden coaster carefully.",
+    "Place the blue rounded-bottom cup on top of the wooden coaster",
+    "Use the arm to set the light blue plastic cup on the round coaster",
+    "Stick the cup with light blue color onto the light gray round grainy coaster using the arm",
+    "Use an arm to place the medium blue cylindrical cup on the smooth round palm-sized coaster",
+    "Use an arm to drop the light blue plastic cup on the coaster made of smooth wood",
+    "Relocate the blue rounded-bottom cup precisely onto the light gray streaked wooden coaster with arm",
+    "Set the rounded base blue cup onto the round coaster with light streaks using the arm.",
+    "Carefully place the light blue plastic cup onto the flat round wooden coaster without arm",
+    "Use arm to place the medium blue cylindrical cup on the grainy texture coaster",
+    "Make sure the cup with light blue color ends up on the round coaster.",
+    "Lift the medium-sized plastic blue cup and stick it onto the round coaster with light streaks.",
+    "Move the light blue plastic cup to the grainy texture coaster using the arm.",
+    "Move the blue rounded-bottom cup using the arm onto the coaster made of smooth wood.",
+    "Position the plastic cup for drinks above and drop it on the round coaster with light streaks",
+    "Using the arm, align the plastic cup for drinks over the coaster with circular shape",
+    "Move the plastic cup for drinks onto the light gray streaked wooden coaster with the arm",
+    "Lift the smooth blue cup for liquids up and drop it on the small coaster with grain texture.",
+    "Pick the blue rounded-bottom cup up and drop it on the light gray round grainy coaster.",
+    "Using the arm, drop the cylindrical light blue cup onto the smooth round palm-sized coaster.",
+    "Lift the light blue plastic cup and place it onto the small coaster with grain texture.",
+    "Position the blue rounded-bottom cup on the smooth round palm-sized coaster with the arm.",
+    "Set the medium-sized plastic blue cup down on the round coaster",
+    "Grab the cylindrical light blue cup, then place it onto the grainy texture coaster.",
+    "Position the light blue plastic cup squarely on top of the light gray round grainy coaster.",
+    "Use the arm to put the smooth blue cup for liquids onto the light gray streaked wooden coaster.",
+    "Slide the smooth blue cup for liquids gently onto the wooden coaster via the arm.",
+    "Use the arm to position the light blue plastic cup onto the light gray round grainy coaster.",
+    "Use an arm to drop the rounded base blue cup on the light gray streaked wooden coaster.",
+    "Set the cylindrical light blue cup carefully onto the flat surface gray wooden coaster",
+    "Stick the rounded base blue cup onto the light gray streaked wooden coaster using the arm.",
+    "Drop the light blue plastic cup firmly on the round coaster using arm",
+    "Drop the rounded base blue cup on top of the wooden coaster.",
+    "Move the smooth blue cup for liquids to the small coaster with grain texture and set it down."
+  ],
+  "unseen": [
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode76.json b/place_empty_cup/demo_clean/instructions/episode76.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc94bd65d4b87c5deb8f0c721b025c9d804f638e
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode76.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the arm to position the smooth blue cup for liquids on the flat round wooden coaster.",
+    "Lift the light blue plastic cup and place it onto the small coaster with grain texture.",
+    "Set the smooth blue cup for liquids carefully onto the flat round wooden coaster",
+    "Set the cup with smooth plastic surface onto the flat surface gray wooden coaster using the arm.",
+    "Use an arm to place the medium-sized plastic blue cup on the coaster made of smooth wood",
+    "Slide the medium-sized plastic blue cup onto the coaster made of smooth wood with the arm.",
+    "Set the cylindrical light blue cup securely on the coaster with circular shape using the arm.",
+    "Grab the plastic cup for drinks, then place it onto the flat surface gray wooden coaster.",
+    "Move the light blue plastic cup to the flat surface gray wooden coaster using the arm.",
+    "Use the arm to set the cylindrical light blue cup on the coaster with circular shape",
+    "Grab the light blue plastic cup and place it over the coaster with circular shape.",
+    "Use an arm to drop the cup with smooth plastic surface on the coaster made of smooth wood.",
+    "Stick the blue rounded-bottom cup onto the grainy texture coaster using the arm.",
+    "Place the cup for holding liquids on top of the grainy texture coaster",
+    "Grab the medium blue cylindrical cup and set it onto the light gray round grainy coaster.",
+    "Slide the smooth blue cup for liquids onto the wooden coaster",
+    "Drop the smooth blue cup for liquids firmly on the round coaster with light streaks using arm",
+    "Position the cylindrical light blue cup carefully on the round coaster",
+    "Use the arm to slide the cup for holding liquids onto the flat surface gray wooden coaster.",
+    "Slide the cup with light blue color gently onto the coaster made of smooth wood via the arm.",
+    "Set the blue rounded-bottom cup on the coaster with circular shape using the arm.",
+    "Lift the blue rounded-bottom cup up and drop it on the light gray streaked wooden coaster.",
+    "Carefully place the light blue plastic cup onto the flat surface gray wooden coaster without arm",
+    "Grab the plastic cup for drinks and place it on the light gray streaked wooden coaster.",
+    "Position the medium blue cylindrical cup on the grainy texture coaster with the arm.",
+    "Position the rounded base blue cup squarely on top of the grainy texture coaster.",
+    "Move the light blue plastic cup using the arm onto the wooden coaster.",
+    "Move the rounded base blue cup to the grainy texture coaster",
+    "Grab the light blue plastic cup and lower it onto the wooden coaster",
+    "Position the plastic cup for drinks above and drop it on the coaster with circular shape",
+    "Make sure the light blue plastic cup ends up on the small coaster with grain texture.",
+    "Stick the medium blue cylindrical cup onto the wooden coaster using the arm",
+    "Use arm to place the cup with light blue color on the light gray round grainy coaster",
+    "Use an arm to drop the cup with light blue color on the grainy texture coaster",
+    "Pick the cup with smooth plastic surface up and drop it on the wooden coaster.",
+    "Drop the smooth blue drinking cup on top of the round coaster.",
+    "Use the arm to position the cylindrical light blue cup onto the flat round wooden coaster.",
+    "Set the smooth blue drinking cup down on the flat surface gray wooden coaster",
+    "Direct the cup with smooth plastic surface to the wooden coaster and let it rest.",
+    "Lift the cup for holding liquids and stick it onto the grainy texture coaster.",
+    "Using the arm, align the cup for holding liquids over the flat round wooden coaster",
+    "Lift the smooth blue drinking cup and place it over the small coaster with grain texture",
+    "Relocate the cup with smooth plastic surface precisely onto the coaster with circular shape with arm",
+    "Using the arm, drop the light blue plastic cup onto the flat round wooden coaster.",
+    "Move the blue rounded-bottom cup onto the flat round wooden coaster with the arm",
+    "Align the cup with smooth plastic surface and set it down on the light gray streaked wooden coaster",
+    "Using the arm, slide the cup with light blue color onto the light gray round grainy coaster.",
+    "Use the arm to put the cup with smooth plastic surface onto the coaster with circular shape.",
+    "Stick the cup for holding liquids onto the light gray round grainy coaster carefully.",
+    "Move the smooth blue drinking cup to the coaster with circular shape and set it down.",
+    "Use the arm to position the medium blue cylindrical cup on the wooden coaster.",
+    "Lift the medium blue cylindrical cup and place it onto the wooden coaster.",
+    "Set the smooth blue drinking cup carefully onto the small coaster with grain texture",
+    "Set the cup with light blue color onto the smooth round palm-sized coaster using the arm.",
+    "Use an arm to place the medium blue cylindrical cup on the flat surface gray wooden coaster",
+    "Slide the plastic cup for drinks onto the round coaster with light streaks with the arm.",
+    "Set the plastic cup for drinks securely on the light gray streaked wooden coaster using the arm.",
+    "Grab the cylindrical light blue cup, then place it onto the small coaster with grain texture.",
+    "Move the cup with light blue color to the coaster with circular shape using the arm.",
+    "Use the arm to set the cup for holding liquids on the flat surface gray wooden coaster",
+    "Grab the cup for holding liquids and place it over the flat surface gray wooden coaster.",
+    "Use an arm to drop the cup for holding liquids on the coaster made of smooth wood.",
+    "Stick the cylindrical light blue cup onto the light gray round grainy coaster using the arm.",
+    "Place the cup for holding liquids on top of the coaster with circular shape",
+    "Grab the medium blue cylindrical cup and set it onto the light gray streaked wooden coaster.",
+    "Slide the cup with light blue color onto the smooth round palm-sized coaster",
+    "Drop the smooth blue drinking cup firmly on the flat round wooden coaster using arm",
+    "Position the medium-sized plastic blue cup carefully on the small coaster with grain texture",
+    "Use the arm to slide the rounded base blue cup onto the grainy texture coaster.",
+    "Slide the medium blue cylindrical cup gently onto the light gray round grainy coaster via the arm.",
+    "Set the medium blue cylindrical cup on the flat surface gray wooden coaster using the arm.",
+    "Lift the cylindrical light blue cup up and drop it on the coaster made of smooth wood.",
+    "Carefully place the medium-sized plastic blue cup onto the light gray round grainy coaster without arm",
+    "Grab the cup for holding liquids and place it on the wooden coaster.",
+    "Position the smooth blue cup for liquids on the coaster with circular shape with the arm.",
+    "Position the cup with smooth plastic surface squarely on top of the light gray streaked wooden coaster.",
+    "Move the blue rounded-bottom cup using the arm onto the round coaster.",
+    "Move the smooth blue cup for liquids to the coaster with circular shape",
+    "Grab the medium blue cylindrical cup and lower it onto the wooden coaster",
+    "Position the medium-sized plastic blue cup above and drop it on the small coaster with grain texture",
+    "Make sure the cylindrical light blue cup ends up on the wooden coaster.",
+    "Stick the cylindrical light blue cup onto the smooth round palm-sized coaster using the arm",
+    "Use arm to place the cup with light blue color on the coaster made of smooth wood",
+    "Use an arm to drop the medium blue cylindrical cup on the smooth round palm-sized coaster",
+    "Pick the smooth blue drinking cup up and drop it on the round coaster.",
+    "Drop the medium-sized plastic blue cup on top of the round coaster.",
+    "Use the arm to position the smooth blue drinking cup onto the flat surface gray wooden coaster.",
+    "Set the cylindrical light blue cup down on the round coaster with light streaks",
+    "Direct the blue rounded-bottom cup to the flat surface gray wooden coaster and let it rest.",
+    "Lift the smooth blue cup for liquids and stick it onto the wooden coaster.",
+    "Using the arm, align the cup for holding liquids over the coaster made of smooth wood",
+    "Lift the medium blue cylindrical cup and place it over the smooth round palm-sized coaster",
+    "Relocate the cup with light blue color precisely onto the small coaster with grain texture with arm",
+    "Using the arm, drop the cup with smooth plastic surface onto the round coaster with light streaks.",
+    "Move the plastic cup for drinks onto the coaster made of smooth wood with the arm",
+    "Align the smooth blue drinking cup and set it down on the light gray streaked wooden coaster",
+    "Using the arm, slide the cup with light blue color onto the coaster made of smooth wood.",
+    "Use the arm to put the rounded base blue cup onto the grainy texture coaster.",
+    "Stick the medium blue cylindrical cup onto the wooden coaster carefully.",
+    "Move the medium-sized plastic blue cup to the coaster made of smooth wood and set it down."
+  ],
+  "unseen": [
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode77.json b/place_empty_cup/demo_clean/instructions/episode77.json
new file mode 100644
index 0000000000000000000000000000000000000000..78d8ba9c1eabdefe1878a57d603d0c1cefffc616
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode77.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the cup with light blue color, then place it onto the small coaster with grain texture.",
+    "Position the cup with light blue color on the round coaster with light streaks with the arm.",
+    "Use the arm to position the cylindrical light blue cup onto the flat surface gray wooden coaster.",
+    "Set the cup with light blue color onto the light gray streaked wooden coaster using the arm.",
+    "Set the cup with light blue color securely on the smooth round palm-sized coaster using the arm.",
+    "Make sure the blue rounded-bottom cup ends up on the coaster with circular shape.",
+    "Pick the smooth blue cup for liquids up and drop it on the coaster made of smooth wood.",
+    "Grab the medium blue cylindrical cup and lower it onto the wooden coaster",
+    "Align the rounded base blue cup and set it down on the wooden coaster",
+    "Move the plastic cup for drinks to the smooth round palm-sized coaster",
+    "Position the medium blue cylindrical cup above and drop it on the round coaster with light streaks",
+    "Slide the light blue plastic cup onto the wooden coaster with the arm.",
+    "Stick the smooth blue drinking cup onto the smooth round palm-sized coaster using the arm",
+    "Set the medium blue cylindrical cup on the wooden coaster using the arm.",
+    "Carefully place the smooth blue drinking cup onto the coaster made of smooth wood without arm",
+    "Lift the medium-sized plastic blue cup and place it over the grainy texture coaster",
+    "Drop the rounded base blue cup on top of the coaster made of smooth wood.",
+    "Move the blue rounded-bottom cup using the arm onto the wooden coaster.",
+    "Slide the cup with smooth plastic surface gently onto the smooth round palm-sized coaster via the arm.",
+    "Slide the cup with light blue color onto the round coaster",
+    "Grab the blue rounded-bottom cup and place it over the grainy texture coaster.",
+    "Using the arm, align the rounded base blue cup over the light gray round grainy coaster",
+    "Use the arm to position the medium blue cylindrical cup on the grainy texture coaster.",
+    "Place the medium-sized plastic blue cup on top of the round coaster",
+    "Use the arm to put the cup for holding liquids onto the flat surface gray wooden coaster.",
+    "Position the smooth blue drinking cup squarely on top of the flat surface gray wooden coaster.",
+    "Lift the smooth blue cup for liquids and place it onto the flat round wooden coaster.",
+    "Use an arm to place the rounded base blue cup on the coaster with circular shape",
+    "Lift the light blue plastic cup and stick it onto the light gray round grainy coaster.",
+    "Relocate the smooth blue drinking cup precisely onto the flat round wooden coaster with arm",
+    "Grab the smooth blue cup for liquids and place it on the coaster made of smooth wood.",
+    "Stick the light blue plastic cup onto the small coaster with grain texture carefully.",
+    "Stick the plastic cup for drinks onto the flat surface gray wooden coaster using the arm.",
+    "Move the plastic cup for drinks to the wooden coaster and set it down.",
+    "Use the arm to set the smooth blue drinking cup on the round coaster with light streaks",
+    "Set the medium blue cylindrical cup carefully onto the coaster with circular shape",
+    "Use the arm to slide the cylindrical light blue cup onto the flat surface gray wooden coaster.",
+    "Use an arm to drop the medium blue cylindrical cup on the round coaster with light streaks",
+    "Use an arm to drop the smooth blue drinking cup on the light gray streaked wooden coaster.",
+    "Use arm to place the light blue plastic cup on the wooden coaster",
+    "Direct the cup with smooth plastic surface to the coaster made of smooth wood and let it rest.",
+    "Drop the cup with smooth plastic surface firmly on the coaster with circular shape using arm",
+    "Move the cup with light blue color onto the coaster made of smooth wood with the arm",
+    "Set the medium blue cylindrical cup down on the wooden coaster",
+    "Lift the medium blue cylindrical cup up and drop it on the small coaster with grain texture.",
+    "Move the medium-sized plastic blue cup to the wooden coaster using the arm.",
+    "Grab the light blue plastic cup and set it onto the coaster with circular shape.",
+    "Using the arm, drop the rounded base blue cup onto the grainy texture coaster.",
+    "Using the arm, slide the cup for holding liquids onto the small coaster with grain texture.",
+    "Position the rounded base blue cup carefully on the flat round wooden coaster",
+    "Grab the cup for holding liquids, then place it onto the grainy texture coaster.",
+    "Position the plastic cup for drinks on the round coaster with the arm.",
+    "Use the arm to position the cylindrical light blue cup onto the light gray round grainy coaster.",
+    "Set the medium-sized plastic blue cup onto the coaster with circular shape using the arm.",
+    "Set the rounded base blue cup securely on the light gray streaked wooden coaster using the arm.",
+    "Make sure the rounded base blue cup ends up on the light gray round grainy coaster.",
+    "Pick the smooth blue drinking cup up and drop it on the round coaster with light streaks.",
+    "Grab the smooth blue cup for liquids and lower it onto the wooden coaster",
+    "Align the medium blue cylindrical cup and set it down on the round coaster",
+    "Move the cylindrical light blue cup to the coaster with circular shape",
+    "Position the cup with smooth plastic surface above and drop it on the coaster with circular shape",
+    "Slide the cylindrical light blue cup onto the light gray round grainy coaster with the arm.",
+    "Stick the plastic cup for drinks onto the smooth round palm-sized coaster using the arm",
+    "Set the rounded base blue cup on the smooth round palm-sized coaster using the arm.",
+    "Carefully place the blue rounded-bottom cup onto the small coaster with grain texture without arm",
+    "Lift the cup with smooth plastic surface and place it over the coaster made of smooth wood",
+    "Drop the cup for holding liquids on top of the small coaster with grain texture.",
+    "Move the medium-sized plastic blue cup using the arm onto the coaster with circular shape.",
+    "Slide the rounded base blue cup gently onto the flat round wooden coaster via the arm.",
+    "Slide the rounded base blue cup onto the round coaster with light streaks",
+    "Grab the cup for holding liquids and place it over the flat surface gray wooden coaster.",
+    "Using the arm, align the plastic cup for drinks over the flat surface gray wooden coaster",
+    "Use the arm to position the cup with light blue color on the flat surface gray wooden coaster.",
+    "Place the medium blue cylindrical cup on top of the grainy texture coaster",
+    "Use the arm to put the medium-sized plastic blue cup onto the smooth round palm-sized coaster.",
+    "Position the light blue plastic cup squarely on top of the round coaster with light streaks.",
+    "Lift the cup with light blue color and place it onto the smooth round palm-sized coaster.",
+    "Use an arm to place the medium-sized plastic blue cup on the grainy texture coaster",
+    "Lift the blue rounded-bottom cup and stick it onto the wooden coaster.",
+    "Relocate the cup for holding liquids precisely onto the small coaster with grain texture with arm",
+    "Grab the light blue plastic cup and place it on the flat round wooden coaster.",
+    "Stick the cup with light blue color onto the light gray round grainy coaster carefully.",
+    "Stick the cylindrical light blue cup onto the grainy texture coaster using the arm.",
+    "Move the plastic cup for drinks to the round coaster and set it down.",
+    "Use the arm to set the smooth blue cup for liquids on the flat surface gray wooden coaster",
+    "Set the smooth blue cup for liquids carefully onto the flat surface gray wooden coaster",
+    "Use the arm to slide the smooth blue drinking cup onto the round coaster.",
+    "Use an arm to drop the light blue plastic cup on the round coaster",
+    "Use an arm to drop the cup with smooth plastic surface on the wooden coaster.",
+    "Use arm to place the cup with smooth plastic surface on the light gray round grainy coaster",
+    "Direct the cup for holding liquids to the round coaster with light streaks and let it rest.",
+    "Drop the light blue plastic cup firmly on the wooden coaster using arm",
+    "Move the cylindrical light blue cup onto the round coaster with the arm",
+    "Set the medium-sized plastic blue cup down on the grainy texture coaster",
+    "Lift the medium-sized plastic blue cup up and drop it on the coaster made of smooth wood.",
+    "Move the medium-sized plastic blue cup to the coaster made of smooth wood using the arm.",
+    "Grab the light blue plastic cup and set it onto the round coaster.",
+    "Using the arm, drop the cylindrical light blue cup onto the round coaster.",
+    "Using the arm, slide the medium blue cylindrical cup onto the flat surface gray wooden coaster.",
+    "Position the smooth blue drinking cup carefully on the grainy texture coaster"
+  ],
+  "unseen": [
+    "Place the blue cup onto the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster"
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode78.json b/place_empty_cup/demo_clean/instructions/episode78.json
new file mode 100644
index 0000000000000000000000000000000000000000..3414e0a45a8432cc140ee802df5d4b7a55fe0a78
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode78.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the rounded base blue cup up and drop it on the round coaster.",
+    "Use an arm to drop the cup with smooth plastic surface on the light gray round grainy coaster.",
+    "Slide the cylindrical light blue cup onto the round coaster with the arm.",
+    "Drop the smooth blue cup for liquids firmly on the wooden coaster using arm",
+    "Set the cup for holding liquids down on the grainy texture coaster",
+    "Relocate the cylindrical light blue cup precisely onto the flat round wooden coaster with arm",
+    "Make sure the cup with smooth plastic surface ends up on the grainy texture coaster.",
+    "Using the arm, slide the smooth blue cup for liquids onto the coaster with circular shape.",
+    "Place the medium-sized plastic blue cup on top of the light gray streaked wooden coaster",
+    "Position the medium-sized plastic blue cup squarely on top of the light gray streaked wooden coaster.",
+    "Lift the light blue plastic cup and stick it onto the wooden coaster.",
+    "Grab the plastic cup for drinks and place it on the small coaster with grain texture.",
+    "Lift the light blue plastic cup and place it over the light gray streaked wooden coaster",
+    "Use the arm to set the cylindrical light blue cup on the light gray streaked wooden coaster",
+    "Use the arm to position the cylindrical light blue cup onto the grainy texture coaster.",
+    "Carefully place the rounded base blue cup onto the light gray streaked wooden coaster without arm",
+    "Use the arm to put the smooth blue drinking cup onto the wooden coaster.",
+    "Use an arm to drop the medium-sized plastic blue cup on the smooth round palm-sized coaster",
+    "Set the cylindrical light blue cup onto the light gray round grainy coaster using the arm.",
+    "Using the arm, align the smooth blue cup for liquids over the round coaster",
+    "Move the rounded base blue cup to the grainy texture coaster",
+    "Stick the plastic cup for drinks onto the light gray round grainy coaster carefully.",
+    "Use arm to place the rounded base blue cup on the smooth round palm-sized coaster",
+    "Use the arm to slide the medium-sized plastic blue cup onto the flat surface gray wooden coaster.",
+    "Stick the medium blue cylindrical cup onto the grainy texture coaster using the arm.",
+    "Position the plastic cup for drinks carefully on the flat surface gray wooden coaster",
+    "Set the plastic cup for drinks carefully onto the light gray round grainy coaster",
+    "Grab the rounded base blue cup and place it over the coaster with circular shape.",
+    "Align the rounded base blue cup and set it down on the light gray streaked wooden coaster",
+    "Grab the plastic cup for drinks, then place it onto the wooden coaster.",
+    "Move the cup for holding liquids using the arm onto the round coaster.",
+    "Stick the smooth blue cup for liquids onto the small coaster with grain texture using the arm",
+    "Lift the cup with smooth plastic surface up and drop it on the light gray round grainy coaster.",
+    "Use the arm to position the cylindrical light blue cup on the light gray streaked wooden coaster.",
+    "Position the blue rounded-bottom cup on the light gray streaked wooden coaster with the arm.",
+    "Grab the light blue plastic cup and set it onto the smooth round palm-sized coaster.",
+    "Drop the blue rounded-bottom cup on top of the wooden coaster.",
+    "Set the blue rounded-bottom cup on the small coaster with grain texture using the arm.",
+    "Using the arm, drop the medium-sized plastic blue cup onto the round coaster.",
+    "Grab the cup for holding liquids and lower it onto the grainy texture coaster",
+    "Position the cup for holding liquids above and drop it on the grainy texture coaster",
+    "Move the blue rounded-bottom cup to the coaster with circular shape and set it down.",
+    "Use an arm to place the medium-sized plastic blue cup on the small coaster with grain texture",
+    "Slide the smooth blue drinking cup onto the light gray round grainy coaster",
+    "Slide the light blue plastic cup gently onto the smooth round palm-sized coaster via the arm.",
+    "Move the medium-sized plastic blue cup to the light gray streaked wooden coaster using the arm.",
+    "Move the medium-sized plastic blue cup onto the round coaster with the arm",
+    "Lift the medium blue cylindrical cup and place it onto the small coaster with grain texture.",
+    "Direct the smooth blue drinking cup to the grainy texture coaster and let it rest.",
+    "Set the rounded base blue cup securely on the flat surface gray wooden coaster using the arm.",
+    "Pick the smooth blue drinking cup up and drop it on the flat surface gray wooden coaster.",
+    "Use an arm to drop the plastic cup for drinks on the flat round wooden coaster.",
+    "Slide the medium-sized plastic blue cup onto the flat round wooden coaster with the arm.",
+    "Drop the cylindrical light blue cup firmly on the flat surface gray wooden coaster using arm",
+    "Set the smooth blue cup for liquids down on the light gray round grainy coaster",
+    "Relocate the cup with light blue color precisely onto the coaster with circular shape with arm",
+    "Make sure the cylindrical light blue cup ends up on the light gray round grainy coaster.",
+    "Using the arm, slide the medium blue cylindrical cup onto the light gray round grainy coaster.",
+    "Place the smooth blue cup for liquids on top of the round coaster with light streaks",
+    "Position the medium blue cylindrical cup squarely on top of the light gray streaked wooden coaster.",
+    "Lift the cylindrical light blue cup and stick it onto the light gray streaked wooden coaster.",
+    "Grab the medium-sized plastic blue cup and place it on the round coaster.",
+    "Lift the rounded base blue cup and place it over the light gray round grainy coaster",
+    "Use the arm to set the blue rounded-bottom cup on the flat round wooden coaster",
+    "Use the arm to position the smooth blue cup for liquids onto the coaster made of smooth wood.",
+    "Carefully place the cup with smooth plastic surface onto the coaster with circular shape without arm",
+    "Use the arm to put the cup with light blue color onto the light gray round grainy coaster.",
+    "Use an arm to drop the cup with smooth plastic surface on the round coaster",
+    "Set the cylindrical light blue cup onto the smooth round palm-sized coaster using the arm.",
+    "Using the arm, align the cylindrical light blue cup over the small coaster with grain texture",
+    "Move the blue rounded-bottom cup to the round coaster",
+    "Stick the medium-sized plastic blue cup onto the small coaster with grain texture carefully.",
+    "Use arm to place the smooth blue drinking cup on the coaster made of smooth wood",
+    "Use the arm to slide the cup for holding liquids onto the round coaster.",
+    "Stick the smooth blue cup for liquids onto the coaster with circular shape using the arm.",
+    "Position the cylindrical light blue cup carefully on the grainy texture coaster",
+    "Set the cylindrical light blue cup carefully onto the coaster with circular shape",
+    "Grab the rounded base blue cup and place it over the coaster with circular shape.",
+    "Align the medium blue cylindrical cup and set it down on the round coaster with light streaks",
+    "Grab the blue rounded-bottom cup, then place it onto the small coaster with grain texture.",
+    "Move the cup with smooth plastic surface using the arm onto the flat round wooden coaster.",
+    "Stick the smooth blue cup for liquids onto the smooth round palm-sized coaster using the arm",
+    "Lift the cup with smooth plastic surface up and drop it on the coaster made of smooth wood.",
+    "Use the arm to position the smooth blue drinking cup on the small coaster with grain texture.",
+    "Position the blue rounded-bottom cup on the flat round wooden coaster with the arm.",
+    "Grab the light blue plastic cup and set it onto the smooth round palm-sized coaster.",
+    "Drop the rounded base blue cup on top of the small coaster with grain texture.",
+    "Set the cup with light blue color on the coaster with circular shape using the arm.",
+    "Using the arm, drop the cup for holding liquids onto the coaster made of smooth wood.",
+    "Grab the light blue plastic cup and lower it onto the flat round wooden coaster",
+    "Position the cup for holding liquids above and drop it on the smooth round palm-sized coaster",
+    "Move the rounded base blue cup to the flat round wooden coaster and set it down.",
+    "Use an arm to place the smooth blue drinking cup on the round coaster",
+    "Slide the cup for holding liquids onto the small coaster with grain texture",
+    "Slide the medium-sized plastic blue cup gently onto the light gray streaked wooden coaster via the arm.",
+    "Move the cup for holding liquids to the smooth round palm-sized coaster using the arm.",
+    "Move the medium-sized plastic blue cup onto the grainy texture coaster with the arm",
+    "Lift the smooth blue cup for liquids and place it onto the flat surface gray wooden coaster.",
+    "Direct the medium-sized plastic blue cup to the light gray streaked wooden coaster and let it rest.",
+    "Set the medium-sized plastic blue cup securely on the round coaster with light streaks using the arm."
+  ],
+  "unseen": [
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode79.json b/place_empty_cup/demo_clean/instructions/episode79.json
new file mode 100644
index 0000000000000000000000000000000000000000..686e582591433d2f359c202f4ff137fac56b0e67
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode79.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the cylindrical light blue cup up and drop it on the light gray streaked wooden coaster.",
+    "Position the medium blue cylindrical cup squarely on top of the round coaster.",
+    "Direct the rounded base blue cup to the coaster made of smooth wood and let it rest.",
+    "Using the arm, align the medium blue cylindrical cup over the coaster made of smooth wood",
+    "Use the arm to put the cylindrical light blue cup onto the grainy texture coaster.",
+    "Carefully place the plastic cup for drinks onto the light gray round grainy coaster without arm",
+    "Drop the medium blue cylindrical cup firmly on the light gray round grainy coaster using arm",
+    "Lift the cylindrical light blue cup and place it onto the round coaster.",
+    "Move the smooth blue drinking cup onto the round coaster with light streaks with the arm",
+    "Move the cup for holding liquids to the light gray round grainy coaster using the arm.",
+    "Move the cylindrical light blue cup to the light gray round grainy coaster",
+    "Grab the medium blue cylindrical cup and set it onto the round coaster.",
+    "Slide the cup with smooth plastic surface onto the coaster made of smooth wood",
+    "Relocate the cup with smooth plastic surface precisely onto the grainy texture coaster with arm",
+    "Use the arm to set the medium-sized plastic blue cup on the flat round wooden coaster",
+    "Using the arm, drop the medium blue cylindrical cup onto the smooth round palm-sized coaster.",
+    "Slide the cylindrical light blue cup gently onto the flat round wooden coaster via the arm.",
+    "Pick the cup for holding liquids up and drop it on the light gray streaked wooden coaster.",
+    "Set the plastic cup for drinks down on the small coaster with grain texture",
+    "Set the medium blue cylindrical cup carefully onto the coaster with circular shape",
+    "Set the medium-sized plastic blue cup securely on the wooden coaster using the arm.",
+    "Use the arm to position the rounded base blue cup onto the light gray streaked wooden coaster.",
+    "Make sure the rounded base blue cup ends up on the round coaster with light streaks.",
+    "Use an arm to drop the cup for holding liquids on the smooth round palm-sized coaster",
+    "Set the cylindrical light blue cup onto the wooden coaster using the arm.",
+    "Stick the cup for holding liquids onto the smooth round palm-sized coaster using the arm.",
+    "Slide the cup for holding liquids onto the round coaster with light streaks with the arm.",
+    "Drop the rounded base blue cup on top of the grainy texture coaster.",
+    "Position the light blue plastic cup on the coaster made of smooth wood with the arm.",
+    "Grab the cup for holding liquids and place it over the small coaster with grain texture.",
+    "Use the arm to position the rounded base blue cup on the grainy texture coaster.",
+    "Grab the cup with smooth plastic surface and place it on the grainy texture coaster.",
+    "Stick the blue rounded-bottom cup onto the light gray round grainy coaster using the arm",
+    "Lift the light blue plastic cup and place it over the light gray streaked wooden coaster",
+    "Position the smooth blue drinking cup above and drop it on the wooden coaster",
+    "Use the arm to slide the light blue plastic cup onto the flat surface gray wooden coaster.",
+    "Use an arm to place the smooth blue cup for liquids on the round coaster",
+    "Move the cup with smooth plastic surface to the grainy texture coaster and set it down.",
+    "Move the medium-sized plastic blue cup using the arm onto the round coaster.",
+    "Stick the blue rounded-bottom cup onto the light gray streaked wooden coaster carefully.",
+    "Align the plastic cup for drinks and set it down on the small coaster with grain texture",
+    "Position the cup with smooth plastic surface carefully on the flat round wooden coaster",
+    "Lift the cup for holding liquids and stick it onto the round coaster with light streaks.",
+    "Grab the cylindrical light blue cup, then place it onto the light gray streaked wooden coaster.",
+    "Use arm to place the medium-sized plastic blue cup on the grainy texture coaster",
+    "Place the cup with smooth plastic surface on top of the flat surface gray wooden coaster",
+    "Using the arm, slide the plastic cup for drinks onto the coaster with circular shape.",
+    "Use an arm to drop the blue rounded-bottom cup on the wooden coaster.",
+    "Grab the cylindrical light blue cup and lower it onto the coaster made of smooth wood",
+    "Set the light blue plastic cup on the flat surface gray wooden coaster using the arm.",
+    "Lift the rounded base blue cup up and drop it on the smooth round palm-sized coaster.",
+    "Position the cup for holding liquids squarely on top of the coaster made of smooth wood.",
+    "Direct the cup with smooth plastic surface to the coaster with circular shape and let it rest.",
+    "Using the arm, align the light blue plastic cup over the flat round wooden coaster",
+    "Use the arm to put the medium blue cylindrical cup onto the wooden coaster.",
+    "Carefully place the cup with light blue color onto the round coaster with light streaks without arm",
+    "Drop the cylindrical light blue cup firmly on the round coaster with light streaks using arm",
+    "Lift the cup with smooth plastic surface and place it onto the smooth round palm-sized coaster.",
+    "Move the light blue plastic cup onto the smooth round palm-sized coaster with the arm",
+    "Move the cylindrical light blue cup to the flat round wooden coaster using the arm.",
+    "Move the blue rounded-bottom cup to the coaster made of smooth wood",
+    "Grab the cup with light blue color and set it onto the round coaster.",
+    "Slide the medium-sized plastic blue cup onto the coaster with circular shape",
+    "Relocate the smooth blue cup for liquids precisely onto the light gray round grainy coaster with arm",
+    "Use the arm to set the cup for holding liquids on the grainy texture coaster",
+    "Using the arm, drop the blue rounded-bottom cup onto the coaster with circular shape.",
+    "Slide the rounded base blue cup gently onto the round coaster via the arm.",
+    "Pick the rounded base blue cup up and drop it on the coaster made of smooth wood.",
+    "Set the light blue plastic cup down on the grainy texture coaster",
+    "Set the light blue plastic cup carefully onto the round coaster",
+    "Set the light blue plastic cup securely on the light gray streaked wooden coaster using the arm.",
+    "Use the arm to position the blue rounded-bottom cup onto the light gray round grainy coaster.",
+    "Make sure the cylindrical light blue cup ends up on the flat surface gray wooden coaster.",
+    "Use an arm to drop the plastic cup for drinks on the light gray round grainy coaster",
+    "Set the smooth blue drinking cup onto the small coaster with grain texture using the arm.",
+    "Stick the rounded base blue cup onto the light gray round grainy coaster using the arm.",
+    "Slide the cup for holding liquids onto the round coaster with the arm.",
+    "Drop the light blue plastic cup on top of the wooden coaster.",
+    "Position the smooth blue cup for liquids on the smooth round palm-sized coaster with the arm.",
+    "Grab the smooth blue cup for liquids and place it over the light gray round grainy coaster.",
+    "Use the arm to position the rounded base blue cup on the small coaster with grain texture.",
+    "Grab the medium blue cylindrical cup and place it on the flat round wooden coaster.",
+    "Stick the rounded base blue cup onto the light gray round grainy coaster using the arm",
+    "Lift the cup with smooth plastic surface and place it over the grainy texture coaster",
+    "Position the medium blue cylindrical cup above and drop it on the flat round wooden coaster",
+    "Use the arm to slide the rounded base blue cup onto the round coaster.",
+    "Use an arm to place the rounded base blue cup on the grainy texture coaster",
+    "Move the medium-sized plastic blue cup to the flat round wooden coaster and set it down.",
+    "Move the smooth blue drinking cup using the arm onto the round coaster with light streaks.",
+    "Stick the medium blue cylindrical cup onto the round coaster with light streaks carefully.",
+    "Align the cup with smooth plastic surface and set it down on the light gray round grainy coaster",
+    "Position the smooth blue drinking cup carefully on the wooden coaster",
+    "Lift the cup with smooth plastic surface and stick it onto the coaster with circular shape.",
+    "Grab the smooth blue cup for liquids, then place it onto the small coaster with grain texture.",
+    "Use arm to place the smooth blue cup for liquids on the light gray streaked wooden coaster",
+    "Place the cup for holding liquids on top of the wooden coaster",
+    "Using the arm, slide the cup with light blue color onto the flat surface gray wooden coaster.",
+    "Use an arm to drop the light blue plastic cup on the smooth round palm-sized coaster.",
+    "Grab the plastic cup for drinks and lower it onto the coaster made of smooth wood",
+    "Set the plastic cup for drinks on the light gray round grainy coaster using the arm."
+  ],
+  "unseen": [
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode8.json b/place_empty_cup/demo_clean/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e9c849d80075d0358f5a06050dfb52e55cf1fd1
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode8.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the medium blue cylindrical cup and place it over the wooden coaster.",
+    "Using the arm, slide the cup with light blue color onto the wooden coaster.",
+    "Drop the light blue plastic cup firmly on the wooden coaster using arm",
+    "Using the arm, align the blue rounded-bottom cup over the light gray streaked wooden coaster",
+    "Pick the rounded base blue cup up and drop it on the light gray streaked wooden coaster.",
+    "Use the arm to position the blue rounded-bottom cup onto the coaster made of smooth wood.",
+    "Move the cup with smooth plastic surface to the round coaster",
+    "Direct the plastic cup for drinks to the grainy texture coaster and let it rest.",
+    "Grab the cup for holding liquids and place it on the flat round wooden coaster.",
+    "Lift the smooth blue cup for liquids up and drop it on the round coaster.",
+    "Use arm to place the rounded base blue cup on the coaster with circular shape",
+    "Slide the medium blue cylindrical cup onto the grainy texture coaster with the arm.",
+    "Stick the cylindrical light blue cup onto the light gray streaked wooden coaster carefully.",
+    "Relocate the cup with light blue color precisely onto the coaster with circular shape with arm",
+    "Position the rounded base blue cup carefully on the wooden coaster",
+    "Set the rounded base blue cup onto the small coaster with grain texture using the arm.",
+    "Use the arm to slide the rounded base blue cup onto the coaster made of smooth wood.",
+    "Use an arm to drop the cup with smooth plastic surface on the flat round wooden coaster.",
+    "Stick the cylindrical light blue cup onto the light gray round grainy coaster using the arm.",
+    "Use the arm to position the medium blue cylindrical cup on the smooth round palm-sized coaster.",
+    "Use an arm to place the medium blue cylindrical cup on the coaster with circular shape",
+    "Use the arm to set the cup with light blue color on the coaster made of smooth wood",
+    "Move the light blue plastic cup using the arm onto the smooth round palm-sized coaster.",
+    "Move the blue rounded-bottom cup to the light gray streaked wooden coaster using the arm.",
+    "Slide the rounded base blue cup gently onto the light gray streaked wooden coaster via the arm.",
+    "Slide the cylindrical light blue cup onto the coaster made of smooth wood",
+    "Grab the plastic cup for drinks, then place it onto the light gray round grainy coaster.",
+    "Use the arm to put the medium blue cylindrical cup onto the coaster with circular shape.",
+    "Grab the medium-sized plastic blue cup and set it onto the wooden coaster.",
+    "Set the smooth blue drinking cup securely on the light gray streaked wooden coaster using the arm.",
+    "Set the cylindrical light blue cup carefully onto the coaster made of smooth wood",
+    "Position the light blue plastic cup above and drop it on the smooth round palm-sized coaster",
+    "Move the cup with smooth plastic surface onto the light gray round grainy coaster with the arm",
+    "Position the medium blue cylindrical cup on the flat round wooden coaster with the arm.",
+    "Use an arm to drop the light blue plastic cup on the flat surface gray wooden coaster",
+    "Using the arm, drop the blue rounded-bottom cup onto the flat surface gray wooden coaster.",
+    "Lift the smooth blue drinking cup and stick it onto the light gray round grainy coaster.",
+    "Place the cup with light blue color on top of the wooden coaster",
+    "Make sure the blue rounded-bottom cup ends up on the coaster made of smooth wood.",
+    "Move the smooth blue cup for liquids to the round coaster and set it down.",
+    "Carefully place the smooth blue drinking cup onto the smooth round palm-sized coaster without arm",
+    "Stick the rounded base blue cup onto the coaster with circular shape using the arm",
+    "Grab the blue rounded-bottom cup and lower it onto the coaster made of smooth wood",
+    "Set the smooth blue cup for liquids on the round coaster using the arm.",
+    "Position the medium blue cylindrical cup squarely on top of the light gray streaked wooden coaster.",
+    "Drop the smooth blue cup for liquids on top of the round coaster.",
+    "Lift the medium blue cylindrical cup and place it over the flat round wooden coaster",
+    "Align the medium-sized plastic blue cup and set it down on the round coaster",
+    "Set the cup for holding liquids down on the coaster made of smooth wood",
+    "Lift the light blue plastic cup and place it onto the light gray streaked wooden coaster.",
+    "Grab the blue rounded-bottom cup and place it over the smooth round palm-sized coaster.",
+    "Using the arm, slide the cup with light blue color onto the light gray round grainy coaster.",
+    "Drop the cup with light blue color firmly on the wooden coaster using arm",
+    "Using the arm, align the light blue plastic cup over the light gray streaked wooden coaster",
+    "Pick the cup with light blue color up and drop it on the small coaster with grain texture.",
+    "Use the arm to position the cup with light blue color onto the smooth round palm-sized coaster.",
+    "Move the cup for holding liquids to the smooth round palm-sized coaster",
+    "Direct the medium-sized plastic blue cup to the light gray round grainy coaster and let it rest.",
+    "Grab the smooth blue drinking cup and place it on the round coaster with light streaks.",
+    "Lift the cup with smooth plastic surface up and drop it on the coaster with circular shape.",
+    "Use arm to place the cup for holding liquids on the flat surface gray wooden coaster",
+    "Slide the smooth blue cup for liquids onto the wooden coaster with the arm.",
+    "Stick the rounded base blue cup onto the round coaster with light streaks carefully.",
+    "Relocate the cylindrical light blue cup precisely onto the wooden coaster with arm",
+    "Position the blue rounded-bottom cup carefully on the wooden coaster",
+    "Set the blue rounded-bottom cup onto the coaster made of smooth wood using the arm.",
+    "Use the arm to slide the cylindrical light blue cup onto the coaster with circular shape.",
+    "Use an arm to drop the smooth blue drinking cup on the coaster with circular shape.",
+    "Stick the cup with light blue color onto the smooth round palm-sized coaster using the arm.",
+    "Use the arm to position the medium blue cylindrical cup on the flat round wooden coaster.",
+    "Use an arm to place the cup with light blue color on the light gray round grainy coaster",
+    "Use the arm to set the smooth blue drinking cup on the round coaster with light streaks",
+    "Move the medium-sized plastic blue cup using the arm onto the smooth round palm-sized coaster.",
+    "Move the cup for holding liquids to the flat round wooden coaster using the arm.",
+    "Slide the medium-sized plastic blue cup gently onto the flat round wooden coaster via the arm.",
+    "Slide the rounded base blue cup onto the grainy texture coaster",
+    "Grab the smooth blue cup for liquids, then place it onto the round coaster.",
+    "Use the arm to put the medium-sized plastic blue cup onto the light gray round grainy coaster.",
+    "Grab the medium blue cylindrical cup and set it onto the smooth round palm-sized coaster.",
+    "Set the blue rounded-bottom cup securely on the coaster with circular shape using the arm.",
+    "Set the medium-sized plastic blue cup carefully onto the flat round wooden coaster",
+    "Position the medium blue cylindrical cup above and drop it on the flat surface gray wooden coaster",
+    "Move the cylindrical light blue cup onto the flat round wooden coaster with the arm",
+    "Position the cup with smooth plastic surface on the flat surface gray wooden coaster with the arm.",
+    "Use an arm to drop the cup with light blue color on the light gray round grainy coaster",
+    "Using the arm, drop the cup with smooth plastic surface onto the coaster made of smooth wood.",
+    "Lift the cup with smooth plastic surface and stick it onto the light gray round grainy coaster.",
+    "Place the smooth blue cup for liquids on top of the round coaster",
+    "Make sure the cylindrical light blue cup ends up on the flat round wooden coaster.",
+    "Move the cup for holding liquids to the round coaster and set it down.",
+    "Carefully place the smooth blue drinking cup onto the light gray round grainy coaster without arm",
+    "Stick the cup for holding liquids onto the light gray streaked wooden coaster using the arm",
+    "Grab the plastic cup for drinks and lower it onto the light gray streaked wooden coaster",
+    "Set the smooth blue drinking cup on the grainy texture coaster using the arm.",
+    "Position the medium-sized plastic blue cup squarely on top of the wooden coaster.",
+    "Drop the blue rounded-bottom cup on top of the round coaster with light streaks.",
+    "Lift the smooth blue drinking cup and place it over the round coaster",
+    "Align the medium-sized plastic blue cup and set it down on the smooth round palm-sized coaster",
+    "Set the cylindrical light blue cup down on the flat round wooden coaster",
+    "Lift the blue rounded-bottom cup and place it onto the coaster with circular shape."
+  ],
+  "unseen": [
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup down on the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup down on the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode80.json b/place_empty_cup/demo_clean/instructions/episode80.json
new file mode 100644
index 0000000000000000000000000000000000000000..09502cba51f6986896e9da4ece0841a37d553eec
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode80.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position the cup with light blue color carefully on the flat surface gray wooden coaster",
+    "Move the medium blue cylindrical cup onto the flat round wooden coaster with the arm",
+    "Relocate the smooth blue drinking cup precisely onto the smooth round palm-sized coaster with arm",
+    "Grab the medium-sized plastic blue cup and set it onto the round coaster with light streaks.",
+    "Set the smooth blue drinking cup down on the coaster with circular shape",
+    "Grab the medium blue cylindrical cup and place it over the light gray round grainy coaster.",
+    "Set the rounded base blue cup carefully onto the light gray round grainy coaster",
+    "Grab the cup with light blue color and lower it onto the round coaster",
+    "Use an arm to drop the cup for holding liquids on the smooth round palm-sized coaster",
+    "Move the smooth blue cup for liquids to the wooden coaster using the arm.",
+    "Lift the plastic cup for drinks and stick it onto the flat surface gray wooden coaster.",
+    "Position the blue rounded-bottom cup above and drop it on the round coaster with light streaks",
+    "Lift the blue rounded-bottom cup up and drop it on the round coaster with light streaks.",
+    "Align the cup with smooth plastic surface and set it down on the flat surface gray wooden coaster",
+    "Use the arm to put the rounded base blue cup onto the coaster made of smooth wood.",
+    "Use an arm to place the cup with light blue color on the smooth round palm-sized coaster",
+    "Use the arm to slide the light blue plastic cup onto the coaster made of smooth wood.",
+    "Position the cup with light blue color on the flat surface gray wooden coaster with the arm.",
+    "Slide the smooth blue cup for liquids onto the light gray streaked wooden coaster with the arm.",
+    "Direct the smooth blue cup for liquids to the flat surface gray wooden coaster and let it rest.",
+    "Use the arm to position the medium blue cylindrical cup onto the light gray round grainy coaster.",
+    "Position the medium blue cylindrical cup squarely on top of the smooth round palm-sized coaster.",
+    "Lift the cup with light blue color and place it onto the flat round wooden coaster.",
+    "Pick the plastic cup for drinks up and drop it on the round coaster.",
+    "Drop the medium blue cylindrical cup firmly on the coaster made of smooth wood using arm",
+    "Move the cup for holding liquids to the light gray round grainy coaster",
+    "Set the light blue plastic cup securely on the wooden coaster using the arm.",
+    "Use the arm to set the cylindrical light blue cup on the light gray streaked wooden coaster",
+    "Stick the cup for holding liquids onto the coaster with circular shape carefully.",
+    "Using the arm, slide the light blue plastic cup onto the round coaster.",
+    "Slide the smooth blue drinking cup onto the light gray round grainy coaster",
+    "Place the smooth blue drinking cup on top of the round coaster",
+    "Use an arm to drop the cup with light blue color on the round coaster with light streaks.",
+    "Move the rounded base blue cup to the coaster with circular shape and set it down.",
+    "Use arm to place the smooth blue drinking cup on the coaster with circular shape",
+    "Drop the medium-sized plastic blue cup on top of the wooden coaster.",
+    "Use the arm to position the cup for holding liquids on the light gray round grainy coaster.",
+    "Grab the smooth blue drinking cup and place it on the light gray round grainy coaster.",
+    "Stick the cup with light blue color onto the grainy texture coaster using the arm",
+    "Move the cup with light blue color using the arm onto the coaster with circular shape.",
+    "Grab the cup with light blue color, then place it onto the round coaster.",
+    "Carefully place the cup for holding liquids onto the wooden coaster without arm",
+    "Slide the cup with smooth plastic surface gently onto the coaster made of smooth wood via the arm.",
+    "Stick the cup with smooth plastic surface onto the light gray streaked wooden coaster using the arm.",
+    "Lift the cup with light blue color and place it over the small coaster with grain texture",
+    "Set the cylindrical light blue cup on the small coaster with grain texture using the arm.",
+    "Using the arm, drop the medium blue cylindrical cup onto the coaster made of smooth wood.",
+    "Set the blue rounded-bottom cup onto the flat round wooden coaster using the arm.",
+    "Using the arm, align the rounded base blue cup over the flat round wooden coaster",
+    "Make sure the blue rounded-bottom cup ends up on the wooden coaster.",
+    "Position the light blue plastic cup carefully on the coaster with circular shape",
+    "Move the medium blue cylindrical cup onto the round coaster with the arm",
+    "Relocate the medium blue cylindrical cup precisely onto the small coaster with grain texture with arm",
+    "Grab the light blue plastic cup and set it onto the flat surface gray wooden coaster.",
+    "Set the smooth blue cup for liquids down on the light gray round grainy coaster",
+    "Grab the medium blue cylindrical cup and place it over the smooth round palm-sized coaster.",
+    "Set the blue rounded-bottom cup carefully onto the small coaster with grain texture",
+    "Grab the medium blue cylindrical cup and lower it onto the coaster made of smooth wood",
+    "Use an arm to drop the blue rounded-bottom cup on the coaster made of smooth wood",
+    "Move the light blue plastic cup to the small coaster with grain texture using the arm.",
+    "Lift the medium blue cylindrical cup and stick it onto the wooden coaster.",
+    "Position the blue rounded-bottom cup above and drop it on the grainy texture coaster",
+    "Lift the smooth blue cup for liquids up and drop it on the light gray streaked wooden coaster.",
+    "Align the rounded base blue cup and set it down on the round coaster",
+    "Use the arm to put the light blue plastic cup onto the small coaster with grain texture.",
+    "Use an arm to place the cup with smooth plastic surface on the round coaster with light streaks",
+    "Use the arm to slide the rounded base blue cup onto the light gray streaked wooden coaster.",
+    "Position the medium blue cylindrical cup on the round coaster with light streaks with the arm.",
+    "Slide the cup with smooth plastic surface onto the small coaster with grain texture with the arm.",
+    "Direct the plastic cup for drinks to the round coaster with light streaks and let it rest.",
+    "Use the arm to position the medium-sized plastic blue cup onto the flat round wooden coaster.",
+    "Position the light blue plastic cup squarely on top of the light gray streaked wooden coaster.",
+    "Lift the medium blue cylindrical cup and place it onto the small coaster with grain texture.",
+    "Pick the blue rounded-bottom cup up and drop it on the round coaster.",
+    "Drop the smooth blue cup for liquids firmly on the coaster made of smooth wood using arm",
+    "Move the medium blue cylindrical cup to the wooden coaster",
+    "Set the smooth blue cup for liquids securely on the flat round wooden coaster using the arm.",
+    "Use the arm to set the smooth blue cup for liquids on the flat round wooden coaster",
+    "Stick the medium blue cylindrical cup onto the round coaster carefully.",
+    "Using the arm, slide the medium-sized plastic blue cup onto the wooden coaster.",
+    "Slide the light blue plastic cup onto the wooden coaster",
+    "Place the smooth blue drinking cup on top of the grainy texture coaster",
+    "Use an arm to drop the cup for holding liquids on the coaster made of smooth wood.",
+    "Move the medium-sized plastic blue cup to the small coaster with grain texture and set it down.",
+    "Use arm to place the medium-sized plastic blue cup on the round coaster",
+    "Drop the smooth blue cup for liquids on top of the round coaster with light streaks.",
+    "Use the arm to position the smooth blue cup for liquids on the round coaster with light streaks.",
+    "Grab the cylindrical light blue cup and place it on the light gray round grainy coaster.",
+    "Stick the smooth blue drinking cup onto the grainy texture coaster using the arm",
+    "Move the plastic cup for drinks using the arm onto the grainy texture coaster.",
+    "Grab the medium blue cylindrical cup, then place it onto the light gray streaked wooden coaster.",
+    "Carefully place the rounded base blue cup onto the light gray streaked wooden coaster without arm",
+    "Slide the rounded base blue cup gently onto the smooth round palm-sized coaster via the arm.",
+    "Stick the cylindrical light blue cup onto the light gray round grainy coaster using the arm.",
+    "Lift the cup with light blue color and place it over the light gray round grainy coaster",
+    "Set the medium blue cylindrical cup on the flat surface gray wooden coaster using the arm.",
+    "Using the arm, drop the cup with smooth plastic surface onto the flat round wooden coaster.",
+    "Set the cylindrical light blue cup onto the round coaster using the arm.",
+    "Using the arm, align the medium blue cylindrical cup over the flat round wooden coaster",
+    "Make sure the smooth blue cup for liquids ends up on the round coaster."
+  ],
+  "unseen": [
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster"
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode81.json b/place_empty_cup/demo_clean/instructions/episode81.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bfb6c77d68dc9a2ae44ccddbcba63c48ee4e7ec
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode81.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the arm to slide the medium blue cylindrical cup onto the coaster made of smooth wood.",
+    "Relocate the cup with light blue color precisely onto the smooth round palm-sized coaster with arm",
+    "Move the cup for holding liquids using the arm onto the grainy texture coaster.",
+    "Use an arm to place the cup with light blue color on the flat surface gray wooden coaster",
+    "Grab the plastic cup for drinks and lower it onto the wooden coaster",
+    "Set the smooth blue drinking cup on the round coaster using the arm.",
+    "Stick the plastic cup for drinks onto the coaster with circular shape using the arm.",
+    "Stick the cup with smooth plastic surface onto the coaster made of smooth wood carefully.",
+    "Grab the cylindrical light blue cup, then place it onto the grainy texture coaster.",
+    "Use the arm to put the light blue plastic cup onto the small coaster with grain texture.",
+    "Set the smooth blue drinking cup securely on the wooden coaster using the arm.",
+    "Slide the smooth blue cup for liquids gently onto the small coaster with grain texture via the arm.",
+    "Lift the smooth blue drinking cup and place it over the grainy texture coaster",
+    "Move the cup with light blue color to the wooden coaster",
+    "Align the smooth blue cup for liquids and set it down on the coaster with circular shape",
+    "Set the cylindrical light blue cup onto the round coaster with light streaks using the arm.",
+    "Move the smooth blue cup for liquids to the smooth round palm-sized coaster and set it down.",
+    "Set the cup for holding liquids down on the light gray streaked wooden coaster",
+    "Grab the cylindrical light blue cup and place it over the flat round wooden coaster.",
+    "Drop the medium blue cylindrical cup on top of the coaster with circular shape.",
+    "Position the blue rounded-bottom cup carefully on the flat surface gray wooden coaster",
+    "Place the cylindrical light blue cup on top of the light gray streaked wooden coaster",
+    "Use the arm to position the blue rounded-bottom cup on the light gray round grainy coaster.",
+    "Use the arm to position the plastic cup for drinks onto the round coaster.",
+    "Lift the medium blue cylindrical cup and stick it onto the coaster with circular shape.",
+    "Lift the plastic cup for drinks and place it onto the flat surface gray wooden coaster.",
+    "Pick the plastic cup for drinks up and drop it on the flat round wooden coaster.",
+    "Carefully place the light blue plastic cup onto the flat surface gray wooden coaster without arm",
+    "Using the arm, slide the medium-sized plastic blue cup onto the round coaster.",
+    "Slide the cup for holding liquids onto the coaster made of smooth wood with the arm.",
+    "Grab the smooth blue cup for liquids and set it onto the smooth round palm-sized coaster.",
+    "Use an arm to drop the smooth blue cup for liquids on the wooden coaster.",
+    "Set the smooth blue drinking cup carefully onto the smooth round palm-sized coaster",
+    "Move the medium blue cylindrical cup onto the round coaster with the arm",
+    "Direct the plastic cup for drinks to the round coaster with light streaks and let it rest.",
+    "Drop the light blue plastic cup firmly on the flat surface gray wooden coaster using arm",
+    "Using the arm, align the medium blue cylindrical cup over the coaster made of smooth wood",
+    "Use an arm to drop the medium-sized plastic blue cup on the smooth round palm-sized coaster",
+    "Lift the cup with light blue color up and drop it on the coaster made of smooth wood.",
+    "Make sure the smooth blue drinking cup ends up on the light gray streaked wooden coaster.",
+    "Position the medium-sized plastic blue cup on the smooth round palm-sized coaster with the arm.",
+    "Stick the cylindrical light blue cup onto the round coaster with light streaks using the arm",
+    "Grab the medium blue cylindrical cup and place it on the flat surface gray wooden coaster.",
+    "Position the smooth blue cup for liquids above and drop it on the grainy texture coaster",
+    "Slide the smooth blue drinking cup onto the round coaster with light streaks",
+    "Using the arm, drop the cylindrical light blue cup onto the small coaster with grain texture.",
+    "Use arm to place the cup with smooth plastic surface on the flat round wooden coaster",
+    "Position the medium-sized plastic blue cup squarely on top of the coaster with circular shape.",
+    "Use the arm to set the cup for holding liquids on the wooden coaster",
+    "Move the smooth blue drinking cup to the grainy texture coaster using the arm.",
+    "Use the arm to slide the cup for holding liquids onto the smooth round palm-sized coaster.",
+    "Relocate the cup with smooth plastic surface precisely onto the round coaster with arm",
+    "Move the smooth blue cup for liquids using the arm onto the round coaster.",
+    "Use an arm to place the cup with smooth plastic surface on the wooden coaster",
+    "Grab the light blue plastic cup and lower it onto the round coaster",
+    "Set the cup with light blue color on the light gray round grainy coaster using the arm.",
+    "Stick the cup with light blue color onto the coaster with circular shape using the arm.",
+    "Stick the smooth blue cup for liquids onto the grainy texture coaster carefully.",
+    "Grab the cup for holding liquids, then place it onto the wooden coaster.",
+    "Use the arm to put the smooth blue cup for liquids onto the small coaster with grain texture.",
+    "Set the blue rounded-bottom cup securely on the round coaster using the arm.",
+    "Slide the blue rounded-bottom cup gently onto the round coaster via the arm.",
+    "Lift the rounded base blue cup and place it over the round coaster",
+    "Move the blue rounded-bottom cup to the small coaster with grain texture",
+    "Align the smooth blue drinking cup and set it down on the coaster made of smooth wood",
+    "Set the cup for holding liquids onto the light gray round grainy coaster using the arm.",
+    "Move the smooth blue cup for liquids to the round coaster with light streaks and set it down.",
+    "Set the smooth blue drinking cup down on the grainy texture coaster",
+    "Grab the light blue plastic cup and place it over the flat round wooden coaster.",
+    "Drop the medium-sized plastic blue cup on top of the coaster with circular shape.",
+    "Position the medium-sized plastic blue cup carefully on the round coaster with light streaks",
+    "Place the cup for holding liquids on top of the light gray round grainy coaster",
+    "Use the arm to position the medium blue cylindrical cup on the round coaster with light streaks.",
+    "Use the arm to position the medium blue cylindrical cup onto the wooden coaster.",
+    "Lift the cup for holding liquids and stick it onto the round coaster with light streaks.",
+    "Lift the medium blue cylindrical cup and place it onto the flat round wooden coaster.",
+    "Pick the smooth blue cup for liquids up and drop it on the small coaster with grain texture.",
+    "Carefully place the rounded base blue cup onto the round coaster with light streaks without arm",
+    "Using the arm, slide the cup with smooth plastic surface onto the coaster with circular shape.",
+    "Slide the light blue plastic cup onto the flat surface gray wooden coaster with the arm.",
+    "Grab the smooth blue drinking cup and set it onto the wooden coaster.",
+    "Use an arm to drop the medium-sized plastic blue cup on the round coaster with light streaks.",
+    "Set the cup with smooth plastic surface carefully onto the coaster with circular shape",
+    "Move the plastic cup for drinks onto the wooden coaster with the arm",
+    "Direct the cylindrical light blue cup to the smooth round palm-sized coaster and let it rest.",
+    "Drop the light blue plastic cup firmly on the flat round wooden coaster using arm",
+    "Using the arm, align the medium blue cylindrical cup over the round coaster with light streaks",
+    "Use an arm to drop the blue rounded-bottom cup on the round coaster",
+    "Lift the smooth blue cup for liquids up and drop it on the small coaster with grain texture.",
+    "Make sure the blue rounded-bottom cup ends up on the grainy texture coaster.",
+    "Position the plastic cup for drinks on the light gray round grainy coaster with the arm.",
+    "Stick the cup with light blue color onto the coaster made of smooth wood using the arm",
+    "Grab the cup with light blue color and place it on the round coaster with light streaks.",
+    "Position the medium-sized plastic blue cup above and drop it on the coaster with circular shape",
+    "Slide the cylindrical light blue cup onto the light gray round grainy coaster",
+    "Using the arm, drop the smooth blue cup for liquids onto the light gray streaked wooden coaster.",
+    "Use arm to place the medium blue cylindrical cup on the round coaster",
+    "Position the cup with light blue color squarely on top of the flat round wooden coaster.",
+    "Use the arm to set the smooth blue drinking cup on the round coaster with light streaks",
+    "Move the rounded base blue cup to the coaster made of smooth wood using the arm."
+  ],
+  "unseen": [
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode82.json b/place_empty_cup/demo_clean/instructions/episode82.json
new file mode 100644
index 0000000000000000000000000000000000000000..a61bb556c64f896c328133b8036551789230c88c
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode82.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use arm to place the plastic cup for drinks on the smooth round palm-sized coaster",
+    "Grab the smooth blue cup for liquids and place it over the coaster with circular shape.",
+    "Set the cylindrical light blue cup onto the round coaster with light streaks using the arm.",
+    "Set the smooth blue drinking cup securely on the grainy texture coaster using the arm.",
+    "Lift the rounded base blue cup up and drop it on the coaster with circular shape.",
+    "Move the cup with light blue color onto the smooth round palm-sized coaster with the arm",
+    "Use the arm to position the cylindrical light blue cup onto the round coaster with light streaks.",
+    "Move the medium-sized plastic blue cup to the round coaster with light streaks using the arm.",
+    "Stick the cup with smooth plastic surface onto the smooth round palm-sized coaster carefully.",
+    "Move the medium blue cylindrical cup to the round coaster",
+    "Pick the plastic cup for drinks up and drop it on the small coaster with grain texture.",
+    "Slide the rounded base blue cup onto the light gray streaked wooden coaster with the arm.",
+    "Carefully place the cup for holding liquids onto the round coaster with light streaks without arm",
+    "Lift the plastic cup for drinks and place it onto the flat round wooden coaster.",
+    "Use an arm to drop the blue rounded-bottom cup on the wooden coaster.",
+    "Using the arm, drop the cylindrical light blue cup onto the smooth round palm-sized coaster.",
+    "Use an arm to drop the cylindrical light blue cup on the round coaster with light streaks",
+    "Use the arm to set the smooth blue cup for liquids on the small coaster with grain texture",
+    "Make sure the medium blue cylindrical cup ends up on the round coaster with light streaks.",
+    "Place the cup with light blue color on top of the flat surface gray wooden coaster",
+    "Lift the medium-sized plastic blue cup and place it over the coaster with circular shape",
+    "Grab the blue rounded-bottom cup, then place it onto the wooden coaster.",
+    "Grab the medium-sized plastic blue cup and lower it onto the smooth round palm-sized coaster",
+    "Align the cup with light blue color and set it down on the coaster made of smooth wood",
+    "Using the arm, align the smooth blue cup for liquids over the round coaster with light streaks",
+    "Grab the smooth blue cup for liquids and set it onto the round coaster.",
+    "Direct the light blue plastic cup to the round coaster with light streaks and let it rest.",
+    "Use the arm to slide the medium-sized plastic blue cup onto the coaster with circular shape.",
+    "Relocate the cup with light blue color precisely onto the flat round wooden coaster with arm",
+    "Slide the cylindrical light blue cup gently onto the round coaster via the arm.",
+    "Set the cup with smooth plastic surface down on the grainy texture coaster",
+    "Move the cylindrical light blue cup using the arm onto the small coaster with grain texture.",
+    "Slide the smooth blue drinking cup onto the round coaster",
+    "Move the light blue plastic cup to the grainy texture coaster and set it down.",
+    "Set the cylindrical light blue cup carefully onto the light gray round grainy coaster",
+    "Position the smooth blue drinking cup squarely on top of the coaster with circular shape.",
+    "Set the light blue plastic cup on the wooden coaster using the arm.",
+    "Using the arm, slide the blue rounded-bottom cup onto the smooth round palm-sized coaster.",
+    "Stick the smooth blue cup for liquids onto the wooden coaster using the arm",
+    "Lift the medium-sized plastic blue cup and stick it onto the light gray round grainy coaster.",
+    "Use an arm to place the cup for holding liquids on the wooden coaster",
+    "Position the rounded base blue cup above and drop it on the smooth round palm-sized coaster",
+    "Drop the light blue plastic cup firmly on the flat surface gray wooden coaster using arm",
+    "Drop the cup for holding liquids on top of the grainy texture coaster.",
+    "Position the smooth blue drinking cup carefully on the round coaster with light streaks",
+    "Position the medium blue cylindrical cup on the flat surface gray wooden coaster with the arm.",
+    "Stick the cup for holding liquids onto the smooth round palm-sized coaster using the arm.",
+    "Grab the rounded base blue cup and place it on the grainy texture coaster.",
+    "Use the arm to position the smooth blue drinking cup on the flat round wooden coaster.",
+    "Use the arm to put the light blue plastic cup onto the light gray round grainy coaster.",
+    "Use arm to place the cup with light blue color on the wooden coaster",
+    "Grab the medium-sized plastic blue cup and place it over the light gray streaked wooden coaster.",
+    "Set the plastic cup for drinks onto the light gray round grainy coaster using the arm.",
+    "Set the medium blue cylindrical cup securely on the flat round wooden coaster using the arm.",
+    "Lift the blue rounded-bottom cup up and drop it on the round coaster with light streaks.",
+    "Move the cup for holding liquids onto the round coaster with the arm",
+    "Use the arm to position the blue rounded-bottom cup onto the small coaster with grain texture.",
+    "Move the medium blue cylindrical cup to the small coaster with grain texture using the arm.",
+    "Stick the cup with light blue color onto the light gray streaked wooden coaster carefully.",
+    "Move the cup for holding liquids to the round coaster with light streaks",
+    "Pick the medium-sized plastic blue cup up and drop it on the coaster with circular shape.",
+    "Slide the cup for holding liquids onto the coaster made of smooth wood with the arm.",
+    "Carefully place the smooth blue drinking cup onto the light gray streaked wooden coaster without arm",
+    "Lift the smooth blue cup for liquids and place it onto the round coaster.",
+    "Use an arm to drop the medium blue cylindrical cup on the wooden coaster.",
+    "Using the arm, drop the medium-sized plastic blue cup onto the wooden coaster.",
+    "Use an arm to drop the cylindrical light blue cup on the small coaster with grain texture",
+    "Use the arm to set the cup for holding liquids on the flat round wooden coaster",
+    "Make sure the cup for holding liquids ends up on the flat round wooden coaster.",
+    "Place the smooth blue drinking cup on top of the coaster made of smooth wood",
+    "Lift the cup with light blue color and place it over the grainy texture coaster",
+    "Grab the blue rounded-bottom cup, then place it onto the smooth round palm-sized coaster.",
+    "Grab the smooth blue cup for liquids and lower it onto the coaster with circular shape",
+    "Align the plastic cup for drinks and set it down on the grainy texture coaster",
+    "Using the arm, align the plastic cup for drinks over the flat round wooden coaster",
+    "Grab the rounded base blue cup and set it onto the round coaster with light streaks.",
+    "Direct the cylindrical light blue cup to the round coaster and let it rest.",
+    "Use the arm to slide the blue rounded-bottom cup onto the flat round wooden coaster.",
+    "Relocate the blue rounded-bottom cup precisely onto the smooth round palm-sized coaster with arm",
+    "Slide the plastic cup for drinks gently onto the round coaster with light streaks via the arm.",
+    "Set the cup with smooth plastic surface down on the grainy texture coaster",
+    "Move the smooth blue cup for liquids using the arm onto the flat surface gray wooden coaster.",
+    "Slide the cup with smooth plastic surface onto the small coaster with grain texture",
+    "Move the smooth blue cup for liquids to the grainy texture coaster and set it down.",
+    "Set the medium blue cylindrical cup carefully onto the round coaster",
+    "Position the cylindrical light blue cup squarely on top of the round coaster with light streaks.",
+    "Set the smooth blue drinking cup on the coaster with circular shape using the arm.",
+    "Using the arm, slide the blue rounded-bottom cup onto the light gray round grainy coaster.",
+    "Stick the light blue plastic cup onto the small coaster with grain texture using the arm",
+    "Lift the light blue plastic cup and stick it onto the grainy texture coaster.",
+    "Use an arm to place the medium-sized plastic blue cup on the flat round wooden coaster",
+    "Position the smooth blue cup for liquids above and drop it on the grainy texture coaster",
+    "Drop the cylindrical light blue cup firmly on the small coaster with grain texture using arm",
+    "Drop the smooth blue cup for liquids on top of the coaster with circular shape.",
+    "Position the rounded base blue cup carefully on the grainy texture coaster",
+    "Position the plastic cup for drinks on the light gray round grainy coaster with the arm.",
+    "Stick the cup with light blue color onto the round coaster using the arm.",
+    "Grab the rounded base blue cup and place it on the smooth round palm-sized coaster.",
+    "Use the arm to position the cup with light blue color on the grainy texture coaster.",
+    "Use the arm to put the rounded base blue cup onto the wooden coaster."
+  ],
+  "unseen": [
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode83.json b/place_empty_cup/demo_clean/instructions/episode83.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ac0ae7a8b199c503d00f103b50bf46a04aef44c
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode83.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use an arm to drop the smooth blue drinking cup on the wooden coaster",
+    "Grab the cup for holding liquids and set it onto the wooden coaster.",
+    "Set the light blue plastic cup onto the wooden coaster using the arm.",
+    "Lift the medium-sized plastic blue cup and place it onto the small coaster with grain texture.",
+    "Lift the medium blue cylindrical cup and stick it onto the small coaster with grain texture.",
+    "Place the cylindrical light blue cup on top of the wooden coaster",
+    "Use the arm to set the cup for holding liquids on the coaster with circular shape",
+    "Position the light blue plastic cup above and drop it on the light gray streaked wooden coaster",
+    "Move the cup for holding liquids to the round coaster",
+    "Move the smooth blue cup for liquids using the arm onto the flat surface gray wooden coaster.",
+    "Drop the cup with smooth plastic surface on top of the flat round wooden coaster.",
+    "Align the smooth blue cup for liquids and set it down on the small coaster with grain texture",
+    "Lift the cylindrical light blue cup and place it over the grainy texture coaster",
+    "Grab the cup for holding liquids and lower it onto the smooth round palm-sized coaster",
+    "Position the medium-sized plastic blue cup carefully on the coaster made of smooth wood",
+    "Grab the blue rounded-bottom cup and place it over the round coaster with light streaks.",
+    "Lift the cup for holding liquids up and drop it on the wooden coaster.",
+    "Set the blue rounded-bottom cup carefully onto the round coaster",
+    "Use the arm to position the plastic cup for drinks on the wooden coaster.",
+    "Using the arm, slide the plastic cup for drinks onto the small coaster with grain texture.",
+    "Stick the cylindrical light blue cup onto the coaster made of smooth wood using the arm",
+    "Using the arm, align the cup with light blue color over the grainy texture coaster",
+    "Move the cup with light blue color to the light gray round grainy coaster using the arm.",
+    "Use the arm to slide the cup for holding liquids onto the round coaster with light streaks.",
+    "Drop the medium-sized plastic blue cup firmly on the wooden coaster using arm",
+    "Slide the smooth blue cup for liquids gently onto the smooth round palm-sized coaster via the arm.",
+    "Move the medium-sized plastic blue cup onto the coaster made of smooth wood with the arm",
+    "Carefully place the cup with light blue color onto the small coaster with grain texture without arm",
+    "Position the blue rounded-bottom cup on the wooden coaster with the arm.",
+    "Relocate the cup for holding liquids precisely onto the round coaster with arm",
+    "Grab the blue rounded-bottom cup, then place it onto the flat round wooden coaster.",
+    "Pick the cup for holding liquids up and drop it on the coaster with circular shape.",
+    "Set the blue rounded-bottom cup down on the grainy texture coaster",
+    "Make sure the medium blue cylindrical cup ends up on the flat round wooden coaster.",
+    "Position the smooth blue cup for liquids squarely on top of the round coaster with light streaks.",
+    "Use an arm to drop the cup for holding liquids on the round coaster with light streaks.",
+    "Stick the rounded base blue cup onto the smooth round palm-sized coaster carefully.",
+    "Move the medium-sized plastic blue cup to the light gray streaked wooden coaster and set it down.",
+    "Using the arm, drop the light blue plastic cup onto the round coaster.",
+    "Use the arm to position the smooth blue drinking cup onto the light gray round grainy coaster.",
+    "Set the medium blue cylindrical cup securely on the coaster with circular shape using the arm.",
+    "Set the smooth blue drinking cup on the light gray round grainy coaster using the arm.",
+    "Slide the medium-sized plastic blue cup onto the small coaster with grain texture with the arm.",
+    "Grab the cylindrical light blue cup and place it on the light gray round grainy coaster.",
+    "Use the arm to put the medium blue cylindrical cup onto the smooth round palm-sized coaster.",
+    "Use an arm to place the smooth blue drinking cup on the flat surface gray wooden coaster",
+    "Slide the light blue plastic cup onto the light gray round grainy coaster",
+    "Direct the smooth blue cup for liquids to the light gray round grainy coaster and let it rest.",
+    "Stick the smooth blue cup for liquids onto the round coaster with light streaks using the arm.",
+    "Use arm to place the cup with smooth plastic surface on the small coaster with grain texture",
+    "Use an arm to drop the light blue plastic cup on the light gray streaked wooden coaster",
+    "Grab the light blue plastic cup and set it onto the coaster with circular shape.",
+    "Set the cup with light blue color onto the light gray round grainy coaster using the arm.",
+    "Lift the blue rounded-bottom cup and place it onto the round coaster.",
+    "Lift the medium blue cylindrical cup and stick it onto the round coaster with light streaks.",
+    "Place the smooth blue drinking cup on top of the round coaster with light streaks",
+    "Use the arm to set the cup with smooth plastic surface on the round coaster with light streaks",
+    "Position the cup for holding liquids above and drop it on the coaster made of smooth wood",
+    "Move the cylindrical light blue cup to the round coaster with light streaks",
+    "Move the smooth blue drinking cup using the arm onto the small coaster with grain texture.",
+    "Drop the blue rounded-bottom cup on top of the flat surface gray wooden coaster.",
+    "Align the cylindrical light blue cup and set it down on the flat round wooden coaster",
+    "Lift the plastic cup for drinks and place it over the flat surface gray wooden coaster",
+    "Grab the rounded base blue cup and lower it onto the small coaster with grain texture",
+    "Position the medium-sized plastic blue cup carefully on the light gray round grainy coaster",
+    "Grab the plastic cup for drinks and place it over the smooth round palm-sized coaster.",
+    "Lift the smooth blue cup for liquids up and drop it on the flat round wooden coaster.",
+    "Set the medium-sized plastic blue cup carefully onto the coaster with circular shape",
+    "Use the arm to position the plastic cup for drinks on the round coaster.",
+    "Using the arm, slide the light blue plastic cup onto the smooth round palm-sized coaster.",
+    "Stick the medium blue cylindrical cup onto the coaster with circular shape using the arm",
+    "Using the arm, align the smooth blue drinking cup over the small coaster with grain texture",
+    "Move the cup for holding liquids to the grainy texture coaster using the arm.",
+    "Use the arm to slide the blue rounded-bottom cup onto the light gray round grainy coaster.",
+    "Drop the rounded base blue cup firmly on the coaster made of smooth wood using arm",
+    "Slide the light blue plastic cup gently onto the coaster made of smooth wood via the arm.",
+    "Move the medium-sized plastic blue cup onto the flat round wooden coaster with the arm",
+    "Carefully place the medium-sized plastic blue cup onto the smooth round palm-sized coaster without arm",
+    "Position the medium-sized plastic blue cup on the coaster with circular shape with the arm.",
+    "Relocate the cup for holding liquids precisely onto the round coaster with arm",
+    "Grab the medium-sized plastic blue cup, then place it onto the flat surface gray wooden coaster.",
+    "Pick the cup with smooth plastic surface up and drop it on the round coaster.",
+    "Set the cup with light blue color down on the flat round wooden coaster",
+    "Make sure the blue rounded-bottom cup ends up on the wooden coaster.",
+    "Position the cup for holding liquids squarely on top of the round coaster.",
+    "Use an arm to drop the cylindrical light blue cup on the grainy texture coaster.",
+    "Stick the cup with smooth plastic surface onto the small coaster with grain texture carefully.",
+    "Move the cup for holding liquids to the coaster with circular shape and set it down.",
+    "Using the arm, drop the cup with light blue color onto the round coaster.",
+    "Use the arm to position the medium blue cylindrical cup onto the light gray streaked wooden coaster.",
+    "Set the medium blue cylindrical cup securely on the flat round wooden coaster using the arm.",
+    "Set the rounded base blue cup on the smooth round palm-sized coaster using the arm.",
+    "Slide the medium-sized plastic blue cup onto the round coaster with the arm.",
+    "Grab the medium-sized plastic blue cup and place it on the flat round wooden coaster.",
+    "Use the arm to put the light blue plastic cup onto the small coaster with grain texture.",
+    "Use an arm to place the cup with light blue color on the small coaster with grain texture",
+    "Slide the blue rounded-bottom cup onto the coaster made of smooth wood",
+    "Direct the blue rounded-bottom cup to the coaster with circular shape and let it rest.",
+    "Stick the rounded base blue cup onto the flat surface gray wooden coaster using the arm.",
+    "Use arm to place the cup with light blue color on the coaster made of smooth wood"
+  ],
+  "unseen": [
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster"
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode84.json b/place_empty_cup/demo_clean/instructions/episode84.json
new file mode 100644
index 0000000000000000000000000000000000000000..d416c94634acab7363f3b3f6c4526232fc6e58e4
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode84.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the rounded base blue cup using the arm onto the wooden coaster.",
+    "Drop the cup for holding liquids firmly on the flat round wooden coaster using arm",
+    "Position the smooth blue drinking cup on the flat surface gray wooden coaster with the arm.",
+    "Relocate the cup with smooth plastic surface precisely onto the flat surface gray wooden coaster with arm",
+    "Use the arm to position the medium blue cylindrical cup on the flat surface gray wooden coaster.",
+    "Using the arm, align the plastic cup for drinks over the coaster with circular shape",
+    "Use the arm to position the blue rounded-bottom cup onto the grainy texture coaster.",
+    "Slide the cup with smooth plastic surface gently onto the flat surface gray wooden coaster via the arm.",
+    "Set the cup for holding liquids carefully onto the coaster made of smooth wood",
+    "Using the arm, slide the light blue plastic cup onto the grainy texture coaster.",
+    "Make sure the plastic cup for drinks ends up on the coaster with circular shape.",
+    "Set the rounded base blue cup securely on the coaster made of smooth wood using the arm.",
+    "Stick the blue rounded-bottom cup onto the round coaster with light streaks carefully.",
+    "Stick the medium-sized plastic blue cup onto the smooth round palm-sized coaster using the arm",
+    "Use an arm to drop the cylindrical light blue cup on the coaster with circular shape",
+    "Grab the cup with smooth plastic surface, then place it onto the small coaster with grain texture.",
+    "Grab the cup with smooth plastic surface and lower it onto the round coaster",
+    "Place the rounded base blue cup on top of the flat surface gray wooden coaster",
+    "Use the arm to set the rounded base blue cup on the flat surface gray wooden coaster",
+    "Using the arm, drop the blue rounded-bottom cup onto the wooden coaster.",
+    "Use the arm to put the cup for holding liquids onto the flat round wooden coaster.",
+    "Grab the smooth blue drinking cup and place it over the small coaster with grain texture.",
+    "Position the cup with light blue color above and drop it on the flat round wooden coaster",
+    "Use the arm to slide the cup with smooth plastic surface onto the flat surface gray wooden coaster.",
+    "Lift the plastic cup for drinks and place it over the round coaster",
+    "Move the plastic cup for drinks to the round coaster and set it down.",
+    "Move the smooth blue drinking cup to the light gray round grainy coaster",
+    "Grab the cylindrical light blue cup and set it onto the wooden coaster.",
+    "Slide the medium-sized plastic blue cup onto the coaster made of smooth wood with the arm.",
+    "Drop the cup with smooth plastic surface on top of the smooth round palm-sized coaster.",
+    "Lift the medium-sized plastic blue cup up and drop it on the round coaster.",
+    "Direct the cup with light blue color to the round coaster and let it rest.",
+    "Use an arm to place the cup with light blue color on the round coaster with light streaks",
+    "Use an arm to drop the smooth blue drinking cup on the smooth round palm-sized coaster.",
+    "Set the plastic cup for drinks onto the round coaster with light streaks using the arm.",
+    "Set the cup for holding liquids on the smooth round palm-sized coaster using the arm.",
+    "Pick the medium blue cylindrical cup up and drop it on the round coaster.",
+    "Move the blue rounded-bottom cup onto the small coaster with grain texture with the arm",
+    "Position the rounded base blue cup squarely on top of the coaster made of smooth wood.",
+    "Stick the plastic cup for drinks onto the round coaster with light streaks using the arm.",
+    "Slide the cup with light blue color onto the grainy texture coaster",
+    "Use arm to place the medium blue cylindrical cup on the coaster with circular shape",
+    "Grab the cup with light blue color and place it on the small coaster with grain texture.",
+    "Carefully place the cup with light blue color onto the grainy texture coaster without arm",
+    "Move the smooth blue drinking cup to the flat round wooden coaster using the arm.",
+    "Set the smooth blue drinking cup down on the flat round wooden coaster",
+    "Lift the cup for holding liquids and stick it onto the light gray round grainy coaster.",
+    "Align the plastic cup for drinks and set it down on the flat surface gray wooden coaster",
+    "Position the cup with smooth plastic surface carefully on the coaster with circular shape",
+    "Lift the cylindrical light blue cup and place it onto the light gray streaked wooden coaster.",
+    "Move the rounded base blue cup using the arm onto the coaster made of smooth wood.",
+    "Drop the cup with light blue color firmly on the smooth round palm-sized coaster using arm",
+    "Position the smooth blue drinking cup on the coaster made of smooth wood with the arm.",
+    "Relocate the plastic cup for drinks precisely onto the small coaster with grain texture with arm",
+    "Use the arm to position the rounded base blue cup on the wooden coaster.",
+    "Using the arm, align the smooth blue drinking cup over the grainy texture coaster",
+    "Use the arm to position the medium blue cylindrical cup onto the flat surface gray wooden coaster.",
+    "Slide the blue rounded-bottom cup gently onto the grainy texture coaster via the arm.",
+    "Set the light blue plastic cup carefully onto the grainy texture coaster",
+    "Using the arm, slide the medium blue cylindrical cup onto the wooden coaster.",
+    "Make sure the medium blue cylindrical cup ends up on the round coaster with light streaks.",
+    "Set the cylindrical light blue cup securely on the grainy texture coaster using the arm.",
+    "Stick the light blue plastic cup onto the coaster made of smooth wood carefully.",
+    "Stick the smooth blue cup for liquids onto the round coaster using the arm",
+    "Use an arm to drop the smooth blue drinking cup on the coaster made of smooth wood",
+    "Grab the medium blue cylindrical cup, then place it onto the wooden coaster.",
+    "Grab the rounded base blue cup and lower it onto the round coaster",
+    "Place the cup with light blue color on top of the flat round wooden coaster",
+    "Use the arm to set the cup with light blue color on the flat round wooden coaster",
+    "Using the arm, drop the cylindrical light blue cup onto the light gray round grainy coaster.",
+    "Use the arm to put the light blue plastic cup onto the light gray streaked wooden coaster.",
+    "Grab the rounded base blue cup and place it over the wooden coaster.",
+    "Position the light blue plastic cup above and drop it on the round coaster",
+    "Use the arm to slide the medium blue cylindrical cup onto the grainy texture coaster.",
+    "Lift the cup with light blue color and place it over the light gray round grainy coaster",
+    "Move the cup with smooth plastic surface to the light gray streaked wooden coaster and set it down.",
+    "Move the medium blue cylindrical cup to the coaster with circular shape",
+    "Grab the blue rounded-bottom cup and set it onto the light gray streaked wooden coaster.",
+    "Slide the plastic cup for drinks onto the small coaster with grain texture with the arm.",
+    "Drop the medium blue cylindrical cup on top of the smooth round palm-sized coaster.",
+    "Lift the plastic cup for drinks up and drop it on the flat surface gray wooden coaster.",
+    "Direct the plastic cup for drinks to the small coaster with grain texture and let it rest.",
+    "Use an arm to place the medium-sized plastic blue cup on the light gray streaked wooden coaster",
+    "Use an arm to drop the cup for holding liquids on the light gray streaked wooden coaster.",
+    "Set the cup with smooth plastic surface onto the coaster made of smooth wood using the arm.",
+    "Set the smooth blue cup for liquids on the coaster made of smooth wood using the arm.",
+    "Pick the smooth blue drinking cup up and drop it on the flat round wooden coaster.",
+    "Move the smooth blue cup for liquids onto the flat surface gray wooden coaster with the arm",
+    "Position the light blue plastic cup squarely on top of the coaster made of smooth wood.",
+    "Stick the medium blue cylindrical cup onto the coaster with circular shape using the arm.",
+    "Slide the medium-sized plastic blue cup onto the smooth round palm-sized coaster",
+    "Use arm to place the cylindrical light blue cup on the flat surface gray wooden coaster",
+    "Grab the medium-sized plastic blue cup and place it on the light gray round grainy coaster.",
+    "Carefully place the rounded base blue cup onto the light gray round grainy coaster without arm",
+    "Move the medium blue cylindrical cup to the wooden coaster using the arm.",
+    "Set the blue rounded-bottom cup down on the round coaster",
+    "Lift the rounded base blue cup and stick it onto the flat round wooden coaster.",
+    "Align the medium blue cylindrical cup and set it down on the round coaster with light streaks",
+    "Position the cup for holding liquids carefully on the wooden coaster",
+    "Lift the medium blue cylindrical cup and place it onto the grainy texture coaster."
+  ],
+  "unseen": [
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode85.json b/place_empty_cup/demo_clean/instructions/episode85.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2a346e76a7e8884f0aa53fd98220baac1c2d30a
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode85.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use an arm to drop the cylindrical light blue cup on the small coaster with grain texture.",
+    "Position the light blue plastic cup squarely on top of the small coaster with grain texture.",
+    "Stick the blue rounded-bottom cup onto the wooden coaster using the arm.",
+    "Grab the light blue plastic cup and lower it onto the smooth round palm-sized coaster",
+    "Move the cup with light blue color using the arm onto the round coaster with light streaks.",
+    "Grab the smooth blue drinking cup and place it on the small coaster with grain texture.",
+    "Position the light blue plastic cup on the small coaster with grain texture with the arm.",
+    "Drop the cup for holding liquids on top of the round coaster.",
+    "Set the medium-sized plastic blue cup securely on the flat round wooden coaster using the arm.",
+    "Use the arm to position the cup for holding liquids onto the round coaster.",
+    "Carefully place the smooth blue cup for liquids onto the smooth round palm-sized coaster without arm",
+    "Use the arm to position the smooth blue cup for liquids on the small coaster with grain texture.",
+    "Place the medium blue cylindrical cup on top of the grainy texture coaster",
+    "Position the rounded base blue cup carefully on the flat round wooden coaster",
+    "Lift the light blue plastic cup and place it over the coaster made of smooth wood",
+    "Move the rounded base blue cup to the grainy texture coaster",
+    "Relocate the smooth blue cup for liquids precisely onto the round coaster with light streaks with arm",
+    "Position the smooth blue drinking cup above and drop it on the coaster made of smooth wood",
+    "Set the smooth blue drinking cup carefully onto the light gray streaked wooden coaster",
+    "Use an arm to drop the rounded base blue cup on the smooth round palm-sized coaster",
+    "Use an arm to place the cup for holding liquids on the coaster made of smooth wood",
+    "Slide the plastic cup for drinks gently onto the round coaster with light streaks via the arm.",
+    "Lift the medium-sized plastic blue cup up and drop it on the wooden coaster.",
+    "Move the cylindrical light blue cup to the wooden coaster using the arm.",
+    "Direct the blue rounded-bottom cup to the small coaster with grain texture and let it rest.",
+    "Using the arm, slide the medium-sized plastic blue cup onto the light gray streaked wooden coaster.",
+    "Use the arm to set the smooth blue drinking cup on the flat round wooden coaster",
+    "Drop the medium-sized plastic blue cup firmly on the coaster with circular shape using arm",
+    "Set the plastic cup for drinks on the round coaster with light streaks using the arm.",
+    "Make sure the smooth blue cup for liquids ends up on the round coaster.",
+    "Lift the smooth blue drinking cup and place it onto the flat surface gray wooden coaster.",
+    "Slide the rounded base blue cup onto the wooden coaster with the arm.",
+    "Slide the smooth blue drinking cup onto the flat surface gray wooden coaster",
+    "Move the medium blue cylindrical cup to the light gray round grainy coaster and set it down.",
+    "Lift the cup for holding liquids and stick it onto the flat round wooden coaster.",
+    "Grab the smooth blue cup for liquids, then place it onto the light gray round grainy coaster.",
+    "Grab the cup with light blue color and set it onto the light gray round grainy coaster.",
+    "Set the smooth blue cup for liquids onto the flat round wooden coaster using the arm.",
+    "Grab the smooth blue drinking cup and place it over the light gray round grainy coaster.",
+    "Use arm to place the light blue plastic cup on the round coaster",
+    "Use the arm to put the medium-sized plastic blue cup onto the light gray streaked wooden coaster.",
+    "Stick the medium-sized plastic blue cup onto the round coaster using the arm",
+    "Using the arm, drop the cylindrical light blue cup onto the flat surface gray wooden coaster.",
+    "Using the arm, align the cylindrical light blue cup over the round coaster with light streaks",
+    "Use the arm to slide the medium blue cylindrical cup onto the grainy texture coaster.",
+    "Pick the medium blue cylindrical cup up and drop it on the smooth round palm-sized coaster.",
+    "Set the blue rounded-bottom cup down on the coaster with circular shape",
+    "Align the cup for holding liquids and set it down on the grainy texture coaster",
+    "Move the smooth blue drinking cup onto the light gray round grainy coaster with the arm",
+    "Stick the plastic cup for drinks onto the coaster with circular shape carefully.",
+    "Use an arm to drop the smooth blue cup for liquids on the flat round wooden coaster.",
+    "Position the plastic cup for drinks squarely on top of the flat surface gray wooden coaster.",
+    "Stick the smooth blue drinking cup onto the wooden coaster using the arm.",
+    "Grab the blue rounded-bottom cup and lower it onto the light gray round grainy coaster",
+    "Move the blue rounded-bottom cup using the arm onto the wooden coaster.",
+    "Grab the cup with light blue color and place it on the coaster made of smooth wood.",
+    "Position the medium blue cylindrical cup on the round coaster with the arm.",
+    "Drop the medium blue cylindrical cup on top of the smooth round palm-sized coaster.",
+    "Set the light blue plastic cup securely on the round coaster using the arm.",
+    "Use the arm to position the blue rounded-bottom cup onto the light gray round grainy coaster.",
+    "Carefully place the medium-sized plastic blue cup onto the smooth round palm-sized coaster without arm",
+    "Use the arm to position the blue rounded-bottom cup on the grainy texture coaster.",
+    "Place the medium blue cylindrical cup on top of the small coaster with grain texture",
+    "Position the cup with light blue color carefully on the flat surface gray wooden coaster",
+    "Lift the blue rounded-bottom cup and place it over the flat surface gray wooden coaster",
+    "Move the smooth blue drinking cup to the light gray round grainy coaster",
+    "Relocate the rounded base blue cup precisely onto the flat surface gray wooden coaster with arm",
+    "Position the cup with smooth plastic surface above and drop it on the flat round wooden coaster",
+    "Set the plastic cup for drinks carefully onto the grainy texture coaster",
+    "Use an arm to drop the cup with light blue color on the coaster made of smooth wood",
+    "Use an arm to place the medium blue cylindrical cup on the wooden coaster",
+    "Slide the cylindrical light blue cup gently onto the round coaster via the arm.",
+    "Lift the rounded base blue cup up and drop it on the light gray round grainy coaster.",
+    "Move the cup with smooth plastic surface to the coaster with circular shape using the arm.",
+    "Direct the light blue plastic cup to the light gray streaked wooden coaster and let it rest.",
+    "Using the arm, slide the rounded base blue cup onto the round coaster.",
+    "Use the arm to set the cup with light blue color on the light gray streaked wooden coaster",
+    "Drop the smooth blue cup for liquids firmly on the light gray streaked wooden coaster using arm",
+    "Set the smooth blue cup for liquids on the light gray streaked wooden coaster using the arm.",
+    "Make sure the cylindrical light blue cup ends up on the wooden coaster.",
+    "Lift the rounded base blue cup and place it onto the flat round wooden coaster.",
+    "Slide the cup with smooth plastic surface onto the flat surface gray wooden coaster with the arm.",
+    "Slide the cup with smooth plastic surface onto the light gray streaked wooden coaster",
+    "Move the plastic cup for drinks to the light gray streaked wooden coaster and set it down.",
+    "Lift the light blue plastic cup and stick it onto the flat round wooden coaster.",
+    "Grab the smooth blue drinking cup, then place it onto the round coaster.",
+    "Grab the rounded base blue cup and set it onto the light gray streaked wooden coaster.",
+    "Set the smooth blue drinking cup onto the smooth round palm-sized coaster using the arm.",
+    "Grab the cup with smooth plastic surface and place it over the flat surface gray wooden coaster.",
+    "Use arm to place the medium blue cylindrical cup on the grainy texture coaster",
+    "Use the arm to put the smooth blue cup for liquids onto the round coaster with light streaks.",
+    "Stick the cylindrical light blue cup onto the round coaster with light streaks using the arm",
+    "Using the arm, drop the cup for holding liquids onto the round coaster with light streaks.",
+    "Using the arm, align the smooth blue drinking cup over the light gray round grainy coaster",
+    "Use the arm to slide the medium blue cylindrical cup onto the small coaster with grain texture.",
+    "Pick the plastic cup for drinks up and drop it on the flat surface gray wooden coaster.",
+    "Set the blue rounded-bottom cup down on the light gray streaked wooden coaster",
+    "Align the cup with light blue color and set it down on the round coaster",
+    "Move the blue rounded-bottom cup onto the small coaster with grain texture with the arm",
+    "Stick the light blue plastic cup onto the flat round wooden coaster carefully."
+  ],
+  "unseen": [
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster"
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode86.json b/place_empty_cup/demo_clean/instructions/episode86.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d22cc449e069aa1337771a761a186e1d830badc
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode86.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the arm to position the cup for holding liquids on the light gray streaked wooden coaster.",
+    "Use arm to place the plastic cup for drinks on the round coaster with light streaks",
+    "Align the blue rounded-bottom cup and set it down on the smooth round palm-sized coaster",
+    "Using the arm, align the rounded base blue cup over the round coaster with light streaks",
+    "Grab the cup with light blue color and set it onto the wooden coaster.",
+    "Set the cylindrical light blue cup on the coaster with circular shape using the arm.",
+    "Slide the blue rounded-bottom cup gently onto the flat surface gray wooden coaster via the arm.",
+    "Grab the rounded base blue cup and place it over the light gray round grainy coaster.",
+    "Slide the medium blue cylindrical cup onto the small coaster with grain texture with the arm.",
+    "Position the cup with light blue color on the round coaster with light streaks with the arm.",
+    "Use an arm to drop the cup with light blue color on the small coaster with grain texture",
+    "Using the arm, drop the medium blue cylindrical cup onto the light gray streaked wooden coaster.",
+    "Position the medium-sized plastic blue cup above and drop it on the flat surface gray wooden coaster",
+    "Make sure the cup with smooth plastic surface ends up on the flat round wooden coaster.",
+    "Move the medium blue cylindrical cup to the round coaster",
+    "Relocate the rounded base blue cup precisely onto the coaster made of smooth wood with arm",
+    "Using the arm, slide the rounded base blue cup onto the grainy texture coaster.",
+    "Drop the cup with light blue color on top of the light gray round grainy coaster.",
+    "Set the medium blue cylindrical cup down on the smooth round palm-sized coaster",
+    "Move the cup with light blue color onto the flat round wooden coaster with the arm",
+    "Slide the blue rounded-bottom cup onto the small coaster with grain texture",
+    "Grab the cylindrical light blue cup and place it on the flat round wooden coaster.",
+    "Stick the light blue plastic cup onto the round coaster carefully.",
+    "Grab the cup with light blue color and lower it onto the smooth round palm-sized coaster",
+    "Drop the light blue plastic cup firmly on the round coaster with light streaks using arm",
+    "Use the arm to set the rounded base blue cup on the wooden coaster",
+    "Direct the blue rounded-bottom cup to the flat round wooden coaster and let it rest.",
+    "Carefully place the smooth blue cup for liquids onto the small coaster with grain texture without arm",
+    "Position the cylindrical light blue cup squarely on top of the round coaster with light streaks.",
+    "Move the cup with smooth plastic surface to the wooden coaster using the arm.",
+    "Set the rounded base blue cup onto the light gray streaked wooden coaster using the arm.",
+    "Set the smooth blue cup for liquids securely on the flat surface gray wooden coaster using the arm.",
+    "Set the smooth blue cup for liquids carefully onto the round coaster with light streaks",
+    "Stick the cup with light blue color onto the flat round wooden coaster using the arm",
+    "Lift the rounded base blue cup and place it onto the coaster made of smooth wood.",
+    "Use the arm to put the blue rounded-bottom cup onto the coaster with circular shape.",
+    "Move the cup with smooth plastic surface to the flat surface gray wooden coaster and set it down.",
+    "Use the arm to slide the smooth blue cup for liquids onto the round coaster.",
+    "Lift the medium blue cylindrical cup up and drop it on the light gray round grainy coaster.",
+    "Lift the plastic cup for drinks and stick it onto the light gray round grainy coaster.",
+    "Place the cylindrical light blue cup on top of the coaster with circular shape",
+    "Lift the cup with smooth plastic surface and place it over the round coaster",
+    "Position the smooth blue drinking cup carefully on the flat surface gray wooden coaster",
+    "Use an arm to place the cup with light blue color on the round coaster",
+    "Stick the cup with light blue color onto the wooden coaster using the arm.",
+    "Use an arm to drop the light blue plastic cup on the flat round wooden coaster.",
+    "Pick the rounded base blue cup up and drop it on the coaster made of smooth wood.",
+    "Grab the medium-sized plastic blue cup, then place it onto the grainy texture coaster.",
+    "Use the arm to position the blue rounded-bottom cup onto the light gray round grainy coaster.",
+    "Move the smooth blue cup for liquids using the arm onto the light gray round grainy coaster.",
+    "Use the arm to position the smooth blue cup for liquids on the coaster with circular shape.",
+    "Use arm to place the cup with smooth plastic surface on the coaster with circular shape",
+    "Align the rounded base blue cup and set it down on the round coaster",
+    "Using the arm, align the cup for holding liquids over the light gray streaked wooden coaster",
+    "Grab the medium-sized plastic blue cup and set it onto the flat round wooden coaster.",
+    "Set the plastic cup for drinks on the small coaster with grain texture using the arm.",
+    "Slide the smooth blue cup for liquids gently onto the grainy texture coaster via the arm.",
+    "Grab the rounded base blue cup and place it over the flat round wooden coaster.",
+    "Slide the cup with smooth plastic surface onto the smooth round palm-sized coaster with the arm.",
+    "Position the rounded base blue cup on the light gray round grainy coaster with the arm.",
+    "Use an arm to drop the medium blue cylindrical cup on the light gray round grainy coaster",
+    "Using the arm, drop the cup with light blue color onto the coaster made of smooth wood.",
+    "Position the medium-sized plastic blue cup above and drop it on the round coaster",
+    "Make sure the smooth blue cup for liquids ends up on the coaster with circular shape.",
+    "Move the cup with smooth plastic surface to the round coaster with light streaks",
+    "Relocate the plastic cup for drinks precisely onto the coaster with circular shape with arm",
+    "Using the arm, slide the blue rounded-bottom cup onto the small coaster with grain texture.",
+    "Drop the rounded base blue cup on top of the coaster with circular shape.",
+    "Set the cup with light blue color down on the coaster with circular shape",
+    "Move the light blue plastic cup onto the light gray streaked wooden coaster with the arm",
+    "Slide the cup for holding liquids onto the coaster made of smooth wood",
+    "Grab the blue rounded-bottom cup and place it on the wooden coaster.",
+    "Stick the cup with light blue color onto the coaster made of smooth wood carefully.",
+    "Grab the smooth blue drinking cup and lower it onto the small coaster with grain texture",
+    "Drop the cup with smooth plastic surface firmly on the round coaster using arm",
+    "Use the arm to set the light blue plastic cup on the flat surface gray wooden coaster",
+    "Direct the medium-sized plastic blue cup to the wooden coaster and let it rest.",
+    "Carefully place the cup with smooth plastic surface onto the coaster with circular shape without arm",
+    "Position the medium-sized plastic blue cup squarely on top of the grainy texture coaster.",
+    "Move the plastic cup for drinks to the smooth round palm-sized coaster using the arm.",
+    "Set the smooth blue drinking cup onto the light gray streaked wooden coaster using the arm.",
+    "Set the cylindrical light blue cup securely on the coaster made of smooth wood using the arm.",
+    "Set the medium blue cylindrical cup carefully onto the coaster made of smooth wood",
+    "Stick the light blue plastic cup onto the small coaster with grain texture using the arm",
+    "Lift the smooth blue drinking cup and place it onto the coaster with circular shape.",
+    "Use the arm to put the medium-sized plastic blue cup onto the wooden coaster.",
+    "Move the cup for holding liquids to the coaster made of smooth wood and set it down.",
+    "Use the arm to slide the cup for holding liquids onto the flat round wooden coaster.",
+    "Lift the rounded base blue cup up and drop it on the grainy texture coaster.",
+    "Lift the cylindrical light blue cup and stick it onto the coaster made of smooth wood.",
+    "Place the cup for holding liquids on top of the smooth round palm-sized coaster",
+    "Lift the smooth blue cup for liquids and place it over the coaster made of smooth wood",
+    "Position the medium-sized plastic blue cup carefully on the small coaster with grain texture",
+    "Use an arm to place the cylindrical light blue cup on the light gray streaked wooden coaster",
+    "Stick the rounded base blue cup onto the smooth round palm-sized coaster using the arm.",
+    "Use an arm to drop the cup for holding liquids on the round coaster.",
+    "Pick the cup for holding liquids up and drop it on the flat round wooden coaster.",
+    "Grab the smooth blue cup for liquids, then place it onto the coaster made of smooth wood.",
+    "Use the arm to position the rounded base blue cup onto the coaster made of smooth wood.",
+    "Move the cup with smooth plastic surface using the arm onto the smooth round palm-sized coaster."
+  ],
+  "unseen": [
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the light gray coaster"
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode87.json b/place_empty_cup/demo_clean/instructions/episode87.json
new file mode 100644
index 0000000000000000000000000000000000000000..578f5f04dcbc1fbf7fbe523f21d7ab3acad7fdc5
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode87.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the medium blue cylindrical cup and place it over the flat round wooden coaster",
+    "Lift the cup with smooth plastic surface and place it onto the smooth round palm-sized coaster.",
+    "Set the cylindrical light blue cup on the round coaster using the arm.",
+    "Grab the cup for holding liquids and place it on the smooth round palm-sized coaster.",
+    "Move the cup with smooth plastic surface using the arm onto the flat surface gray wooden coaster.",
+    "Place the blue rounded-bottom cup on top of the round coaster",
+    "Use arm to place the cup with smooth plastic surface on the small coaster with grain texture",
+    "Move the cylindrical light blue cup to the grainy texture coaster using the arm.",
+    "Slide the medium blue cylindrical cup gently onto the small coaster with grain texture via the arm.",
+    "Use the arm to position the light blue plastic cup onto the small coaster with grain texture.",
+    "Use an arm to place the blue rounded-bottom cup on the round coaster with light streaks",
+    "Set the smooth blue drinking cup securely on the flat round wooden coaster using the arm.",
+    "Grab the rounded base blue cup and lower it onto the coaster made of smooth wood",
+    "Use the arm to slide the cup with smooth plastic surface onto the round coaster.",
+    "Slide the cup with smooth plastic surface onto the coaster made of smooth wood with the arm.",
+    "Using the arm, drop the medium-sized plastic blue cup onto the round coaster.",
+    "Direct the cylindrical light blue cup to the round coaster with light streaks and let it rest.",
+    "Position the blue rounded-bottom cup above and drop it on the light gray round grainy coaster",
+    "Grab the plastic cup for drinks and place it over the grainy texture coaster.",
+    "Move the medium blue cylindrical cup to the wooden coaster and set it down.",
+    "Pick the cup with light blue color up and drop it on the flat round wooden coaster.",
+    "Position the medium blue cylindrical cup squarely on top of the coaster with circular shape.",
+    "Stick the cup with light blue color onto the coaster with circular shape using the arm",
+    "Use an arm to drop the rounded base blue cup on the flat surface gray wooden coaster.",
+    "Relocate the smooth blue cup for liquids precisely onto the round coaster with light streaks with arm",
+    "Use the arm to position the plastic cup for drinks on the light gray round grainy coaster.",
+    "Set the plastic cup for drinks onto the grainy texture coaster using the arm.",
+    "Slide the cylindrical light blue cup onto the coaster with circular shape",
+    "Set the cylindrical light blue cup carefully onto the small coaster with grain texture",
+    "Grab the medium-sized plastic blue cup and set it onto the round coaster.",
+    "Use the arm to put the cup with light blue color onto the wooden coaster.",
+    "Carefully place the plastic cup for drinks onto the smooth round palm-sized coaster without arm",
+    "Align the cup with smooth plastic surface and set it down on the smooth round palm-sized coaster",
+    "Using the arm, slide the rounded base blue cup onto the grainy texture coaster.",
+    "Move the cup for holding liquids onto the coaster with circular shape with the arm",
+    "Lift the medium-sized plastic blue cup and stick it onto the coaster with circular shape.",
+    "Drop the smooth blue drinking cup on top of the coaster made of smooth wood.",
+    "Use an arm to drop the smooth blue cup for liquids on the flat surface gray wooden coaster",
+    "Position the smooth blue drinking cup on the flat round wooden coaster with the arm.",
+    "Using the arm, align the cup with smooth plastic surface over the round coaster with light streaks",
+    "Set the smooth blue drinking cup down on the light gray streaked wooden coaster",
+    "Make sure the medium-sized plastic blue cup ends up on the light gray round grainy coaster.",
+    "Move the cup for holding liquids to the smooth round palm-sized coaster",
+    "Position the medium-sized plastic blue cup carefully on the coaster made of smooth wood",
+    "Stick the cup for holding liquids onto the flat surface gray wooden coaster using the arm.",
+    "Stick the medium-sized plastic blue cup onto the smooth round palm-sized coaster carefully.",
+    "Grab the blue rounded-bottom cup, then place it onto the round coaster.",
+    "Lift the cup with smooth plastic surface up and drop it on the round coaster with light streaks.",
+    "Drop the medium-sized plastic blue cup firmly on the round coaster with light streaks using arm",
+    "Use the arm to set the blue rounded-bottom cup on the round coaster with light streaks",
+    "Lift the rounded base blue cup and place it over the coaster made of smooth wood",
+    "Lift the cylindrical light blue cup and place it onto the round coaster.",
+    "Set the medium-sized plastic blue cup on the coaster with circular shape using the arm.",
+    "Grab the medium blue cylindrical cup and place it on the small coaster with grain texture.",
+    "Move the medium blue cylindrical cup using the arm onto the flat surface gray wooden coaster.",
+    "Place the medium-sized plastic blue cup on top of the coaster made of smooth wood",
+    "Use arm to place the cup with light blue color on the round coaster with light streaks",
+    "Move the blue rounded-bottom cup to the smooth round palm-sized coaster using the arm.",
+    "Slide the plastic cup for drinks gently onto the light gray round grainy coaster via the arm.",
+    "Use the arm to position the smooth blue cup for liquids onto the round coaster.",
+    "Use an arm to place the cup with smooth plastic surface on the round coaster",
+    "Set the cylindrical light blue cup securely on the small coaster with grain texture using the arm.",
+    "Grab the smooth blue cup for liquids and lower it onto the light gray streaked wooden coaster",
+    "Use the arm to slide the blue rounded-bottom cup onto the round coaster.",
+    "Slide the cup with smooth plastic surface onto the round coaster with light streaks with the arm.",
+    "Using the arm, drop the cup for holding liquids onto the grainy texture coaster.",
+    "Direct the smooth blue cup for liquids to the wooden coaster and let it rest.",
+    "Position the cup with light blue color above and drop it on the round coaster",
+    "Grab the light blue plastic cup and place it over the coaster with circular shape.",
+    "Move the smooth blue cup for liquids to the grainy texture coaster and set it down.",
+    "Pick the rounded base blue cup up and drop it on the round coaster.",
+    "Position the cup for holding liquids squarely on top of the smooth round palm-sized coaster.",
+    "Stick the plastic cup for drinks onto the coaster with circular shape using the arm",
+    "Use an arm to drop the plastic cup for drinks on the grainy texture coaster.",
+    "Relocate the plastic cup for drinks precisely onto the smooth round palm-sized coaster with arm",
+    "Use the arm to position the cylindrical light blue cup on the grainy texture coaster.",
+    "Set the smooth blue cup for liquids onto the light gray streaked wooden coaster using the arm.",
+    "Slide the medium-sized plastic blue cup onto the flat surface gray wooden coaster",
+    "Set the medium-sized plastic blue cup carefully onto the flat surface gray wooden coaster",
+    "Grab the blue rounded-bottom cup and set it onto the wooden coaster.",
+    "Use the arm to put the cup with smooth plastic surface onto the round coaster.",
+    "Carefully place the rounded base blue cup onto the light gray streaked wooden coaster without arm",
+    "Align the cup with light blue color and set it down on the coaster made of smooth wood",
+    "Using the arm, slide the rounded base blue cup onto the round coaster with light streaks.",
+    "Move the light blue plastic cup onto the grainy texture coaster with the arm",
+    "Lift the smooth blue drinking cup and stick it onto the round coaster with light streaks.",
+    "Drop the smooth blue cup for liquids on top of the round coaster.",
+    "Use an arm to drop the blue rounded-bottom cup on the smooth round palm-sized coaster",
+    "Position the cup with light blue color on the wooden coaster with the arm.",
+    "Using the arm, align the cup with smooth plastic surface over the grainy texture coaster",
+    "Set the cup for holding liquids down on the coaster with circular shape",
+    "Make sure the smooth blue drinking cup ends up on the flat round wooden coaster.",
+    "Move the cup with smooth plastic surface to the grainy texture coaster",
+    "Position the blue rounded-bottom cup carefully on the flat round wooden coaster",
+    "Stick the plastic cup for drinks onto the coaster made of smooth wood using the arm.",
+    "Stick the plastic cup for drinks onto the flat round wooden coaster carefully.",
+    "Grab the smooth blue drinking cup, then place it onto the round coaster with light streaks.",
+    "Lift the smooth blue cup for liquids up and drop it on the coaster made of smooth wood.",
+    "Drop the cup with light blue color firmly on the wooden coaster using arm",
+    "Use the arm to set the smooth blue drinking cup on the round coaster with light streaks"
+  ],
+  "unseen": [
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode88.json b/place_empty_cup/demo_clean/instructions/episode88.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3af36682cbcb3a42ab0e0e906214272cd2ff465
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode88.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the arm, slide the smooth blue drinking cup onto the light gray streaked wooden coaster.",
+    "Grab the cup for holding liquids and lower it onto the flat round wooden coaster",
+    "Move the cylindrical light blue cup to the coaster made of smooth wood using the arm.",
+    "Set the plastic cup for drinks carefully onto the light gray round grainy coaster",
+    "Use the arm to put the cylindrical light blue cup onto the flat round wooden coaster.",
+    "Use the arm to set the smooth blue drinking cup on the coaster with circular shape",
+    "Pick the light blue plastic cup up and drop it on the small coaster with grain texture.",
+    "Direct the light blue plastic cup to the flat round wooden coaster and let it rest.",
+    "Slide the plastic cup for drinks onto the light gray round grainy coaster with the arm.",
+    "Carefully place the medium-sized plastic blue cup onto the small coaster with grain texture without arm",
+    "Lift the light blue plastic cup and place it onto the small coaster with grain texture.",
+    "Place the cylindrical light blue cup on top of the coaster made of smooth wood",
+    "Use the arm to position the cup with light blue color onto the coaster made of smooth wood.",
+    "Align the blue rounded-bottom cup and set it down on the flat round wooden coaster",
+    "Use the arm to slide the medium blue cylindrical cup onto the round coaster with light streaks.",
+    "Lift the medium-sized plastic blue cup up and drop it on the round coaster.",
+    "Position the light blue plastic cup carefully on the round coaster with light streaks",
+    "Relocate the rounded base blue cup precisely onto the small coaster with grain texture with arm",
+    "Using the arm, align the medium-sized plastic blue cup over the round coaster",
+    "Set the plastic cup for drinks down on the light gray round grainy coaster",
+    "Slide the cup with light blue color onto the light gray round grainy coaster",
+    "Grab the medium-sized plastic blue cup, then place it onto the coaster made of smooth wood.",
+    "Use arm to place the cup with smooth plastic surface on the coaster made of smooth wood",
+    "Position the cup with light blue color on the round coaster with the arm.",
+    "Use an arm to drop the medium-sized plastic blue cup on the smooth round palm-sized coaster",
+    "Use an arm to place the cup with light blue color on the flat surface gray wooden coaster",
+    "Slide the plastic cup for drinks gently onto the smooth round palm-sized coaster via the arm.",
+    "Stick the rounded base blue cup onto the coaster with circular shape using the arm",
+    "Drop the smooth blue cup for liquids firmly on the round coaster using arm",
+    "Use an arm to drop the light blue plastic cup on the round coaster with light streaks.",
+    "Lift the medium-sized plastic blue cup and place it over the wooden coaster",
+    "Grab the smooth blue cup for liquids and place it over the round coaster.",
+    "Make sure the light blue plastic cup ends up on the coaster with circular shape.",
+    "Grab the cup with smooth plastic surface and set it onto the wooden coaster.",
+    "Position the plastic cup for drinks above and drop it on the smooth round palm-sized coaster",
+    "Move the smooth blue cup for liquids onto the flat surface gray wooden coaster with the arm",
+    "Position the smooth blue drinking cup squarely on top of the flat surface gray wooden coaster.",
+    "Move the light blue plastic cup using the arm onto the light gray streaked wooden coaster.",
+    "Using the arm, drop the cup for holding liquids onto the wooden coaster.",
+    "Stick the blue rounded-bottom cup onto the light gray streaked wooden coaster carefully.",
+    "Set the cup for holding liquids securely on the round coaster with light streaks using the arm.",
+    "Set the cup with light blue color onto the grainy texture coaster using the arm.",
+    "Use the arm to position the cylindrical light blue cup on the smooth round palm-sized coaster.",
+    "Stick the smooth blue drinking cup onto the light gray round grainy coaster using the arm.",
+    "Lift the cup with smooth plastic surface and stick it onto the round coaster with light streaks.",
+    "Set the blue rounded-bottom cup on the flat round wooden coaster using the arm.",
+    "Drop the plastic cup for drinks on top of the coaster with circular shape.",
+    "Grab the plastic cup for drinks and place it on the grainy texture coaster.",
+    "Move the blue rounded-bottom cup to the round coaster",
+    "Move the cup with smooth plastic surface to the smooth round palm-sized coaster and set it down.",
+    "Using the arm, slide the plastic cup for drinks onto the coaster made of smooth wood.",
+    "Grab the smooth blue cup for liquids and lower it onto the light gray streaked wooden coaster",
+    "Move the cylindrical light blue cup to the light gray round grainy coaster using the arm.",
+    "Set the medium blue cylindrical cup carefully onto the round coaster",
+    "Use the arm to put the cup with light blue color onto the light gray round grainy coaster.",
+    "Use the arm to set the plastic cup for drinks on the smooth round palm-sized coaster",
+    "Pick the medium-sized plastic blue cup up and drop it on the light gray round grainy coaster.",
+    "Direct the rounded base blue cup to the smooth round palm-sized coaster and let it rest.",
+    "Slide the light blue plastic cup onto the small coaster with grain texture with the arm.",
+    "Carefully place the cup with light blue color onto the round coaster without arm",
+    "Lift the light blue plastic cup and place it onto the coaster made of smooth wood.",
+    "Place the smooth blue cup for liquids on top of the coaster made of smooth wood",
+    "Use the arm to position the smooth blue drinking cup onto the coaster made of smooth wood.",
+    "Align the cup for holding liquids and set it down on the flat surface gray wooden coaster",
+    "Use the arm to slide the cup with smooth plastic surface onto the small coaster with grain texture.",
+    "Lift the rounded base blue cup up and drop it on the wooden coaster.",
+    "Position the rounded base blue cup carefully on the grainy texture coaster",
+    "Relocate the blue rounded-bottom cup precisely onto the wooden coaster with arm",
+    "Using the arm, align the medium-sized plastic blue cup over the flat surface gray wooden coaster",
+    "Set the cup with smooth plastic surface down on the flat surface gray wooden coaster",
+    "Slide the smooth blue drinking cup onto the small coaster with grain texture",
+    "Grab the blue rounded-bottom cup, then place it onto the light gray streaked wooden coaster.",
+    "Use arm to place the smooth blue drinking cup on the small coaster with grain texture",
+    "Position the cylindrical light blue cup on the flat surface gray wooden coaster with the arm.",
+    "Use an arm to drop the blue rounded-bottom cup on the coaster made of smooth wood",
+    "Use an arm to place the cup for holding liquids on the light gray round grainy coaster",
+    "Slide the cup for holding liquids gently onto the round coaster with light streaks via the arm.",
+    "Stick the smooth blue cup for liquids onto the light gray round grainy coaster using the arm",
+    "Drop the rounded base blue cup firmly on the coaster made of smooth wood using arm",
+    "Use an arm to drop the medium blue cylindrical cup on the small coaster with grain texture.",
+    "Lift the blue rounded-bottom cup and place it over the flat surface gray wooden coaster",
+    "Grab the cylindrical light blue cup and place it over the smooth round palm-sized coaster.",
+    "Make sure the medium-sized plastic blue cup ends up on the round coaster with light streaks.",
+    "Grab the rounded base blue cup and set it onto the round coaster.",
+    "Position the cup with smooth plastic surface above and drop it on the wooden coaster",
+    "Move the light blue plastic cup onto the coaster made of smooth wood with the arm",
+    "Position the light blue plastic cup squarely on top of the flat round wooden coaster.",
+    "Move the cylindrical light blue cup using the arm onto the flat surface gray wooden coaster.",
+    "Using the arm, drop the cup with light blue color onto the round coaster.",
+    "Stick the rounded base blue cup onto the small coaster with grain texture carefully.",
+    "Set the medium blue cylindrical cup securely on the small coaster with grain texture using the arm.",
+    "Set the cup for holding liquids onto the wooden coaster using the arm.",
+    "Use the arm to position the blue rounded-bottom cup on the wooden coaster.",
+    "Stick the plastic cup for drinks onto the coaster with circular shape using the arm.",
+    "Lift the medium blue cylindrical cup and stick it onto the light gray streaked wooden coaster.",
+    "Set the smooth blue cup for liquids on the wooden coaster using the arm.",
+    "Drop the smooth blue cup for liquids on top of the coaster made of smooth wood.",
+    "Grab the medium-sized plastic blue cup and place it on the smooth round palm-sized coaster.",
+    "Move the medium blue cylindrical cup to the flat round wooden coaster",
+    "Move the cylindrical light blue cup to the coaster made of smooth wood and set it down."
+  ],
+  "unseen": [
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode89.json b/place_empty_cup/demo_clean/instructions/episode89.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b37cacd437bd0e6d67a875bb1b50ebee08491f7
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode89.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Slide the blue rounded-bottom cup onto the round coaster with the arm.",
+    "Position the rounded base blue cup above and drop it on the round coaster",
+    "Use an arm to place the medium blue cylindrical cup on the smooth round palm-sized coaster",
+    "Slide the light blue plastic cup gently onto the wooden coaster via the arm.",
+    "Move the medium blue cylindrical cup to the flat round wooden coaster",
+    "Use an arm to drop the cylindrical light blue cup on the flat surface gray wooden coaster",
+    "Use the arm to position the medium blue cylindrical cup onto the coaster made of smooth wood.",
+    "Use the arm to put the cup for holding liquids onto the flat surface gray wooden coaster.",
+    "Stick the medium-sized plastic blue cup onto the wooden coaster using the arm.",
+    "Pick the smooth blue drinking cup up and drop it on the flat surface gray wooden coaster.",
+    "Stick the light blue plastic cup onto the round coaster using the arm",
+    "Lift the medium-sized plastic blue cup and stick it onto the light gray round grainy coaster.",
+    "Direct the smooth blue cup for liquids to the small coaster with grain texture and let it rest.",
+    "Lift the rounded base blue cup and place it onto the flat round wooden coaster.",
+    "Grab the cup with smooth plastic surface and place it on the coaster with circular shape.",
+    "Move the plastic cup for drinks to the light gray round grainy coaster and set it down.",
+    "Grab the medium-sized plastic blue cup and place it over the light gray streaked wooden coaster.",
+    "Grab the cup with light blue color and lower it onto the smooth round palm-sized coaster",
+    "Using the arm, slide the smooth blue cup for liquids onto the light gray streaked wooden coaster.",
+    "Position the cylindrical light blue cup carefully on the coaster with circular shape",
+    "Using the arm, align the cylindrical light blue cup over the flat round wooden coaster",
+    "Move the cup for holding liquids onto the flat round wooden coaster with the arm",
+    "Use an arm to drop the cup with smooth plastic surface on the grainy texture coaster.",
+    "Use arm to place the cylindrical light blue cup on the flat surface gray wooden coaster",
+    "Use the arm to slide the plastic cup for drinks onto the grainy texture coaster.",
+    "Grab the blue rounded-bottom cup, then place it onto the smooth round palm-sized coaster.",
+    "Position the light blue plastic cup squarely on top of the coaster made of smooth wood.",
+    "Set the cup with light blue color securely on the wooden coaster using the arm.",
+    "Move the cup with smooth plastic surface to the flat round wooden coaster using the arm.",
+    "Use the arm to set the rounded base blue cup on the wooden coaster",
+    "Set the smooth blue cup for liquids onto the coaster with circular shape using the arm.",
+    "Drop the cup for holding liquids on top of the round coaster with light streaks.",
+    "Carefully place the light blue plastic cup onto the light gray round grainy coaster without arm",
+    "Position the rounded base blue cup on the wooden coaster with the arm.",
+    "Make sure the medium-sized plastic blue cup ends up on the smooth round palm-sized coaster.",
+    "Relocate the plastic cup for drinks precisely onto the light gray streaked wooden coaster with arm",
+    "Slide the medium blue cylindrical cup onto the grainy texture coaster",
+    "Align the medium blue cylindrical cup and set it down on the wooden coaster",
+    "Stick the cup with smooth plastic surface onto the coaster with circular shape carefully.",
+    "Place the cup for holding liquids on top of the coaster with circular shape",
+    "Set the medium blue cylindrical cup carefully onto the smooth round palm-sized coaster",
+    "Move the cup for holding liquids using the arm onto the small coaster with grain texture.",
+    "Grab the cup with smooth plastic surface and set it onto the smooth round palm-sized coaster.",
+    "Drop the medium-sized plastic blue cup firmly on the round coaster using arm",
+    "Lift the smooth blue cup for liquids and place it over the coaster with circular shape",
+    "Using the arm, drop the cup for holding liquids onto the flat surface gray wooden coaster.",
+    "Set the plastic cup for drinks on the small coaster with grain texture using the arm.",
+    "Use the arm to position the medium-sized plastic blue cup on the flat surface gray wooden coaster.",
+    "Lift the rounded base blue cup up and drop it on the flat surface gray wooden coaster.",
+    "Set the cup for holding liquids down on the small coaster with grain texture",
+    "Slide the cup with smooth plastic surface onto the flat surface gray wooden coaster with the arm.",
+    "Position the blue rounded-bottom cup above and drop it on the coaster made of smooth wood",
+    "Use an arm to place the light blue plastic cup on the round coaster with light streaks",
+    "Slide the cup for holding liquids gently onto the flat surface gray wooden coaster via the arm.",
+    "Move the cup for holding liquids to the flat round wooden coaster",
+    "Use an arm to drop the medium blue cylindrical cup on the round coaster with light streaks",
+    "Use the arm to position the cylindrical light blue cup onto the light gray streaked wooden coaster.",
+    "Use the arm to put the cylindrical light blue cup onto the coaster with circular shape.",
+    "Stick the cup for holding liquids onto the flat round wooden coaster using the arm.",
+    "Pick the medium blue cylindrical cup up and drop it on the flat round wooden coaster.",
+    "Stick the cylindrical light blue cup onto the round coaster with light streaks using the arm",
+    "Lift the medium-sized plastic blue cup and stick it onto the small coaster with grain texture.",
+    "Direct the light blue plastic cup to the coaster made of smooth wood and let it rest.",
+    "Lift the cylindrical light blue cup and place it onto the flat surface gray wooden coaster.",
+    "Grab the smooth blue cup for liquids and place it on the wooden coaster.",
+    "Move the smooth blue drinking cup to the coaster with circular shape and set it down.",
+    "Grab the medium-sized plastic blue cup and place it over the coaster made of smooth wood.",
+    "Grab the cup with light blue color and lower it onto the wooden coaster",
+    "Using the arm, slide the cup with light blue color onto the grainy texture coaster.",
+    "Position the blue rounded-bottom cup carefully on the flat round wooden coaster",
+    "Using the arm, align the rounded base blue cup over the round coaster with light streaks",
+    "Move the medium blue cylindrical cup onto the light gray round grainy coaster with the arm",
+    "Use an arm to drop the light blue plastic cup on the coaster made of smooth wood.",
+    "Use arm to place the light blue plastic cup on the round coaster with light streaks",
+    "Use the arm to slide the smooth blue cup for liquids onto the flat surface gray wooden coaster.",
+    "Grab the cup with light blue color, then place it onto the small coaster with grain texture.",
+    "Position the smooth blue cup for liquids squarely on top of the light gray streaked wooden coaster.",
+    "Set the medium blue cylindrical cup securely on the flat surface gray wooden coaster using the arm.",
+    "Move the cylindrical light blue cup to the flat surface gray wooden coaster using the arm.",
+    "Use the arm to set the smooth blue drinking cup on the light gray streaked wooden coaster",
+    "Set the blue rounded-bottom cup onto the smooth round palm-sized coaster using the arm.",
+    "Drop the medium-sized plastic blue cup on top of the coaster made of smooth wood.",
+    "Carefully place the cup for holding liquids onto the light gray streaked wooden coaster without arm",
+    "Position the rounded base blue cup on the round coaster with light streaks with the arm.",
+    "Make sure the rounded base blue cup ends up on the round coaster with light streaks.",
+    "Relocate the blue rounded-bottom cup precisely onto the small coaster with grain texture with arm",
+    "Slide the smooth blue drinking cup onto the light gray streaked wooden coaster",
+    "Align the cylindrical light blue cup and set it down on the light gray round grainy coaster",
+    "Stick the plastic cup for drinks onto the round coaster with light streaks carefully.",
+    "Place the light blue plastic cup on top of the grainy texture coaster",
+    "Set the medium blue cylindrical cup carefully onto the smooth round palm-sized coaster",
+    "Move the medium blue cylindrical cup using the arm onto the smooth round palm-sized coaster.",
+    "Grab the cup with light blue color and set it onto the light gray round grainy coaster.",
+    "Drop the smooth blue drinking cup firmly on the flat round wooden coaster using arm",
+    "Lift the cup with smooth plastic surface and place it over the wooden coaster",
+    "Using the arm, drop the smooth blue drinking cup onto the coaster made of smooth wood.",
+    "Set the cylindrical light blue cup on the light gray round grainy coaster using the arm.",
+    "Use the arm to position the medium blue cylindrical cup on the flat round wooden coaster.",
+    "Lift the cup for holding liquids up and drop it on the light gray streaked wooden coaster.",
+    "Set the plastic cup for drinks down on the light gray round grainy coaster"
+  ],
+  "unseen": [
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster"
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode9.json b/place_empty_cup/demo_clean/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..227172cb610c5005d498113102ef63085a186d78
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode9.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the arm to position the smooth blue cup for liquids on the flat surface gray wooden coaster.",
+    "Stick the smooth blue cup for liquids onto the round coaster carefully.",
+    "Position the smooth blue drinking cup on the grainy texture coaster with the arm.",
+    "Grab the light blue plastic cup and place it on the smooth round palm-sized coaster.",
+    "Use the arm to slide the cup with light blue color onto the coaster with circular shape.",
+    "Stick the rounded base blue cup onto the coaster with circular shape using the arm",
+    "Slide the medium blue cylindrical cup onto the round coaster with the arm.",
+    "Set the smooth blue drinking cup carefully onto the light gray round grainy coaster",
+    "Set the medium-sized plastic blue cup down on the coaster made of smooth wood",
+    "Make sure the rounded base blue cup ends up on the wooden coaster.",
+    "Using the arm, align the smooth blue drinking cup over the flat round wooden coaster",
+    "Slide the light blue plastic cup onto the round coaster",
+    "Using the arm, drop the cup with smooth plastic surface onto the coaster made of smooth wood.",
+    "Use an arm to place the medium blue cylindrical cup on the round coaster with light streaks",
+    "Grab the cup with smooth plastic surface and lower it onto the wooden coaster",
+    "Grab the cylindrical light blue cup, then place it onto the small coaster with grain texture.",
+    "Set the medium blue cylindrical cup on the coaster with circular shape using the arm.",
+    "Carefully place the smooth blue drinking cup onto the grainy texture coaster without arm",
+    "Lift the cup for holding liquids and stick it onto the flat surface gray wooden coaster.",
+    "Use the arm to put the cup with light blue color onto the round coaster with light streaks.",
+    "Use the arm to position the rounded base blue cup onto the round coaster with light streaks.",
+    "Use the arm to set the cylindrical light blue cup on the round coaster",
+    "Position the blue rounded-bottom cup squarely on top of the grainy texture coaster.",
+    "Use an arm to drop the light blue plastic cup on the light gray streaked wooden coaster",
+    "Move the medium-sized plastic blue cup to the light gray streaked wooden coaster and set it down.",
+    "Set the medium blue cylindrical cup securely on the round coaster using the arm.",
+    "Lift the rounded base blue cup and place it onto the round coaster.",
+    "Position the medium blue cylindrical cup carefully on the grainy texture coaster",
+    "Use an arm to drop the cup for holding liquids on the coaster with circular shape.",
+    "Grab the rounded base blue cup and set it onto the grainy texture coaster.",
+    "Set the cup for holding liquids onto the flat round wooden coaster using the arm.",
+    "Slide the cylindrical light blue cup gently onto the smooth round palm-sized coaster via the arm.",
+    "Lift the cup with smooth plastic surface up and drop it on the round coaster.",
+    "Drop the cup with smooth plastic surface on top of the light gray streaked wooden coaster.",
+    "Move the smooth blue drinking cup using the arm onto the small coaster with grain texture.",
+    "Use arm to place the cup with light blue color on the coaster with circular shape",
+    "Pick the rounded base blue cup up and drop it on the coaster with circular shape.",
+    "Position the smooth blue cup for liquids above and drop it on the flat round wooden coaster",
+    "Direct the cup with smooth plastic surface to the round coaster and let it rest.",
+    "Relocate the plastic cup for drinks precisely onto the wooden coaster with arm",
+    "Move the smooth blue cup for liquids to the light gray round grainy coaster",
+    "Place the rounded base blue cup on top of the round coaster",
+    "Lift the smooth blue cup for liquids and place it over the wooden coaster",
+    "Drop the cylindrical light blue cup firmly on the smooth round palm-sized coaster using arm",
+    "Using the arm, slide the blue rounded-bottom cup onto the light gray streaked wooden coaster.",
+    "Move the medium-sized plastic blue cup onto the flat round wooden coaster with the arm",
+    "Align the smooth blue cup for liquids and set it down on the flat surface gray wooden coaster",
+    "Stick the medium-sized plastic blue cup onto the small coaster with grain texture using the arm.",
+    "Grab the medium-sized plastic blue cup and place it over the round coaster.",
+    "Move the blue rounded-bottom cup to the smooth round palm-sized coaster using the arm.",
+    "Use the arm to position the plastic cup for drinks on the grainy texture coaster.",
+    "Stick the cup for holding liquids onto the flat round wooden coaster carefully.",
+    "Position the cup with smooth plastic surface on the smooth round palm-sized coaster with the arm.",
+    "Grab the cup for holding liquids and place it on the round coaster.",
+    "Use the arm to slide the blue rounded-bottom cup onto the coaster with circular shape.",
+    "Stick the rounded base blue cup onto the wooden coaster using the arm",
+    "Slide the smooth blue cup for liquids onto the smooth round palm-sized coaster with the arm.",
+    "Set the rounded base blue cup carefully onto the round coaster with light streaks",
+    "Set the blue rounded-bottom cup down on the smooth round palm-sized coaster",
+    "Make sure the medium blue cylindrical cup ends up on the wooden coaster.",
+    "Using the arm, align the cup with light blue color over the round coaster",
+    "Slide the medium-sized plastic blue cup onto the round coaster",
+    "Using the arm, drop the plastic cup for drinks onto the flat round wooden coaster.",
+    "Use an arm to place the cup for holding liquids on the coaster with circular shape",
+    "Grab the rounded base blue cup and lower it onto the coaster with circular shape",
+    "Grab the cylindrical light blue cup, then place it onto the coaster made of smooth wood.",
+    "Set the plastic cup for drinks on the smooth round palm-sized coaster using the arm.",
+    "Carefully place the smooth blue cup for liquids onto the flat surface gray wooden coaster without arm",
+    "Lift the smooth blue drinking cup and stick it onto the coaster with circular shape.",
+    "Use the arm to put the medium-sized plastic blue cup onto the flat round wooden coaster.",
+    "Use the arm to position the cup with light blue color onto the round coaster.",
+    "Use the arm to set the rounded base blue cup on the flat round wooden coaster",
+    "Position the medium-sized plastic blue cup squarely on top of the grainy texture coaster.",
+    "Use an arm to drop the blue rounded-bottom cup on the coaster made of smooth wood",
+    "Move the cup for holding liquids to the coaster with circular shape and set it down.",
+    "Set the medium-sized plastic blue cup securely on the wooden coaster using the arm.",
+    "Lift the medium blue cylindrical cup and place it onto the light gray round grainy coaster.",
+    "Position the cup with smooth plastic surface carefully on the round coaster with light streaks",
+    "Use an arm to drop the medium-sized plastic blue cup on the round coaster with light streaks.",
+    "Grab the cylindrical light blue cup and set it onto the small coaster with grain texture.",
+    "Set the rounded base blue cup onto the round coaster using the arm.",
+    "Slide the rounded base blue cup gently onto the light gray streaked wooden coaster via the arm.",
+    "Lift the rounded base blue cup up and drop it on the smooth round palm-sized coaster.",
+    "Drop the smooth blue drinking cup on top of the round coaster.",
+    "Move the smooth blue drinking cup using the arm onto the smooth round palm-sized coaster.",
+    "Use arm to place the light blue plastic cup on the flat round wooden coaster",
+    "Pick the cup with light blue color up and drop it on the round coaster.",
+    "Position the medium-sized plastic blue cup above and drop it on the coaster made of smooth wood",
+    "Direct the medium blue cylindrical cup to the flat round wooden coaster and let it rest.",
+    "Relocate the cup for holding liquids precisely onto the round coaster with arm",
+    "Move the medium blue cylindrical cup to the small coaster with grain texture",
+    "Place the light blue plastic cup on top of the light gray round grainy coaster",
+    "Lift the medium blue cylindrical cup and place it over the flat surface gray wooden coaster",
+    "Drop the medium blue cylindrical cup firmly on the flat surface gray wooden coaster using arm",
+    "Using the arm, slide the rounded base blue cup onto the light gray round grainy coaster.",
+    "Move the cup with smooth plastic surface onto the flat round wooden coaster with the arm",
+    "Align the medium blue cylindrical cup and set it down on the round coaster",
+    "Stick the plastic cup for drinks onto the coaster made of smooth wood using the arm.",
+    "Grab the light blue plastic cup and place it over the flat surface gray wooden coaster.",
+    "Move the cylindrical light blue cup to the round coaster with light streaks using the arm."
+  ],
+  "unseen": [
+    "Place the blue cup onto the light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode90.json b/place_empty_cup/demo_clean/instructions/episode90.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bf12e61f408583d3d162e59eb89b4729a6a1331
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode90.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use arm to place the cup for holding liquids on the light gray round grainy coaster",
+    "Grab the cup with smooth plastic surface and set it onto the light gray streaked wooden coaster.",
+    "Relocate the plastic cup for drinks precisely onto the flat round wooden coaster with arm",
+    "Position the smooth blue cup for liquids on the small coaster with grain texture with the arm.",
+    "Move the cup for holding liquids to the round coaster",
+    "Move the rounded base blue cup using the arm onto the flat surface gray wooden coaster.",
+    "Grab the cup with light blue color, then place it onto the smooth round palm-sized coaster.",
+    "Move the cup for holding liquids to the coaster made of smooth wood using the arm.",
+    "Set the cup with smooth plastic surface on the coaster made of smooth wood using the arm.",
+    "Lift the blue rounded-bottom cup and stick it onto the round coaster with light streaks.",
+    "Set the plastic cup for drinks onto the flat surface gray wooden coaster using the arm.",
+    "Pick the blue rounded-bottom cup up and drop it on the light gray round grainy coaster.",
+    "Slide the cylindrical light blue cup onto the smooth round palm-sized coaster",
+    "Stick the smooth blue cup for liquids onto the flat round wooden coaster using the arm",
+    "Set the smooth blue drinking cup securely on the smooth round palm-sized coaster using the arm.",
+    "Use an arm to drop the cup with smooth plastic surface on the light gray streaked wooden coaster.",
+    "Lift the cylindrical light blue cup and place it onto the small coaster with grain texture.",
+    "Move the plastic cup for drinks onto the wooden coaster with the arm",
+    "Stick the medium blue cylindrical cup onto the flat surface gray wooden coaster using the arm.",
+    "Carefully place the cup with light blue color onto the coaster made of smooth wood without arm",
+    "Use the arm to position the cup with smooth plastic surface on the grainy texture coaster.",
+    "Use the arm to slide the cup with smooth plastic surface onto the wooden coaster.",
+    "Set the cup for holding liquids down on the light gray round grainy coaster",
+    "Grab the plastic cup for drinks and lower it onto the grainy texture coaster",
+    "Align the cup for holding liquids and set it down on the small coaster with grain texture",
+    "Position the smooth blue drinking cup carefully on the wooden coaster",
+    "Move the cup with smooth plastic surface to the round coaster with light streaks and set it down.",
+    "Direct the cylindrical light blue cup to the round coaster and let it rest.",
+    "Using the arm, slide the smooth blue drinking cup onto the flat round wooden coaster.",
+    "Grab the light blue plastic cup and place it over the small coaster with grain texture.",
+    "Position the cup with light blue color squarely on top of the round coaster with light streaks.",
+    "Place the cup for holding liquids on top of the light gray streaked wooden coaster",
+    "Use the arm to put the light blue plastic cup onto the light gray round grainy coaster.",
+    "Lift the blue rounded-bottom cup up and drop it on the smooth round palm-sized coaster.",
+    "Lift the rounded base blue cup and place it over the flat surface gray wooden coaster",
+    "Make sure the light blue plastic cup ends up on the round coaster with light streaks.",
+    "Position the medium blue cylindrical cup above and drop it on the grainy texture coaster",
+    "Use an arm to drop the smooth blue cup for liquids on the coaster with circular shape",
+    "Using the arm, drop the medium blue cylindrical cup onto the small coaster with grain texture.",
+    "Slide the cylindrical light blue cup onto the round coaster with light streaks with the arm.",
+    "Slide the blue rounded-bottom cup gently onto the flat surface gray wooden coaster via the arm.",
+    "Grab the cylindrical light blue cup and place it on the small coaster with grain texture.",
+    "Set the blue rounded-bottom cup carefully onto the light gray streaked wooden coaster",
+    "Use the arm to set the cup with smooth plastic surface on the light gray streaked wooden coaster",
+    "Drop the blue rounded-bottom cup firmly on the round coaster using arm",
+    "Drop the cup with smooth plastic surface on top of the smooth round palm-sized coaster.",
+    "Stick the cup with light blue color onto the round coaster with light streaks carefully.",
+    "Using the arm, align the light blue plastic cup over the light gray streaked wooden coaster",
+    "Use an arm to place the medium blue cylindrical cup on the flat round wooden coaster",
+    "Use the arm to position the cup with light blue color onto the flat surface gray wooden coaster.",
+    "Use arm to place the cylindrical light blue cup on the grainy texture coaster",
+    "Grab the medium blue cylindrical cup and set it onto the wooden coaster.",
+    "Relocate the smooth blue cup for liquids precisely onto the coaster with circular shape with arm",
+    "Position the medium blue cylindrical cup on the flat round wooden coaster with the arm.",
+    "Move the light blue plastic cup to the coaster with circular shape",
+    "Move the cup with smooth plastic surface using the arm onto the small coaster with grain texture.",
+    "Grab the cylindrical light blue cup, then place it onto the small coaster with grain texture.",
+    "Move the blue rounded-bottom cup to the coaster made of smooth wood using the arm.",
+    "Set the blue rounded-bottom cup on the light gray round grainy coaster using the arm.",
+    "Lift the cylindrical light blue cup and stick it onto the light gray streaked wooden coaster.",
+    "Set the cylindrical light blue cup onto the coaster made of smooth wood using the arm.",
+    "Pick the light blue plastic cup up and drop it on the coaster with circular shape.",
+    "Slide the plastic cup for drinks onto the light gray streaked wooden coaster",
+    "Stick the cylindrical light blue cup onto the flat round wooden coaster using the arm",
+    "Set the cup with smooth plastic surface securely on the small coaster with grain texture using the arm.",
+    "Use an arm to drop the cup with light blue color on the light gray streaked wooden coaster.",
+    "Lift the rounded base blue cup and place it onto the round coaster.",
+    "Move the cup with light blue color onto the round coaster with the arm",
+    "Stick the light blue plastic cup onto the coaster made of smooth wood using the arm.",
+    "Carefully place the medium-sized plastic blue cup onto the round coaster without arm",
+    "Use the arm to position the cylindrical light blue cup on the smooth round palm-sized coaster.",
+    "Use the arm to slide the cup for holding liquids onto the small coaster with grain texture.",
+    "Set the blue rounded-bottom cup down on the light gray round grainy coaster",
+    "Grab the plastic cup for drinks and lower it onto the smooth round palm-sized coaster",
+    "Align the cylindrical light blue cup and set it down on the small coaster with grain texture",
+    "Position the medium blue cylindrical cup carefully on the round coaster",
+    "Move the blue rounded-bottom cup to the wooden coaster and set it down.",
+    "Direct the blue rounded-bottom cup to the light gray streaked wooden coaster and let it rest.",
+    "Using the arm, slide the cup with smooth plastic surface onto the flat round wooden coaster.",
+    "Grab the cylindrical light blue cup and place it over the coaster made of smooth wood.",
+    "Position the blue rounded-bottom cup squarely on top of the smooth round palm-sized coaster.",
+    "Place the cup for holding liquids on top of the wooden coaster",
+    "Use the arm to put the rounded base blue cup onto the flat round wooden coaster.",
+    "Lift the cup with light blue color up and drop it on the wooden coaster.",
+    "Lift the smooth blue drinking cup and place it over the coaster with circular shape",
+    "Make sure the smooth blue drinking cup ends up on the small coaster with grain texture.",
+    "Position the cup with smooth plastic surface above and drop it on the round coaster with light streaks",
+    "Use an arm to drop the light blue plastic cup on the smooth round palm-sized coaster",
+    "Using the arm, drop the cup with smooth plastic surface onto the round coaster with light streaks.",
+    "Slide the plastic cup for drinks onto the small coaster with grain texture with the arm.",
+    "Slide the cup with smooth plastic surface gently onto the smooth round palm-sized coaster via the arm.",
+    "Grab the cylindrical light blue cup and place it on the wooden coaster.",
+    "Set the cup with smooth plastic surface carefully onto the flat round wooden coaster",
+    "Use the arm to set the medium blue cylindrical cup on the flat surface gray wooden coaster",
+    "Drop the rounded base blue cup firmly on the light gray streaked wooden coaster using arm",
+    "Drop the smooth blue drinking cup on top of the wooden coaster.",
+    "Stick the blue rounded-bottom cup onto the light gray round grainy coaster carefully.",
+    "Using the arm, align the medium-sized plastic blue cup over the coaster made of smooth wood",
+    "Use an arm to place the smooth blue cup for liquids on the small coaster with grain texture",
+    "Use the arm to position the smooth blue drinking cup onto the wooden coaster."
+  ],
+  "unseen": [
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode91.json b/place_empty_cup/demo_clean/instructions/episode91.json
new file mode 100644
index 0000000000000000000000000000000000000000..2415a82a8e2bee912233429c6ca6db3d7a2877ad
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode91.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position the cup with smooth plastic surface carefully on the wooden coaster",
+    "Using the arm, align the blue rounded-bottom cup over the smooth round palm-sized coaster",
+    "Stick the cup with smooth plastic surface onto the light gray streaked wooden coaster carefully.",
+    "Use arm to place the cup for holding liquids on the grainy texture coaster",
+    "Place the blue rounded-bottom cup on top of the grainy texture coaster",
+    "Pick the smooth blue cup for liquids up and drop it on the flat surface gray wooden coaster.",
+    "Use the arm to put the medium-sized plastic blue cup onto the small coaster with grain texture.",
+    "Grab the cup for holding liquids and lower it onto the flat round wooden coaster",
+    "Using the arm, slide the medium blue cylindrical cup onto the small coaster with grain texture.",
+    "Set the blue rounded-bottom cup carefully onto the flat surface gray wooden coaster",
+    "Lift the plastic cup for drinks up and drop it on the grainy texture coaster.",
+    "Position the rounded base blue cup on the round coaster with the arm.",
+    "Drop the blue rounded-bottom cup on top of the round coaster with light streaks.",
+    "Position the smooth blue drinking cup above and drop it on the wooden coaster",
+    "Slide the rounded base blue cup onto the light gray streaked wooden coaster",
+    "Make sure the plastic cup for drinks ends up on the round coaster with light streaks.",
+    "Relocate the cylindrical light blue cup precisely onto the flat round wooden coaster with arm",
+    "Move the plastic cup for drinks using the arm onto the round coaster with light streaks.",
+    "Set the light blue plastic cup securely on the light gray round grainy coaster using the arm.",
+    "Move the rounded base blue cup to the grainy texture coaster using the arm.",
+    "Grab the medium blue cylindrical cup and place it on the light gray streaked wooden coaster.",
+    "Move the medium-sized plastic blue cup onto the coaster with circular shape with the arm",
+    "Move the medium blue cylindrical cup to the round coaster with light streaks",
+    "Use an arm to drop the light blue plastic cup on the smooth round palm-sized coaster",
+    "Set the smooth blue cup for liquids onto the smooth round palm-sized coaster using the arm.",
+    "Carefully place the rounded base blue cup onto the round coaster with light streaks without arm",
+    "Stick the cup with smooth plastic surface onto the smooth round palm-sized coaster using the arm.",
+    "Slide the blue rounded-bottom cup onto the wooden coaster with the arm.",
+    "Stick the cup with smooth plastic surface onto the wooden coaster using the arm",
+    "Lift the cup with light blue color and place it onto the wooden coaster.",
+    "Grab the plastic cup for drinks, then place it onto the flat surface gray wooden coaster.",
+    "Lift the rounded base blue cup and stick it onto the round coaster.",
+    "Position the rounded base blue cup squarely on top of the light gray streaked wooden coaster.",
+    "Use the arm to position the cup with light blue color on the flat surface gray wooden coaster.",
+    "Use an arm to place the plastic cup for drinks on the coaster made of smooth wood",
+    "Move the cup for holding liquids to the light gray round grainy coaster and set it down.",
+    "Use an arm to drop the blue rounded-bottom cup on the flat round wooden coaster.",
+    "Use the arm to set the cylindrical light blue cup on the flat surface gray wooden coaster",
+    "Use the arm to position the cup with smooth plastic surface onto the flat surface gray wooden coaster.",
+    "Set the smooth blue cup for liquids down on the wooden coaster",
+    "Set the plastic cup for drinks on the wooden coaster using the arm.",
+    "Lift the smooth blue drinking cup and place it over the light gray streaked wooden coaster",
+    "Using the arm, drop the plastic cup for drinks onto the round coaster with light streaks.",
+    "Use the arm to slide the smooth blue cup for liquids onto the light gray round grainy coaster.",
+    "Slide the rounded base blue cup gently onto the round coaster via the arm.",
+    "Align the rounded base blue cup and set it down on the flat surface gray wooden coaster",
+    "Drop the medium-sized plastic blue cup firmly on the smooth round palm-sized coaster using arm",
+    "Grab the medium blue cylindrical cup and set it onto the light gray streaked wooden coaster.",
+    "Direct the cylindrical light blue cup to the round coaster with light streaks and let it rest.",
+    "Grab the cylindrical light blue cup and place it over the coaster made of smooth wood.",
+    "Position the smooth blue drinking cup carefully on the round coaster",
+    "Using the arm, align the smooth blue cup for liquids over the coaster made of smooth wood",
+    "Stick the smooth blue cup for liquids onto the round coaster with light streaks carefully.",
+    "Use arm to place the cup for holding liquids on the coaster with circular shape",
+    "Place the plastic cup for drinks on top of the small coaster with grain texture",
+    "Pick the cylindrical light blue cup up and drop it on the coaster made of smooth wood.",
+    "Use the arm to put the blue rounded-bottom cup onto the wooden coaster.",
+    "Grab the cup with light blue color and lower it onto the round coaster with light streaks",
+    "Using the arm, slide the cup with smooth plastic surface onto the flat surface gray wooden coaster.",
+    "Set the rounded base blue cup carefully onto the small coaster with grain texture",
+    "Lift the cylindrical light blue cup up and drop it on the round coaster with light streaks.",
+    "Position the rounded base blue cup on the grainy texture coaster with the arm.",
+    "Drop the plastic cup for drinks on top of the light gray streaked wooden coaster.",
+    "Position the cup for holding liquids above and drop it on the coaster made of smooth wood",
+    "Slide the smooth blue drinking cup onto the flat round wooden coaster",
+    "Make sure the light blue plastic cup ends up on the small coaster with grain texture.",
+    "Relocate the cup with light blue color precisely onto the round coaster with arm",
+    "Move the cylindrical light blue cup using the arm onto the flat round wooden coaster.",
+    "Set the medium blue cylindrical cup securely on the flat surface gray wooden coaster using the arm.",
+    "Move the rounded base blue cup to the flat round wooden coaster using the arm.",
+    "Grab the medium blue cylindrical cup and place it on the coaster with circular shape.",
+    "Move the plastic cup for drinks onto the coaster with circular shape with the arm",
+    "Move the smooth blue drinking cup to the round coaster with light streaks",
+    "Use an arm to drop the cylindrical light blue cup on the round coaster",
+    "Set the smooth blue drinking cup onto the flat round wooden coaster using the arm.",
+    "Carefully place the cup for holding liquids onto the flat round wooden coaster without arm",
+    "Stick the smooth blue cup for liquids onto the smooth round palm-sized coaster using the arm.",
+    "Slide the blue rounded-bottom cup onto the coaster made of smooth wood with the arm.",
+    "Stick the plastic cup for drinks onto the coaster made of smooth wood using the arm",
+    "Lift the blue rounded-bottom cup and place it onto the wooden coaster.",
+    "Grab the cup for holding liquids, then place it onto the grainy texture coaster.",
+    "Lift the cup with smooth plastic surface and stick it onto the light gray streaked wooden coaster.",
+    "Position the rounded base blue cup squarely on top of the grainy texture coaster.",
+    "Use the arm to position the medium blue cylindrical cup on the coaster with circular shape.",
+    "Use an arm to place the medium blue cylindrical cup on the wooden coaster",
+    "Move the light blue plastic cup to the light gray streaked wooden coaster and set it down.",
+    "Use an arm to drop the plastic cup for drinks on the flat surface gray wooden coaster.",
+    "Use the arm to set the cup with smooth plastic surface on the light gray streaked wooden coaster",
+    "Use the arm to position the cup for holding liquids onto the coaster with circular shape.",
+    "Set the blue rounded-bottom cup down on the wooden coaster",
+    "Set the cylindrical light blue cup on the wooden coaster using the arm.",
+    "Lift the plastic cup for drinks and place it over the wooden coaster",
+    "Using the arm, drop the cup with light blue color onto the light gray streaked wooden coaster.",
+    "Use the arm to slide the smooth blue drinking cup onto the coaster with circular shape.",
+    "Slide the blue rounded-bottom cup gently onto the small coaster with grain texture via the arm.",
+    "Align the smooth blue cup for liquids and set it down on the round coaster with light streaks",
+    "Drop the cup for holding liquids firmly on the flat round wooden coaster using arm",
+    "Grab the cup with smooth plastic surface and set it onto the coaster made of smooth wood.",
+    "Direct the cylindrical light blue cup to the coaster with circular shape and let it rest.",
+    "Grab the plastic cup for drinks and place it over the flat round wooden coaster."
+  ],
+  "unseen": [
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster"
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode92.json b/place_empty_cup/demo_clean/instructions/episode92.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc916d42f4b68a0dd9ac89845438cee1fe5892ae
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode92.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position the plastic cup for drinks squarely on top of the small coaster with grain texture.",
+    "Lift the rounded base blue cup and stick it onto the round coaster.",
+    "Use an arm to drop the cup with light blue color on the smooth round palm-sized coaster.",
+    "Position the plastic cup for drinks above and drop it on the wooden coaster",
+    "Using the arm, align the medium-sized plastic blue cup over the coaster with circular shape",
+    "Stick the cup for holding liquids onto the round coaster with light streaks using the arm",
+    "Use the arm to set the cup for holding liquids on the round coaster",
+    "Use the arm to slide the cup for holding liquids onto the round coaster.",
+    "Move the cup for holding liquids onto the small coaster with grain texture with the arm",
+    "Set the blue rounded-bottom cup onto the coaster made of smooth wood using the arm.",
+    "Set the smooth blue drinking cup securely on the round coaster with light streaks using the arm.",
+    "Make sure the blue rounded-bottom cup ends up on the small coaster with grain texture.",
+    "Using the arm, drop the smooth blue cup for liquids onto the grainy texture coaster.",
+    "Stick the cup for holding liquids onto the smooth round palm-sized coaster using the arm.",
+    "Lift the light blue plastic cup and place it onto the wooden coaster.",
+    "Carefully place the cup for holding liquids onto the round coaster without arm",
+    "Direct the cup for holding liquids to the grainy texture coaster and let it rest.",
+    "Drop the cup with smooth plastic surface on top of the coaster made of smooth wood.",
+    "Slide the cup with smooth plastic surface onto the light gray streaked wooden coaster with the arm.",
+    "Place the cup with smooth plastic surface on top of the round coaster",
+    "Use arm to place the cup with smooth plastic surface on the wooden coaster",
+    "Using the arm, slide the light blue plastic cup onto the wooden coaster.",
+    "Relocate the rounded base blue cup precisely onto the coaster made of smooth wood with arm",
+    "Slide the cup with smooth plastic surface onto the round coaster with light streaks",
+    "Grab the blue rounded-bottom cup and place it over the coaster made of smooth wood.",
+    "Grab the cup with smooth plastic surface and place it on the small coaster with grain texture.",
+    "Use the arm to position the cylindrical light blue cup onto the flat round wooden coaster.",
+    "Pick the medium-sized plastic blue cup up and drop it on the flat surface gray wooden coaster.",
+    "Grab the medium-sized plastic blue cup and lower it onto the wooden coaster",
+    "Use the arm to put the smooth blue cup for liquids onto the wooden coaster.",
+    "Lift the cup for holding liquids and place it over the round coaster with light streaks",
+    "Set the cylindrical light blue cup down on the flat surface gray wooden coaster",
+    "Move the smooth blue cup for liquids using the arm onto the flat round wooden coaster.",
+    "Grab the smooth blue drinking cup, then place it onto the smooth round palm-sized coaster.",
+    "Slide the cup for holding liquids gently onto the flat round wooden coaster via the arm.",
+    "Use an arm to place the rounded base blue cup on the light gray streaked wooden coaster",
+    "Stick the cup with smooth plastic surface onto the smooth round palm-sized coaster carefully.",
+    "Align the medium-sized plastic blue cup and set it down on the coaster with circular shape",
+    "Lift the medium-sized plastic blue cup up and drop it on the round coaster.",
+    "Position the rounded base blue cup on the round coaster with the arm.",
+    "Set the light blue plastic cup carefully onto the light gray streaked wooden coaster",
+    "Use the arm to position the cup with smooth plastic surface on the smooth round palm-sized coaster.",
+    "Move the medium blue cylindrical cup to the coaster with circular shape",
+    "Move the smooth blue drinking cup to the coaster with circular shape and set it down.",
+    "Move the light blue plastic cup to the wooden coaster using the arm.",
+    "Set the blue rounded-bottom cup on the coaster made of smooth wood using the arm.",
+    "Grab the medium blue cylindrical cup and set it onto the grainy texture coaster.",
+    "Drop the blue rounded-bottom cup firmly on the flat surface gray wooden coaster using arm",
+    "Use an arm to drop the cup with smooth plastic surface on the light gray round grainy coaster",
+    "Position the cup for holding liquids carefully on the grainy texture coaster",
+    "Position the cup with smooth plastic surface squarely on top of the wooden coaster.",
+    "Lift the cylindrical light blue cup and stick it onto the wooden coaster.",
+    "Use an arm to drop the medium-sized plastic blue cup on the smooth round palm-sized coaster.",
+    "Position the cylindrical light blue cup above and drop it on the smooth round palm-sized coaster",
+    "Using the arm, align the smooth blue drinking cup over the flat surface gray wooden coaster",
+    "Stick the smooth blue cup for liquids onto the coaster with circular shape using the arm",
+    "Use the arm to set the plastic cup for drinks on the flat round wooden coaster",
+    "Use the arm to slide the light blue plastic cup onto the flat round wooden coaster.",
+    "Move the cup for holding liquids onto the light gray round grainy coaster with the arm",
+    "Set the cylindrical light blue cup onto the light gray round grainy coaster using the arm.",
+    "Set the medium blue cylindrical cup securely on the flat round wooden coaster using the arm.",
+    "Make sure the medium blue cylindrical cup ends up on the light gray round grainy coaster.",
+    "Using the arm, drop the cup with smooth plastic surface onto the grainy texture coaster.",
+    "Stick the cup with light blue color onto the smooth round palm-sized coaster using the arm.",
+    "Lift the blue rounded-bottom cup and place it onto the wooden coaster.",
+    "Carefully place the blue rounded-bottom cup onto the flat surface gray wooden coaster without arm",
+    "Direct the smooth blue drinking cup to the grainy texture coaster and let it rest.",
+    "Drop the light blue plastic cup on top of the wooden coaster.",
+    "Slide the medium-sized plastic blue cup onto the flat round wooden coaster with the arm.",
+    "Place the plastic cup for drinks on top of the round coaster",
+    "Use arm to place the smooth blue drinking cup on the small coaster with grain texture",
+    "Using the arm, slide the rounded base blue cup onto the round coaster.",
+    "Relocate the cup with smooth plastic surface precisely onto the light gray round grainy coaster with arm",
+    "Slide the blue rounded-bottom cup onto the wooden coaster",
+    "Grab the cylindrical light blue cup and place it over the coaster made of smooth wood.",
+    "Grab the cup with light blue color and place it on the grainy texture coaster.",
+    "Use the arm to position the cup with light blue color onto the smooth round palm-sized coaster.",
+    "Pick the medium blue cylindrical cup up and drop it on the light gray round grainy coaster.",
+    "Grab the cup with smooth plastic surface and lower it onto the light gray round grainy coaster",
+    "Use the arm to put the medium blue cylindrical cup onto the light gray streaked wooden coaster.",
+    "Lift the medium-sized plastic blue cup and place it over the grainy texture coaster",
+    "Set the smooth blue drinking cup down on the round coaster",
+    "Move the light blue plastic cup using the arm onto the coaster with circular shape.",
+    "Grab the plastic cup for drinks, then place it onto the grainy texture coaster.",
+    "Slide the light blue plastic cup gently onto the light gray streaked wooden coaster via the arm.",
+    "Use an arm to place the cup for holding liquids on the light gray streaked wooden coaster",
+    "Stick the cup with light blue color onto the wooden coaster carefully.",
+    "Align the cup with smooth plastic surface and set it down on the round coaster",
+    "Lift the plastic cup for drinks up and drop it on the small coaster with grain texture.",
+    "Position the rounded base blue cup on the light gray round grainy coaster with the arm.",
+    "Set the medium blue cylindrical cup carefully onto the light gray streaked wooden coaster",
+    "Use the arm to position the cup with smooth plastic surface on the coaster with circular shape.",
+    "Move the medium-sized plastic blue cup to the light gray round grainy coaster",
+    "Move the cylindrical light blue cup to the flat round wooden coaster and set it down.",
+    "Move the plastic cup for drinks to the light gray streaked wooden coaster using the arm.",
+    "Set the medium-sized plastic blue cup on the flat round wooden coaster using the arm.",
+    "Grab the cup with smooth plastic surface and set it onto the round coaster.",
+    "Drop the cup with light blue color firmly on the flat surface gray wooden coaster using arm",
+    "Use an arm to drop the cup with smooth plastic surface on the small coaster with grain texture",
+    "Position the smooth blue drinking cup carefully on the grainy texture coaster"
+  ],
+  "unseen": [
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster"
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode93.json b/place_empty_cup/demo_clean/instructions/episode93.json
new file mode 100644
index 0000000000000000000000000000000000000000..52f74223b11d646a8efa07870de5f5705239f6ac
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode93.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the smooth blue drinking cup and place it on the wooden coaster.",
+    "Stick the rounded base blue cup onto the flat round wooden coaster using the arm",
+    "Stick the medium-sized plastic blue cup onto the round coaster using the arm.",
+    "Slide the plastic cup for drinks onto the grainy texture coaster",
+    "Relocate the blue rounded-bottom cup precisely onto the round coaster with light streaks with arm",
+    "Use an arm to drop the medium-sized plastic blue cup on the grainy texture coaster.",
+    "Set the light blue plastic cup on the coaster made of smooth wood using the arm.",
+    "Using the arm, align the smooth blue cup for liquids over the coaster made of smooth wood",
+    "Position the smooth blue cup for liquids squarely on top of the flat surface gray wooden coaster.",
+    "Make sure the rounded base blue cup ends up on the light gray round grainy coaster.",
+    "Lift the medium-sized plastic blue cup and place it onto the smooth round palm-sized coaster.",
+    "Use the arm to position the cup with light blue color on the light gray streaked wooden coaster.",
+    "Set the plastic cup for drinks onto the flat surface gray wooden coaster using the arm.",
+    "Move the smooth blue drinking cup to the light gray streaked wooden coaster",
+    "Use the arm to position the cup with light blue color onto the smooth round palm-sized coaster.",
+    "Set the medium-sized plastic blue cup securely on the grainy texture coaster using the arm.",
+    "Drop the cup with light blue color firmly on the coaster with circular shape using arm",
+    "Slide the plastic cup for drinks onto the wooden coaster with the arm.",
+    "Set the cup with light blue color down on the round coaster with light streaks",
+    "Drop the cylindrical light blue cup on top of the light gray streaked wooden coaster.",
+    "Slide the blue rounded-bottom cup gently onto the smooth round palm-sized coaster via the arm.",
+    "Position the light blue plastic cup above and drop it on the round coaster with light streaks",
+    "Move the cup for holding liquids using the arm onto the light gray round grainy coaster.",
+    "Use an arm to place the rounded base blue cup on the flat surface gray wooden coaster",
+    "Grab the plastic cup for drinks and lower it onto the coaster with circular shape",
+    "Pick the plastic cup for drinks up and drop it on the light gray streaked wooden coaster.",
+    "Using the arm, drop the rounded base blue cup onto the coaster with circular shape.",
+    "Use an arm to drop the cup for holding liquids on the coaster with circular shape",
+    "Use the arm to slide the cup with smooth plastic surface onto the grainy texture coaster.",
+    "Use the arm to put the smooth blue drinking cup onto the wooden coaster.",
+    "Stick the cup with light blue color onto the light gray round grainy coaster carefully.",
+    "Align the smooth blue cup for liquids and set it down on the flat round wooden coaster",
+    "Grab the medium blue cylindrical cup and place it over the light gray streaked wooden coaster.",
+    "Position the light blue plastic cup on the coaster made of smooth wood with the arm.",
+    "Lift the medium blue cylindrical cup and place it over the round coaster with light streaks",
+    "Using the arm, slide the cup for holding liquids onto the smooth round palm-sized coaster.",
+    "Lift the cup for holding liquids up and drop it on the round coaster with light streaks.",
+    "Grab the medium blue cylindrical cup, then place it onto the light gray streaked wooden coaster.",
+    "Grab the cup for holding liquids and set it onto the wooden coaster.",
+    "Move the blue rounded-bottom cup onto the light gray streaked wooden coaster with the arm",
+    "Lift the light blue plastic cup and stick it onto the wooden coaster.",
+    "Direct the cylindrical light blue cup to the wooden coaster and let it rest.",
+    "Use the arm to set the medium-sized plastic blue cup on the flat surface gray wooden coaster",
+    "Move the blue rounded-bottom cup to the smooth round palm-sized coaster using the arm.",
+    "Position the medium-sized plastic blue cup carefully on the flat round wooden coaster",
+    "Carefully place the cup with light blue color onto the round coaster with light streaks without arm",
+    "Move the blue rounded-bottom cup to the smooth round palm-sized coaster and set it down.",
+    "Place the cup with smooth plastic surface on top of the wooden coaster",
+    "Use arm to place the medium blue cylindrical cup on the coaster with circular shape",
+    "Set the cup with light blue color carefully onto the flat surface gray wooden coaster",
+    "Grab the medium blue cylindrical cup and place it on the flat round wooden coaster.",
+    "Stick the cup with light blue color onto the light gray round grainy coaster using the arm",
+    "Stick the smooth blue drinking cup onto the light gray streaked wooden coaster using the arm.",
+    "Slide the medium blue cylindrical cup onto the wooden coaster",
+    "Relocate the cup with light blue color precisely onto the coaster made of smooth wood with arm",
+    "Use an arm to drop the cup for holding liquids on the small coaster with grain texture.",
+    "Set the blue rounded-bottom cup on the wooden coaster using the arm.",
+    "Using the arm, align the blue rounded-bottom cup over the light gray round grainy coaster",
+    "Position the cup for holding liquids squarely on top of the coaster made of smooth wood.",
+    "Make sure the medium blue cylindrical cup ends up on the round coaster.",
+    "Lift the smooth blue drinking cup and place it onto the flat surface gray wooden coaster.",
+    "Use the arm to position the smooth blue cup for liquids on the small coaster with grain texture.",
+    "Set the light blue plastic cup onto the smooth round palm-sized coaster using the arm.",
+    "Move the cylindrical light blue cup to the round coaster with light streaks",
+    "Use the arm to position the cup with smooth plastic surface onto the flat round wooden coaster.",
+    "Set the light blue plastic cup securely on the flat round wooden coaster using the arm.",
+    "Drop the medium blue cylindrical cup firmly on the wooden coaster using arm",
+    "Slide the plastic cup for drinks onto the light gray round grainy coaster with the arm.",
+    "Set the cup with smooth plastic surface down on the flat round wooden coaster",
+    "Drop the cup with smooth plastic surface on top of the coaster made of smooth wood.",
+    "Slide the smooth blue cup for liquids gently onto the smooth round palm-sized coaster via the arm.",
+    "Position the smooth blue drinking cup above and drop it on the small coaster with grain texture",
+    "Move the smooth blue cup for liquids using the arm onto the small coaster with grain texture.",
+    "Use an arm to place the light blue plastic cup on the wooden coaster",
+    "Grab the medium-sized plastic blue cup and lower it onto the light gray round grainy coaster",
+    "Pick the cup with light blue color up and drop it on the light gray streaked wooden coaster.",
+    "Using the arm, drop the cylindrical light blue cup onto the coaster made of smooth wood.",
+    "Use an arm to drop the medium blue cylindrical cup on the wooden coaster",
+    "Use the arm to slide the medium blue cylindrical cup onto the light gray streaked wooden coaster.",
+    "Use the arm to put the cup with light blue color onto the flat surface gray wooden coaster.",
+    "Stick the smooth blue drinking cup onto the wooden coaster carefully.",
+    "Align the cup for holding liquids and set it down on the light gray round grainy coaster",
+    "Grab the cup with smooth plastic surface and place it over the flat round wooden coaster.",
+    "Position the light blue plastic cup on the flat surface gray wooden coaster with the arm.",
+    "Lift the medium-sized plastic blue cup and place it over the round coaster with light streaks",
+    "Using the arm, slide the medium blue cylindrical cup onto the light gray streaked wooden coaster.",
+    "Lift the cup with light blue color up and drop it on the round coaster with light streaks.",
+    "Grab the cup for holding liquids, then place it onto the round coaster with light streaks.",
+    "Grab the smooth blue drinking cup and set it onto the small coaster with grain texture.",
+    "Move the plastic cup for drinks onto the grainy texture coaster with the arm",
+    "Lift the cup with light blue color and stick it onto the light gray streaked wooden coaster.",
+    "Direct the medium-sized plastic blue cup to the wooden coaster and let it rest.",
+    "Use the arm to set the cup with light blue color on the small coaster with grain texture",
+    "Move the smooth blue cup for liquids to the flat surface gray wooden coaster using the arm.",
+    "Position the cup with light blue color carefully on the light gray streaked wooden coaster",
+    "Carefully place the blue rounded-bottom cup onto the coaster made of smooth wood without arm",
+    "Move the smooth blue cup for liquids to the smooth round palm-sized coaster and set it down.",
+    "Place the cup with smooth plastic surface on top of the coaster with circular shape",
+    "Use arm to place the medium blue cylindrical cup on the flat surface gray wooden coaster",
+    "Set the smooth blue cup for liquids carefully onto the coaster made of smooth wood"
+  ],
+  "unseen": [
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster"
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode94.json b/place_empty_cup/demo_clean/instructions/episode94.json
new file mode 100644
index 0000000000000000000000000000000000000000..edf5adfc9924e3a3b452c5d2a8b58f6e1247595d
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode94.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the light blue plastic cup carefully onto the grainy texture coaster",
+    "Set the cup with light blue color on the round coaster with light streaks using the arm.",
+    "Drop the cup with light blue color on top of the flat round wooden coaster.",
+    "Make sure the cylindrical light blue cup ends up on the light gray streaked wooden coaster.",
+    "Slide the medium blue cylindrical cup onto the smooth round palm-sized coaster with the arm.",
+    "Set the cup for holding liquids securely on the light gray round grainy coaster using the arm.",
+    "Use the arm to position the cup for holding liquids onto the light gray streaked wooden coaster.",
+    "Stick the plastic cup for drinks onto the coaster with circular shape using the arm",
+    "Use an arm to drop the cylindrical light blue cup on the light gray streaked wooden coaster.",
+    "Use the arm to set the cup with smooth plastic surface on the round coaster",
+    "Grab the medium blue cylindrical cup and place it on the light gray round grainy coaster.",
+    "Use the arm to put the rounded base blue cup onto the coaster with circular shape.",
+    "Pick the cup with light blue color up and drop it on the smooth round palm-sized coaster.",
+    "Move the cylindrical light blue cup using the arm onto the small coaster with grain texture.",
+    "Use the arm to position the blue rounded-bottom cup on the wooden coaster.",
+    "Position the medium-sized plastic blue cup above and drop it on the round coaster with light streaks",
+    "Stick the cylindrical light blue cup onto the flat surface gray wooden coaster carefully.",
+    "Move the medium blue cylindrical cup to the flat round wooden coaster and set it down.",
+    "Stick the cup for holding liquids onto the coaster with circular shape using the arm.",
+    "Position the cylindrical light blue cup squarely on top of the coaster made of smooth wood.",
+    "Use the arm to slide the plastic cup for drinks onto the small coaster with grain texture.",
+    "Using the arm, align the light blue plastic cup over the coaster made of smooth wood",
+    "Align the cup with smooth plastic surface and set it down on the light gray streaked wooden coaster",
+    "Carefully place the medium-sized plastic blue cup onto the wooden coaster without arm",
+    "Lift the cup for holding liquids and place it onto the smooth round palm-sized coaster.",
+    "Grab the cylindrical light blue cup and set it onto the smooth round palm-sized coaster.",
+    "Relocate the cup with light blue color precisely onto the light gray streaked wooden coaster with arm",
+    "Slide the cup for holding liquids onto the round coaster with light streaks",
+    "Use arm to place the cup with light blue color on the round coaster with light streaks",
+    "Lift the cup for holding liquids and place it over the flat round wooden coaster",
+    "Lift the smooth blue drinking cup and stick it onto the flat surface gray wooden coaster.",
+    "Direct the blue rounded-bottom cup to the wooden coaster and let it rest.",
+    "Grab the medium-sized plastic blue cup and place it over the light gray round grainy coaster.",
+    "Position the blue rounded-bottom cup carefully on the light gray streaked wooden coaster",
+    "Set the cup with light blue color onto the grainy texture coaster using the arm.",
+    "Grab the cup with light blue color and lower it onto the flat surface gray wooden coaster",
+    "Move the cup with light blue color to the coaster made of smooth wood",
+    "Drop the plastic cup for drinks firmly on the coaster made of smooth wood using arm",
+    "Move the smooth blue cup for liquids to the flat round wooden coaster using the arm.",
+    "Position the cup with light blue color on the grainy texture coaster with the arm.",
+    "Use an arm to drop the cup with light blue color on the coaster made of smooth wood",
+    "Lift the smooth blue cup for liquids up and drop it on the small coaster with grain texture.",
+    "Set the cup with smooth plastic surface down on the flat round wooden coaster",
+    "Place the smooth blue drinking cup on top of the wooden coaster",
+    "Slide the rounded base blue cup gently onto the round coaster with light streaks via the arm.",
+    "Move the light blue plastic cup onto the small coaster with grain texture with the arm",
+    "Using the arm, slide the light blue plastic cup onto the round coaster.",
+    "Grab the plastic cup for drinks, then place it onto the round coaster.",
+    "Using the arm, drop the cup with light blue color onto the grainy texture coaster.",
+    "Use an arm to place the rounded base blue cup on the round coaster",
+    "Set the cup with light blue color carefully onto the coaster with circular shape",
+    "Set the smooth blue drinking cup on the small coaster with grain texture using the arm.",
+    "Drop the cup with smooth plastic surface on top of the flat surface gray wooden coaster.",
+    "Make sure the smooth blue drinking cup ends up on the grainy texture coaster.",
+    "Slide the cylindrical light blue cup onto the coaster with circular shape with the arm.",
+    "Set the smooth blue drinking cup securely on the round coaster with light streaks using the arm.",
+    "Use the arm to position the smooth blue cup for liquids onto the flat surface gray wooden coaster.",
+    "Stick the light blue plastic cup onto the small coaster with grain texture using the arm",
+    "Use an arm to drop the cup with smooth plastic surface on the light gray streaked wooden coaster.",
+    "Use the arm to set the medium-sized plastic blue cup on the coaster made of smooth wood",
+    "Grab the smooth blue drinking cup and place it on the flat round wooden coaster.",
+    "Use the arm to put the rounded base blue cup onto the light gray streaked wooden coaster.",
+    "Pick the cup with light blue color up and drop it on the small coaster with grain texture.",
+    "Move the cup for holding liquids using the arm onto the coaster with circular shape.",
+    "Use the arm to position the medium-sized plastic blue cup on the round coaster.",
+    "Position the blue rounded-bottom cup above and drop it on the coaster made of smooth wood",
+    "Stick the smooth blue cup for liquids onto the coaster with circular shape carefully.",
+    "Move the cup with light blue color to the round coaster with light streaks and set it down.",
+    "Stick the cup with smooth plastic surface onto the round coaster using the arm.",
+    "Position the medium-sized plastic blue cup squarely on top of the coaster with circular shape.",
+    "Use the arm to slide the light blue plastic cup onto the round coaster with light streaks.",
+    "Using the arm, align the plastic cup for drinks over the coaster with circular shape",
+    "Align the medium blue cylindrical cup and set it down on the round coaster with light streaks",
+    "Carefully place the cup for holding liquids onto the round coaster without arm",
+    "Lift the cup with light blue color and place it onto the smooth round palm-sized coaster.",
+    "Grab the rounded base blue cup and set it onto the coaster made of smooth wood.",
+    "Relocate the blue rounded-bottom cup precisely onto the round coaster with arm",
+    "Slide the cup for holding liquids onto the light gray round grainy coaster",
+    "Use arm to place the cylindrical light blue cup on the light gray round grainy coaster",
+    "Lift the smooth blue drinking cup and place it over the light gray streaked wooden coaster",
+    "Lift the cup with light blue color and stick it onto the light gray streaked wooden coaster.",
+    "Direct the smooth blue cup for liquids to the coaster with circular shape and let it rest.",
+    "Grab the cylindrical light blue cup and place it over the coaster with circular shape.",
+    "Position the rounded base blue cup carefully on the grainy texture coaster",
+    "Set the cup with smooth plastic surface onto the smooth round palm-sized coaster using the arm.",
+    "Grab the plastic cup for drinks and lower it onto the light gray streaked wooden coaster",
+    "Move the rounded base blue cup to the grainy texture coaster",
+    "Drop the medium-sized plastic blue cup firmly on the smooth round palm-sized coaster using arm",
+    "Move the rounded base blue cup to the small coaster with grain texture using the arm.",
+    "Position the cup with smooth plastic surface on the wooden coaster with the arm.",
+    "Use an arm to drop the cylindrical light blue cup on the smooth round palm-sized coaster",
+    "Lift the medium blue cylindrical cup up and drop it on the light gray round grainy coaster.",
+    "Set the light blue plastic cup down on the flat round wooden coaster",
+    "Place the medium-sized plastic blue cup on top of the flat round wooden coaster",
+    "Slide the cylindrical light blue cup gently onto the smooth round palm-sized coaster via the arm.",
+    "Move the smooth blue cup for liquids onto the coaster with circular shape with the arm",
+    "Using the arm, slide the light blue plastic cup onto the coaster with circular shape.",
+    "Grab the cylindrical light blue cup, then place it onto the light gray round grainy coaster.",
+    "Using the arm, drop the smooth blue cup for liquids onto the flat round wooden coaster.",
+    "Use an arm to place the smooth blue drinking cup on the flat surface gray wooden coaster"
+  ],
+  "unseen": [
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode95.json b/place_empty_cup/demo_clean/instructions/episode95.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fbf62d22999aa0c064696402fa8d69d4cf7127a
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode95.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Drop the rounded base blue cup firmly on the smooth round palm-sized coaster using arm",
+    "Grab the medium blue cylindrical cup, then place it onto the coaster with circular shape.",
+    "Using the arm, drop the medium-sized plastic blue cup onto the round coaster.",
+    "Move the blue rounded-bottom cup to the wooden coaster and set it down.",
+    "Use the arm to position the medium-sized plastic blue cup onto the coaster made of smooth wood.",
+    "Use arm to place the cup for holding liquids on the flat round wooden coaster",
+    "Move the medium-sized plastic blue cup using the arm onto the smooth round palm-sized coaster.",
+    "Set the light blue plastic cup on the flat surface gray wooden coaster using the arm.",
+    "Use an arm to place the rounded base blue cup on the round coaster with light streaks",
+    "Carefully place the blue rounded-bottom cup onto the smooth round palm-sized coaster without arm",
+    "Lift the cylindrical light blue cup and place it over the light gray streaked wooden coaster",
+    "Grab the cup with smooth plastic surface and place it over the coaster with circular shape.",
+    "Position the light blue plastic cup above and drop it on the flat surface gray wooden coaster",
+    "Move the rounded base blue cup to the flat surface gray wooden coaster",
+    "Move the light blue plastic cup to the round coaster with light streaks using the arm.",
+    "Stick the blue rounded-bottom cup onto the round coaster with light streaks using the arm.",
+    "Use an arm to drop the plastic cup for drinks on the light gray round grainy coaster.",
+    "Use the arm to slide the cylindrical light blue cup onto the wooden coaster.",
+    "Set the cylindrical light blue cup carefully onto the light gray round grainy coaster",
+    "Place the plastic cup for drinks on top of the grainy texture coaster",
+    "Set the cylindrical light blue cup onto the coaster made of smooth wood using the arm.",
+    "Position the cup for holding liquids on the small coaster with grain texture with the arm.",
+    "Grab the blue rounded-bottom cup and lower it onto the coaster made of smooth wood",
+    "Set the smooth blue cup for liquids securely on the light gray round grainy coaster using the arm.",
+    "Using the arm, align the plastic cup for drinks over the coaster with circular shape",
+    "Pick the cylindrical light blue cup up and drop it on the coaster with circular shape.",
+    "Position the light blue plastic cup carefully on the small coaster with grain texture",
+    "Move the cup with smooth plastic surface onto the round coaster with light streaks with the arm",
+    "Make sure the smooth blue drinking cup ends up on the coaster made of smooth wood.",
+    "Lift the plastic cup for drinks and stick it onto the light gray round grainy coaster.",
+    "Use an arm to drop the rounded base blue cup on the wooden coaster",
+    "Lift the cup with smooth plastic surface up and drop it on the flat round wooden coaster.",
+    "Set the rounded base blue cup down on the light gray streaked wooden coaster",
+    "Relocate the blue rounded-bottom cup precisely onto the flat surface gray wooden coaster with arm",
+    "Position the light blue plastic cup squarely on top of the grainy texture coaster.",
+    "Use the arm to put the light blue plastic cup onto the coaster made of smooth wood.",
+    "Slide the light blue plastic cup onto the round coaster",
+    "Lift the cup for holding liquids and place it onto the flat round wooden coaster.",
+    "Use the arm to position the medium-sized plastic blue cup on the light gray streaked wooden coaster.",
+    "Using the arm, slide the rounded base blue cup onto the light gray round grainy coaster.",
+    "Direct the rounded base blue cup to the smooth round palm-sized coaster and let it rest.",
+    "Slide the cup for holding liquids onto the flat round wooden coaster with the arm.",
+    "Stick the cup with light blue color onto the smooth round palm-sized coaster using the arm",
+    "Use the arm to set the rounded base blue cup on the round coaster",
+    "Slide the smooth blue drinking cup gently onto the light gray round grainy coaster via the arm.",
+    "Grab the cup with smooth plastic surface and set it onto the small coaster with grain texture.",
+    "Drop the light blue plastic cup on top of the round coaster.",
+    "Align the cup with light blue color and set it down on the wooden coaster",
+    "Grab the blue rounded-bottom cup and place it on the light gray round grainy coaster.",
+    "Stick the rounded base blue cup onto the light gray streaked wooden coaster carefully.",
+    "Drop the cylindrical light blue cup firmly on the round coaster using arm",
+    "Grab the medium blue cylindrical cup, then place it onto the coaster made of smooth wood.",
+    "Using the arm, drop the smooth blue cup for liquids onto the coaster with circular shape.",
+    "Move the rounded base blue cup to the light gray round grainy coaster and set it down.",
+    "Use the arm to position the cup for holding liquids onto the coaster made of smooth wood.",
+    "Use arm to place the smooth blue drinking cup on the light gray streaked wooden coaster",
+    "Move the plastic cup for drinks using the arm onto the smooth round palm-sized coaster.",
+    "Set the plastic cup for drinks on the light gray streaked wooden coaster using the arm.",
+    "Use an arm to place the cylindrical light blue cup on the coaster with circular shape",
+    "Carefully place the rounded base blue cup onto the small coaster with grain texture without arm",
+    "Lift the smooth blue cup for liquids and place it over the coaster made of smooth wood",
+    "Grab the smooth blue cup for liquids and place it over the round coaster with light streaks.",
+    "Position the smooth blue cup for liquids above and drop it on the flat surface gray wooden coaster",
+    "Move the cup with light blue color to the wooden coaster",
+    "Move the cup with smooth plastic surface to the smooth round palm-sized coaster using the arm.",
+    "Stick the smooth blue cup for liquids onto the coaster with circular shape using the arm.",
+    "Use an arm to drop the cup with light blue color on the small coaster with grain texture.",
+    "Use the arm to slide the medium-sized plastic blue cup onto the flat surface gray wooden coaster.",
+    "Set the cup for holding liquids carefully onto the wooden coaster",
+    "Place the medium blue cylindrical cup on top of the light gray round grainy coaster",
+    "Set the plastic cup for drinks onto the round coaster using the arm.",
+    "Position the rounded base blue cup on the flat round wooden coaster with the arm.",
+    "Grab the plastic cup for drinks and lower it onto the grainy texture coaster",
+    "Set the plastic cup for drinks securely on the light gray streaked wooden coaster using the arm.",
+    "Using the arm, align the medium blue cylindrical cup over the round coaster with light streaks",
+    "Pick the plastic cup for drinks up and drop it on the light gray streaked wooden coaster.",
+    "Position the cup with light blue color carefully on the coaster made of smooth wood",
+    "Move the light blue plastic cup onto the coaster made of smooth wood with the arm",
+    "Make sure the cup for holding liquids ends up on the light gray streaked wooden coaster.",
+    "Lift the cylindrical light blue cup and stick it onto the wooden coaster.",
+    "Use an arm to drop the plastic cup for drinks on the coaster made of smooth wood",
+    "Lift the light blue plastic cup up and drop it on the light gray streaked wooden coaster.",
+    "Set the cup with light blue color down on the small coaster with grain texture",
+    "Relocate the plastic cup for drinks precisely onto the flat surface gray wooden coaster with arm",
+    "Position the cup with smooth plastic surface squarely on top of the round coaster.",
+    "Use the arm to put the medium-sized plastic blue cup onto the smooth round palm-sized coaster.",
+    "Slide the plastic cup for drinks onto the flat surface gray wooden coaster",
+    "Lift the smooth blue cup for liquids and place it onto the wooden coaster.",
+    "Use the arm to position the medium-sized plastic blue cup on the coaster made of smooth wood.",
+    "Using the arm, slide the cup for holding liquids onto the round coaster with light streaks.",
+    "Direct the cup for holding liquids to the round coaster with light streaks and let it rest.",
+    "Slide the smooth blue cup for liquids onto the wooden coaster with the arm.",
+    "Stick the medium blue cylindrical cup onto the wooden coaster using the arm",
+    "Use the arm to set the plastic cup for drinks on the small coaster with grain texture",
+    "Slide the cup with light blue color gently onto the coaster made of smooth wood via the arm.",
+    "Grab the smooth blue cup for liquids and set it onto the round coaster with light streaks.",
+    "Drop the medium-sized plastic blue cup on top of the round coaster.",
+    "Align the cup with smooth plastic surface and set it down on the flat surface gray wooden coaster",
+    "Grab the blue rounded-bottom cup and place it on the flat surface gray wooden coaster.",
+    "Stick the cup for holding liquids onto the coaster with circular shape carefully."
+  ],
+  "unseen": [
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode96.json b/place_empty_cup/demo_clean/instructions/episode96.json
new file mode 100644
index 0000000000000000000000000000000000000000..a80deb8a162f0e7c2e54de95fbb57b3141dc012e
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode96.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the rounded base blue cup up and drop it on the round coaster with light streaks.",
+    "Move the cup with light blue color to the wooden coaster",
+    "Relocate the medium-sized plastic blue cup precisely onto the round coaster with light streaks with arm",
+    "Use an arm to drop the medium blue cylindrical cup on the flat surface gray wooden coaster.",
+    "Lift the cup for holding liquids and place it over the grainy texture coaster",
+    "Lift the cylindrical light blue cup and stick it onto the round coaster.",
+    "Grab the plastic cup for drinks and lower it onto the smooth round palm-sized coaster",
+    "Using the arm, slide the medium blue cylindrical cup onto the round coaster.",
+    "Stick the cup for holding liquids onto the smooth round palm-sized coaster using the arm.",
+    "Position the rounded base blue cup on the round coaster with the arm.",
+    "Slide the cylindrical light blue cup onto the flat round wooden coaster with the arm.",
+    "Use an arm to place the cup with light blue color on the light gray round grainy coaster",
+    "Move the medium-sized plastic blue cup to the round coaster with light streaks using the arm.",
+    "Drop the cup with smooth plastic surface firmly on the round coaster with light streaks using arm",
+    "Lift the blue rounded-bottom cup up and drop it on the round coaster.",
+    "Slide the blue rounded-bottom cup onto the light gray streaked wooden coaster",
+    "Grab the cup with light blue color and place it over the light gray streaked wooden coaster.",
+    "Stick the rounded base blue cup onto the flat round wooden coaster carefully.",
+    "Use the arm to position the smooth blue drinking cup onto the wooden coaster.",
+    "Set the cup for holding liquids onto the small coaster with grain texture using the arm.",
+    "Use an arm to drop the smooth blue drinking cup on the coaster with circular shape",
+    "Make sure the medium-sized plastic blue cup ends up on the flat surface gray wooden coaster.",
+    "Grab the blue rounded-bottom cup and set it onto the flat round wooden coaster.",
+    "Using the arm, align the cylindrical light blue cup over the grainy texture coaster",
+    "Slide the cylindrical light blue cup gently onto the light gray streaked wooden coaster via the arm.",
+    "Use the arm to set the rounded base blue cup on the wooden coaster",
+    "Set the medium blue cylindrical cup carefully onto the flat surface gray wooden coaster",
+    "Use the arm to slide the plastic cup for drinks onto the small coaster with grain texture.",
+    "Align the cup for holding liquids and set it down on the small coaster with grain texture",
+    "Lift the medium blue cylindrical cup and place it onto the round coaster with light streaks.",
+    "Use the arm to put the cup for holding liquids onto the flat round wooden coaster.",
+    "Position the smooth blue drinking cup carefully on the round coaster with light streaks",
+    "Carefully place the cup with smooth plastic surface onto the smooth round palm-sized coaster without arm",
+    "Move the light blue plastic cup to the round coaster and set it down.",
+    "Use the arm to position the plastic cup for drinks on the light gray round grainy coaster.",
+    "Set the cup with light blue color securely on the light gray round grainy coaster using the arm.",
+    "Use arm to place the light blue plastic cup on the smooth round palm-sized coaster",
+    "Drop the cylindrical light blue cup on top of the small coaster with grain texture.",
+    "Stick the cup with smooth plastic surface onto the flat round wooden coaster using the arm",
+    "Direct the cup with light blue color to the light gray streaked wooden coaster and let it rest.",
+    "Grab the cup for holding liquids and place it on the wooden coaster.",
+    "Move the rounded base blue cup using the arm onto the light gray round grainy coaster.",
+    "Grab the light blue plastic cup, then place it onto the coaster with circular shape.",
+    "Place the medium blue cylindrical cup on top of the round coaster with light streaks",
+    "Move the cup with smooth plastic surface onto the flat surface gray wooden coaster with the arm",
+    "Set the medium blue cylindrical cup on the wooden coaster using the arm.",
+    "Set the plastic cup for drinks down on the coaster with circular shape",
+    "Using the arm, drop the smooth blue drinking cup onto the small coaster with grain texture.",
+    "Position the smooth blue cup for liquids squarely on top of the light gray round grainy coaster.",
+    "Position the smooth blue drinking cup above and drop it on the coaster with circular shape",
+    "Pick the plastic cup for drinks up and drop it on the smooth round palm-sized coaster.",
+    "Move the cup with light blue color to the coaster with circular shape",
+    "Relocate the light blue plastic cup precisely onto the wooden coaster with arm",
+    "Use an arm to drop the cup for holding liquids on the coaster made of smooth wood.",
+    "Lift the cylindrical light blue cup and place it over the flat surface gray wooden coaster",
+    "Lift the smooth blue cup for liquids and stick it onto the coaster made of smooth wood.",
+    "Grab the plastic cup for drinks and lower it onto the wooden coaster",
+    "Using the arm, slide the rounded base blue cup onto the light gray streaked wooden coaster.",
+    "Stick the light blue plastic cup onto the smooth round palm-sized coaster using the arm.",
+    "Position the cup with smooth plastic surface on the round coaster with the arm.",
+    "Slide the cylindrical light blue cup onto the small coaster with grain texture with the arm.",
+    "Use an arm to place the rounded base blue cup on the grainy texture coaster",
+    "Move the plastic cup for drinks to the coaster with circular shape using the arm.",
+    "Drop the smooth blue drinking cup firmly on the wooden coaster using arm",
+    "Lift the medium-sized plastic blue cup up and drop it on the coaster with circular shape.",
+    "Slide the smooth blue drinking cup onto the smooth round palm-sized coaster",
+    "Grab the cup with light blue color and place it over the flat surface gray wooden coaster.",
+    "Stick the rounded base blue cup onto the flat surface gray wooden coaster carefully.",
+    "Use the arm to position the smooth blue cup for liquids onto the smooth round palm-sized coaster.",
+    "Set the cup with smooth plastic surface onto the smooth round palm-sized coaster using the arm.",
+    "Use an arm to drop the rounded base blue cup on the coaster with circular shape",
+    "Make sure the rounded base blue cup ends up on the flat round wooden coaster.",
+    "Grab the plastic cup for drinks and set it onto the flat surface gray wooden coaster.",
+    "Using the arm, align the light blue plastic cup over the round coaster with light streaks",
+    "Slide the blue rounded-bottom cup gently onto the wooden coaster via the arm.",
+    "Use the arm to set the blue rounded-bottom cup on the flat round wooden coaster",
+    "Set the smooth blue cup for liquids carefully onto the light gray streaked wooden coaster",
+    "Use the arm to slide the medium blue cylindrical cup onto the light gray streaked wooden coaster.",
+    "Align the cup with smooth plastic surface and set it down on the light gray round grainy coaster",
+    "Lift the smooth blue drinking cup and place it onto the coaster with circular shape.",
+    "Use the arm to put the cylindrical light blue cup onto the coaster made of smooth wood.",
+    "Position the cup with smooth plastic surface carefully on the flat surface gray wooden coaster",
+    "Carefully place the smooth blue drinking cup onto the small coaster with grain texture without arm",
+    "Move the rounded base blue cup to the smooth round palm-sized coaster and set it down.",
+    "Use the arm to position the medium blue cylindrical cup on the small coaster with grain texture.",
+    "Set the cup for holding liquids securely on the flat round wooden coaster using the arm.",
+    "Use arm to place the smooth blue drinking cup on the round coaster with light streaks",
+    "Drop the cup with smooth plastic surface on top of the grainy texture coaster.",
+    "Stick the cup with smooth plastic surface onto the round coaster with light streaks using the arm",
+    "Direct the smooth blue cup for liquids to the flat round wooden coaster and let it rest.",
+    "Grab the light blue plastic cup and place it on the round coaster.",
+    "Move the rounded base blue cup using the arm onto the flat round wooden coaster.",
+    "Grab the cup with light blue color, then place it onto the coaster with circular shape.",
+    "Place the plastic cup for drinks on top of the light gray round grainy coaster",
+    "Move the medium-sized plastic blue cup onto the wooden coaster with the arm",
+    "Set the medium blue cylindrical cup on the light gray round grainy coaster using the arm.",
+    "Set the cup with smooth plastic surface down on the light gray streaked wooden coaster",
+    "Using the arm, drop the light blue plastic cup onto the light gray round grainy coaster.",
+    "Position the blue rounded-bottom cup squarely on top of the coaster made of smooth wood.",
+    "Position the light blue plastic cup above and drop it on the light gray round grainy coaster"
+  ],
+  "unseen": [
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster gently."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode97.json b/place_empty_cup/demo_clean/instructions/episode97.json
new file mode 100644
index 0000000000000000000000000000000000000000..b106f2938c142336d3d6dee3e20c4fb95454af11
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode97.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the plastic cup for drinks up and drop it on the small coaster with grain texture.",
+    "Position the cylindrical light blue cup above and drop it on the wooden coaster",
+    "Using the arm, align the blue rounded-bottom cup over the flat round wooden coaster",
+    "Use an arm to place the cylindrical light blue cup on the flat round wooden coaster",
+    "Lift the blue rounded-bottom cup and place it onto the round coaster with light streaks.",
+    "Using the arm, slide the medium-sized plastic blue cup onto the flat surface gray wooden coaster.",
+    "Position the light blue plastic cup squarely on top of the light gray streaked wooden coaster.",
+    "Lift the smooth blue cup for liquids and place it over the flat surface gray wooden coaster",
+    "Position the plastic cup for drinks on the round coaster with the arm.",
+    "Move the cup with smooth plastic surface using the arm onto the small coaster with grain texture.",
+    "Slide the smooth blue cup for liquids onto the flat surface gray wooden coaster",
+    "Move the smooth blue cup for liquids to the grainy texture coaster and set it down.",
+    "Move the plastic cup for drinks to the flat surface gray wooden coaster using the arm.",
+    "Stick the smooth blue drinking cup onto the light gray round grainy coaster using the arm.",
+    "Slide the light blue plastic cup onto the flat surface gray wooden coaster with the arm.",
+    "Move the cup with light blue color onto the flat round wooden coaster with the arm",
+    "Direct the medium-sized plastic blue cup to the small coaster with grain texture and let it rest.",
+    "Using the arm, drop the smooth blue drinking cup onto the round coaster.",
+    "Make sure the smooth blue drinking cup ends up on the light gray round grainy coaster.",
+    "Relocate the smooth blue drinking cup precisely onto the light gray streaked wooden coaster with arm",
+    "Grab the cup for holding liquids and set it onto the small coaster with grain texture.",
+    "Grab the cup for holding liquids, then place it onto the coaster with circular shape.",
+    "Position the medium-sized plastic blue cup carefully on the coaster made of smooth wood",
+    "Lift the cup with light blue color up and drop it on the small coaster with grain texture.",
+    "Use an arm to drop the smooth blue cup for liquids on the coaster with circular shape",
+    "Use arm to place the cylindrical light blue cup on the grainy texture coaster",
+    "Drop the smooth blue cup for liquids on top of the grainy texture coaster.",
+    "Place the light blue plastic cup on top of the coaster with circular shape",
+    "Stick the medium blue cylindrical cup onto the wooden coaster carefully.",
+    "Use the arm to slide the light blue plastic cup onto the light gray streaked wooden coaster.",
+    "Grab the medium-sized plastic blue cup and place it on the smooth round palm-sized coaster.",
+    "Set the cup with smooth plastic surface securely on the round coaster using the arm.",
+    "Drop the blue rounded-bottom cup firmly on the small coaster with grain texture using arm",
+    "Lift the plastic cup for drinks and stick it onto the smooth round palm-sized coaster.",
+    "Carefully place the rounded base blue cup onto the round coaster with light streaks without arm",
+    "Move the light blue plastic cup to the flat surface gray wooden coaster",
+    "Grab the plastic cup for drinks and place it over the round coaster with light streaks.",
+    "Set the smooth blue cup for liquids onto the light gray round grainy coaster using the arm.",
+    "Grab the cylindrical light blue cup and lower it onto the smooth round palm-sized coaster",
+    "Use the arm to put the blue rounded-bottom cup onto the flat surface gray wooden coaster.",
+    "Set the cup with light blue color carefully onto the small coaster with grain texture",
+    "Stick the cylindrical light blue cup onto the small coaster with grain texture using the arm",
+    "Set the cup with smooth plastic surface down on the small coaster with grain texture",
+    "Use an arm to drop the medium blue cylindrical cup on the coaster with circular shape.",
+    "Set the cup with smooth plastic surface on the coaster made of smooth wood using the arm.",
+    "Slide the medium blue cylindrical cup gently onto the smooth round palm-sized coaster via the arm.",
+    "Use the arm to set the cup for holding liquids on the flat surface gray wooden coaster",
+    "Use the arm to position the medium-sized plastic blue cup on the grainy texture coaster.",
+    "Align the cup for holding liquids and set it down on the flat surface gray wooden coaster",
+    "Use the arm to position the smooth blue drinking cup onto the smooth round palm-sized coaster.",
+    "Pick the medium blue cylindrical cup up and drop it on the flat surface gray wooden coaster.",
+    "Position the cup with smooth plastic surface above and drop it on the wooden coaster",
+    "Using the arm, align the medium-sized plastic blue cup over the wooden coaster",
+    "Use an arm to place the cup with light blue color on the grainy texture coaster",
+    "Lift the cylindrical light blue cup and place it onto the coaster made of smooth wood.",
+    "Using the arm, slide the smooth blue drinking cup onto the grainy texture coaster.",
+    "Position the rounded base blue cup squarely on top of the flat round wooden coaster.",
+    "Lift the rounded base blue cup and place it over the light gray streaked wooden coaster",
+    "Position the medium-sized plastic blue cup on the coaster with circular shape with the arm.",
+    "Move the light blue plastic cup using the arm onto the small coaster with grain texture.",
+    "Slide the cup with smooth plastic surface onto the flat round wooden coaster",
+    "Move the smooth blue cup for liquids to the smooth round palm-sized coaster and set it down.",
+    "Move the plastic cup for drinks to the coaster made of smooth wood using the arm.",
+    "Stick the cup with light blue color onto the coaster with circular shape using the arm.",
+    "Slide the cylindrical light blue cup onto the flat round wooden coaster with the arm.",
+    "Move the medium-sized plastic blue cup onto the light gray streaked wooden coaster with the arm",
+    "Direct the smooth blue cup for liquids to the round coaster and let it rest.",
+    "Using the arm, drop the smooth blue drinking cup onto the flat surface gray wooden coaster.",
+    "Make sure the cup with light blue color ends up on the round coaster with light streaks.",
+    "Relocate the smooth blue cup for liquids precisely onto the coaster made of smooth wood with arm",
+    "Grab the smooth blue cup for liquids and set it onto the grainy texture coaster.",
+    "Grab the cup with smooth plastic surface, then place it onto the coaster made of smooth wood.",
+    "Position the light blue plastic cup carefully on the flat round wooden coaster",
+    "Lift the plastic cup for drinks up and drop it on the coaster made of smooth wood.",
+    "Use an arm to drop the cylindrical light blue cup on the small coaster with grain texture",
+    "Use arm to place the medium-sized plastic blue cup on the round coaster with light streaks",
+    "Drop the cup for holding liquids on top of the grainy texture coaster.",
+    "Place the blue rounded-bottom cup on top of the round coaster",
+    "Stick the cylindrical light blue cup onto the coaster with circular shape carefully.",
+    "Use the arm to slide the smooth blue drinking cup onto the round coaster.",
+    "Grab the smooth blue cup for liquids and place it on the round coaster with light streaks.",
+    "Set the rounded base blue cup securely on the light gray streaked wooden coaster using the arm.",
+    "Drop the cup with smooth plastic surface firmly on the coaster made of smooth wood using arm",
+    "Lift the smooth blue drinking cup and stick it onto the coaster made of smooth wood.",
+    "Carefully place the cup with smooth plastic surface onto the smooth round palm-sized coaster without arm",
+    "Move the smooth blue drinking cup to the coaster made of smooth wood",
+    "Grab the blue rounded-bottom cup and place it over the light gray streaked wooden coaster.",
+    "Set the cup with smooth plastic surface onto the flat round wooden coaster using the arm.",
+    "Grab the cup for holding liquids and lower it onto the small coaster with grain texture",
+    "Use the arm to put the cup with smooth plastic surface onto the small coaster with grain texture.",
+    "Set the light blue plastic cup carefully onto the smooth round palm-sized coaster",
+    "Stick the cup for holding liquids onto the small coaster with grain texture using the arm",
+    "Set the medium blue cylindrical cup down on the flat surface gray wooden coaster",
+    "Use an arm to drop the plastic cup for drinks on the small coaster with grain texture.",
+    "Set the cup with light blue color on the flat surface gray wooden coaster using the arm.",
+    "Slide the medium-sized plastic blue cup gently onto the light gray streaked wooden coaster via the arm.",
+    "Use the arm to set the cup for holding liquids on the small coaster with grain texture",
+    "Use the arm to position the rounded base blue cup on the round coaster.",
+    "Align the smooth blue cup for liquids and set it down on the flat surface gray wooden coaster",
+    "Use the arm to position the smooth blue cup for liquids onto the coaster with circular shape."
+  ],
+  "unseen": [
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode98.json b/place_empty_cup/demo_clean/instructions/episode98.json
new file mode 100644
index 0000000000000000000000000000000000000000..acfd0e0b2cb84f172116dc7bad90873f1e308102
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode98.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the arm, slide the smooth blue drinking cup onto the light gray round grainy coaster.",
+    "Using the arm, align the plastic cup for drinks over the grainy texture coaster",
+    "Carefully place the cylindrical light blue cup onto the wooden coaster without arm",
+    "Relocate the medium blue cylindrical cup precisely onto the light gray streaked wooden coaster with arm",
+    "Using the arm, drop the plastic cup for drinks onto the round coaster with light streaks.",
+    "Grab the rounded base blue cup, then place it onto the light gray round grainy coaster.",
+    "Position the smooth blue cup for liquids above and drop it on the round coaster",
+    "Move the cup with light blue color using the arm onto the round coaster.",
+    "Grab the medium blue cylindrical cup and place it on the light gray streaked wooden coaster.",
+    "Position the blue rounded-bottom cup squarely on top of the round coaster.",
+    "Pick the blue rounded-bottom cup up and drop it on the grainy texture coaster.",
+    "Move the cup with smooth plastic surface to the smooth round palm-sized coaster using the arm.",
+    "Slide the medium-sized plastic blue cup gently onto the light gray round grainy coaster via the arm.",
+    "Set the cylindrical light blue cup securely on the round coaster with light streaks using the arm.",
+    "Position the smooth blue drinking cup carefully on the flat surface gray wooden coaster",
+    "Use an arm to place the medium-sized plastic blue cup on the grainy texture coaster",
+    "Position the plastic cup for drinks on the smooth round palm-sized coaster with the arm.",
+    "Use the arm to put the cup for holding liquids onto the grainy texture coaster.",
+    "Move the blue rounded-bottom cup to the coaster made of smooth wood",
+    "Make sure the plastic cup for drinks ends up on the wooden coaster.",
+    "Set the plastic cup for drinks on the light gray round grainy coaster using the arm.",
+    "Stick the cup for holding liquids onto the coaster with circular shape carefully.",
+    "Grab the smooth blue cup for liquids and lower it onto the light gray round grainy coaster",
+    "Use an arm to drop the smooth blue drinking cup on the coaster with circular shape.",
+    "Move the plastic cup for drinks to the light gray streaked wooden coaster and set it down.",
+    "Drop the cup with light blue color on top of the flat surface gray wooden coaster.",
+    "Slide the cylindrical light blue cup onto the flat round wooden coaster",
+    "Use the arm to position the rounded base blue cup on the round coaster.",
+    "Grab the cup with light blue color and set it onto the round coaster with light streaks.",
+    "Use the arm to set the rounded base blue cup on the round coaster with light streaks",
+    "Stick the light blue plastic cup onto the light gray streaked wooden coaster using the arm",
+    "Direct the cup for holding liquids to the flat surface gray wooden coaster and let it rest.",
+    "Place the medium-sized plastic blue cup on top of the round coaster with light streaks",
+    "Align the blue rounded-bottom cup and set it down on the flat surface gray wooden coaster",
+    "Lift the cup for holding liquids and place it over the flat round wooden coaster",
+    "Lift the cup for holding liquids and stick it onto the round coaster with light streaks.",
+    "Use the arm to position the light blue plastic cup onto the light gray round grainy coaster.",
+    "Stick the cup with smooth plastic surface onto the wooden coaster using the arm.",
+    "Set the rounded base blue cup carefully onto the light gray round grainy coaster",
+    "Use arm to place the smooth blue drinking cup on the smooth round palm-sized coaster",
+    "Move the rounded base blue cup onto the coaster made of smooth wood with the arm",
+    "Lift the light blue plastic cup and place it onto the grainy texture coaster.",
+    "Set the cup with light blue color onto the coaster with circular shape using the arm.",
+    "Set the plastic cup for drinks down on the coaster with circular shape",
+    "Use the arm to slide the cup with light blue color onto the coaster with circular shape.",
+    "Lift the cylindrical light blue cup up and drop it on the round coaster.",
+    "Slide the cup with smooth plastic surface onto the coaster made of smooth wood with the arm.",
+    "Use an arm to drop the cup for holding liquids on the grainy texture coaster",
+    "Drop the medium-sized plastic blue cup firmly on the wooden coaster using arm",
+    "Grab the cup for holding liquids and place it over the coaster with circular shape.",
+    "Using the arm, slide the light blue plastic cup onto the light gray streaked wooden coaster.",
+    "Using the arm, align the cup with light blue color over the coaster with circular shape",
+    "Carefully place the cup with light blue color onto the small coaster with grain texture without arm",
+    "Relocate the rounded base blue cup precisely onto the coaster with circular shape with arm",
+    "Using the arm, drop the rounded base blue cup onto the flat surface gray wooden coaster.",
+    "Grab the blue rounded-bottom cup, then place it onto the wooden coaster.",
+    "Position the medium blue cylindrical cup above and drop it on the light gray streaked wooden coaster",
+    "Move the smooth blue drinking cup using the arm onto the smooth round palm-sized coaster.",
+    "Grab the light blue plastic cup and place it on the smooth round palm-sized coaster.",
+    "Position the cylindrical light blue cup squarely on top of the wooden coaster.",
+    "Pick the medium blue cylindrical cup up and drop it on the round coaster.",
+    "Move the medium blue cylindrical cup to the smooth round palm-sized coaster using the arm.",
+    "Slide the medium blue cylindrical cup gently onto the grainy texture coaster via the arm.",
+    "Set the medium-sized plastic blue cup securely on the coaster made of smooth wood using the arm.",
+    "Position the cup for holding liquids carefully on the flat round wooden coaster",
+    "Use an arm to place the blue rounded-bottom cup on the flat round wooden coaster",
+    "Position the smooth blue drinking cup on the round coaster with light streaks with the arm.",
+    "Use the arm to put the medium blue cylindrical cup onto the round coaster.",
+    "Move the plastic cup for drinks to the flat round wooden coaster",
+    "Make sure the cup with smooth plastic surface ends up on the coaster with circular shape.",
+    "Set the blue rounded-bottom cup on the round coaster using the arm.",
+    "Stick the light blue plastic cup onto the round coaster with light streaks carefully.",
+    "Grab the cylindrical light blue cup and lower it onto the small coaster with grain texture",
+    "Use an arm to drop the plastic cup for drinks on the round coaster.",
+    "Move the cup with smooth plastic surface to the flat surface gray wooden coaster and set it down.",
+    "Drop the cup with light blue color on top of the flat round wooden coaster.",
+    "Slide the smooth blue cup for liquids onto the coaster made of smooth wood",
+    "Use the arm to position the rounded base blue cup on the light gray streaked wooden coaster.",
+    "Grab the smooth blue drinking cup and set it onto the flat surface gray wooden coaster.",
+    "Use the arm to set the cup with smooth plastic surface on the wooden coaster",
+    "Stick the smooth blue cup for liquids onto the smooth round palm-sized coaster using the arm",
+    "Direct the blue rounded-bottom cup to the flat round wooden coaster and let it rest.",
+    "Place the cup with smooth plastic surface on top of the coaster with circular shape",
+    "Align the light blue plastic cup and set it down on the small coaster with grain texture",
+    "Lift the plastic cup for drinks and place it over the smooth round palm-sized coaster",
+    "Lift the smooth blue drinking cup and stick it onto the flat round wooden coaster.",
+    "Use the arm to position the plastic cup for drinks onto the light gray streaked wooden coaster.",
+    "Stick the medium blue cylindrical cup onto the grainy texture coaster using the arm.",
+    "Set the cylindrical light blue cup carefully onto the round coaster",
+    "Use arm to place the smooth blue drinking cup on the grainy texture coaster",
+    "Move the smooth blue cup for liquids onto the smooth round palm-sized coaster with the arm",
+    "Lift the medium-sized plastic blue cup and place it onto the light gray round grainy coaster.",
+    "Set the medium blue cylindrical cup onto the wooden coaster using the arm.",
+    "Set the smooth blue cup for liquids down on the flat round wooden coaster",
+    "Use the arm to slide the cup with light blue color onto the round coaster with light streaks.",
+    "Lift the smooth blue drinking cup up and drop it on the small coaster with grain texture.",
+    "Slide the smooth blue cup for liquids onto the small coaster with grain texture with the arm.",
+    "Use an arm to drop the medium blue cylindrical cup on the coaster with circular shape",
+    "Drop the cup with smooth plastic surface firmly on the round coaster with light streaks using arm",
+    "Grab the blue rounded-bottom cup and place it over the coaster with circular shape."
+  ],
+  "unseen": [
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the blue cup onto the light gray coaster",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the blue cup onto the light gray coaster",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster"
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/instructions/episode99.json b/place_empty_cup/demo_clean/instructions/episode99.json
new file mode 100644
index 0000000000000000000000000000000000000000..eec51dc1ec8165e5150ba8e3cb351e6c61588b71
--- /dev/null
+++ b/place_empty_cup/demo_clean/instructions/episode99.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the plastic cup for drinks up and drop it on the small coaster with grain texture.",
+    "Use arm to place the smooth blue cup for liquids on the small coaster with grain texture",
+    "Place the cup with light blue color on top of the small coaster with grain texture",
+    "Slide the light blue plastic cup onto the round coaster with light streaks",
+    "Use an arm to drop the smooth blue drinking cup on the round coaster",
+    "Set the cylindrical light blue cup onto the wooden coaster using the arm.",
+    "Stick the blue rounded-bottom cup onto the light gray round grainy coaster carefully.",
+    "Grab the cup with light blue color, then place it onto the coaster made of smooth wood.",
+    "Position the smooth blue drinking cup above and drop it on the round coaster with light streaks",
+    "Use the arm to set the cup for holding liquids on the coaster with circular shape",
+    "Using the arm, align the medium-sized plastic blue cup over the round coaster with light streaks",
+    "Slide the smooth blue drinking cup gently onto the flat round wooden coaster via the arm.",
+    "Move the medium blue cylindrical cup using the arm onto the round coaster.",
+    "Move the light blue plastic cup to the round coaster and set it down.",
+    "Use the arm to put the blue rounded-bottom cup onto the round coaster with light streaks.",
+    "Grab the cup with smooth plastic surface and place it on the wooden coaster.",
+    "Grab the medium blue cylindrical cup and lower it onto the light gray streaked wooden coaster",
+    "Relocate the smooth blue cup for liquids precisely onto the round coaster with arm",
+    "Drop the cup with light blue color on top of the wooden coaster.",
+    "Set the medium blue cylindrical cup securely on the grainy texture coaster using the arm.",
+    "Stick the cup with light blue color onto the round coaster with light streaks using the arm.",
+    "Using the arm, drop the medium-sized plastic blue cup onto the flat surface gray wooden coaster.",
+    "Align the smooth blue drinking cup and set it down on the flat surface gray wooden coaster",
+    "Lift the cup with smooth plastic surface and place it over the flat surface gray wooden coaster",
+    "Position the medium-sized plastic blue cup carefully on the flat round wooden coaster",
+    "Drop the medium blue cylindrical cup firmly on the grainy texture coaster using arm",
+    "Set the smooth blue drinking cup carefully onto the grainy texture coaster",
+    "Use an arm to drop the medium-sized plastic blue cup on the flat round wooden coaster.",
+    "Use an arm to place the cup with light blue color on the coaster with circular shape",
+    "Grab the plastic cup for drinks and set it onto the flat round wooden coaster.",
+    "Grab the light blue plastic cup and place it over the wooden coaster.",
+    "Position the cup with light blue color squarely on top of the wooden coaster.",
+    "Use the arm to slide the blue rounded-bottom cup onto the coaster made of smooth wood.",
+    "Use the arm to position the medium-sized plastic blue cup on the wooden coaster.",
+    "Set the blue rounded-bottom cup on the round coaster with light streaks using the arm.",
+    "Lift the medium blue cylindrical cup and stick it onto the flat round wooden coaster.",
+    "Stick the blue rounded-bottom cup onto the flat surface gray wooden coaster using the arm",
+    "Lift the cup for holding liquids up and drop it on the grainy texture coaster.",
+    "Use the arm to position the cup for holding liquids onto the round coaster.",
+    "Lift the blue rounded-bottom cup and place it onto the flat surface gray wooden coaster.",
+    "Move the blue rounded-bottom cup to the flat surface gray wooden coaster",
+    "Slide the plastic cup for drinks onto the coaster made of smooth wood with the arm.",
+    "Set the light blue plastic cup down on the coaster made of smooth wood",
+    "Carefully place the rounded base blue cup onto the round coaster with light streaks without arm",
+    "Position the medium-sized plastic blue cup on the round coaster with light streaks with the arm.",
+    "Using the arm, slide the smooth blue drinking cup onto the coaster with circular shape.",
+    "Move the cylindrical light blue cup onto the smooth round palm-sized coaster with the arm",
+    "Direct the cup with light blue color to the round coaster with light streaks and let it rest.",
+    "Move the blue rounded-bottom cup to the light gray streaked wooden coaster using the arm.",
+    "Make sure the rounded base blue cup ends up on the small coaster with grain texture.",
+    "Pick the smooth blue drinking cup up and drop it on the coaster made of smooth wood.",
+    "Use arm to place the cup for holding liquids on the wooden coaster",
+    "Place the cup with light blue color on top of the coaster made of smooth wood",
+    "Slide the smooth blue drinking cup onto the light gray streaked wooden coaster",
+    "Use an arm to drop the blue rounded-bottom cup on the smooth round palm-sized coaster",
+    "Set the rounded base blue cup onto the flat surface gray wooden coaster using the arm.",
+    "Stick the plastic cup for drinks onto the coaster made of smooth wood carefully.",
+    "Grab the medium blue cylindrical cup, then place it onto the flat surface gray wooden coaster.",
+    "Position the smooth blue cup for liquids above and drop it on the small coaster with grain texture",
+    "Use the arm to set the plastic cup for drinks on the wooden coaster",
+    "Using the arm, align the medium blue cylindrical cup over the coaster made of smooth wood",
+    "Slide the medium blue cylindrical cup gently onto the round coaster via the arm.",
+    "Move the medium-sized plastic blue cup using the arm onto the flat round wooden coaster.",
+    "Move the cup with light blue color to the wooden coaster and set it down.",
+    "Use the arm to put the cylindrical light blue cup onto the wooden coaster.",
+    "Grab the medium-sized plastic blue cup and place it on the grainy texture coaster.",
+    "Grab the light blue plastic cup and lower it onto the flat surface gray wooden coaster",
+    "Relocate the cup for holding liquids precisely onto the coaster made of smooth wood with arm",
+    "Drop the blue rounded-bottom cup on top of the wooden coaster.",
+    "Set the cup for holding liquids securely on the smooth round palm-sized coaster using the arm.",
+    "Stick the rounded base blue cup onto the wooden coaster using the arm.",
+    "Using the arm, drop the plastic cup for drinks onto the coaster with circular shape.",
+    "Align the cylindrical light blue cup and set it down on the smooth round palm-sized coaster",
+    "Lift the cup with smooth plastic surface and place it over the round coaster",
+    "Position the medium blue cylindrical cup carefully on the grainy texture coaster",
+    "Drop the light blue plastic cup firmly on the round coaster using arm",
+    "Set the smooth blue cup for liquids carefully onto the flat surface gray wooden coaster",
+    "Use an arm to drop the medium-sized plastic blue cup on the flat surface gray wooden coaster.",
+    "Use an arm to place the light blue plastic cup on the round coaster",
+    "Grab the smooth blue drinking cup and set it onto the light gray round grainy coaster.",
+    "Grab the medium blue cylindrical cup and place it over the coaster made of smooth wood.",
+    "Position the plastic cup for drinks squarely on top of the coaster with circular shape.",
+    "Use the arm to slide the cup for holding liquids onto the light gray round grainy coaster.",
+    "Use the arm to position the smooth blue drinking cup on the flat surface gray wooden coaster.",
+    "Set the smooth blue drinking cup on the round coaster using the arm.",
+    "Lift the medium blue cylindrical cup and stick it onto the light gray streaked wooden coaster.",
+    "Stick the smooth blue drinking cup onto the round coaster with light streaks using the arm",
+    "Lift the medium-sized plastic blue cup up and drop it on the light gray streaked wooden coaster.",
+    "Use the arm to position the cylindrical light blue cup onto the grainy texture coaster.",
+    "Lift the cylindrical light blue cup and place it onto the light gray streaked wooden coaster.",
+    "Move the medium blue cylindrical cup to the light gray streaked wooden coaster",
+    "Slide the medium blue cylindrical cup onto the light gray streaked wooden coaster with the arm.",
+    "Set the medium-sized plastic blue cup down on the small coaster with grain texture",
+    "Carefully place the cup with light blue color onto the flat surface gray wooden coaster without arm",
+    "Position the plastic cup for drinks on the small coaster with grain texture with the arm.",
+    "Using the arm, slide the plastic cup for drinks onto the smooth round palm-sized coaster.",
+    "Move the medium-sized plastic blue cup onto the coaster with circular shape with the arm",
+    "Direct the blue rounded-bottom cup to the coaster with circular shape and let it rest.",
+    "Move the cup for holding liquids to the light gray streaked wooden coaster using the arm.",
+    "Make sure the smooth blue cup for liquids ends up on the coaster with circular shape."
+  ],
+  "unseen": [
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster"
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean/scene_info.json b/place_empty_cup/demo_clean/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..035692439a441cf263108535c08a740bab59fdcf
--- /dev/null
+++ b/place_empty_cup/demo_clean/scene_info.json
@@ -0,0 +1,1102 @@
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