Table 1.

Episodes included in dataset 2 (72/144).

Behavior	Bell colors
	R–R	R–G	R–B	G–R	G–G	G–B	B–R	B–G	B–B
POINT-L-SLOWLY	P		P	C	P	C	P	C	P
POINT-L-FAST	C′	P	C	P	C′	P	C	P	C′
POINT-R-SLOWLY	C′	P	C	P	C′	P	C	P	C′
POINT-R-FAST	P	C	P	C	P	C	P	C	P
HIT-L-SLOWLY	C′	P	C	P	C′	P	C	P	C′
HIT-L-FAST	P	C	P	C	P	C	P	C	P
HIT-R-SLOWLY	P	C	P	C	P	C	P	C	P
HIT-R-FAST	C′	P	C		C′	P	C	P	C′

Two possible instructions that instruct the robot to generate a certain behavior (row) in a certain bell color arrangement (column) exist: that is, (P) position word instruction and (C) or (C′) color word instruction. In dataset 2, the robot experiences one of them for each combination of bell arrangement and behavior. For example, when the bell arrangement is Red–Green, the robot experiences only the (C) color word instruction to generate the POINT-LEFT-SLOWLY behavior (1st row, 2nd col); when the bell arrangement is Blue–Red, the robot experiences only the (P) position word instruction to generate the HIT-RIGHT-FAST behavior (8th row, 4th col).