diff --git "a/planning/test/discriminative_affordance_(negative)_task.json" "b/planning/test/discriminative_affordance_(negative)_task.json"
new file mode 100644--- /dev/null
+++ "b/planning/test/discriminative_affordance_(negative)_task.json"
@@ -0,0 +1,7600 @@
+[
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4798",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image>\nIs <lift and move the can towards the other can> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4798/frame_0.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4798/frame_1.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4798/frame_2.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4798/frame_3.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4798/frame_4.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4798/frame_5.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4798/frame_6.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4798/frame_7.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13156",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <push the chair underneath the table> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13156/frame_0.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13156/frame_1.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13156/frame_2.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13156/frame_3.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13156/frame_4.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13156/frame_5.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13156/frame_6.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13156/frame_7.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13156/frame_8.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13156/frame_9.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13156/frame_10.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13156/frame_11.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13156/frame_12.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13156/frame_13.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13156/frame_14.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13156/frame_15.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_7/49_bridge#episode_17328",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you currently engaged in <move the tissue over to the table>"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17328/frame_0.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17328/frame_1.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17328/frame_2.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17328/frame_3.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17328/frame_4.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17328/frame_5.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17328/frame_6.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17328/frame_7.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17328/frame_8.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17328/frame_9.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17328/frame_10.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17328/frame_11.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17328/frame_12.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17328/frame_13.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17328/frame_14.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17328/frame_15.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17328/frame_16.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17328/frame_17.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17328/frame_18.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17328/frame_19.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17328/frame_20.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17328/frame_21.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17328/frame_22.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17328/frame_23.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17328/frame_24.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17328/frame_25.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17328/frame_26.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17328/frame_27.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17328/frame_28.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17328/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_11/49_bridge#episode_22968",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 3,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you currently engaged in <move towards the carrot slice on the stove>"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22968/frame_0.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22968/frame_1.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22968/frame_2.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22968/frame_3.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22968/frame_4.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22968/frame_5.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22968/frame_6.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22968/frame_7.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22968/frame_8.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22968/frame_9.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22968/frame_10.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22968/frame_11.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22968/frame_12.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22968/frame_13.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22968/frame_14.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22968/frame_15.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22968/frame_16.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22968/frame_17.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22968/frame_18.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22968/frame_19.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22968/frame_20.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22968/frame_21.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22968/frame_22.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22968/frame_23.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you currently engaged in <place the sushi in the pan>"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_0.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_1.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_2.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_3.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_4.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_5.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_6.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_7.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_8.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_9.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_10.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_11.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_12.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_13.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_14.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_15.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_16.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_17.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_18.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_19.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_20.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_7/49_bridge#episode_17952",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <return the cup back to its original spot on the table> you're focused on right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17952/frame_0.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17952/frame_1.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17952/frame_2.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17952/frame_3.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17952/frame_4.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17952/frame_5.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17952/frame_6.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17952/frame_7.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17952/frame_8.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17952/frame_9.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17952/frame_10.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17952/frame_11.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17952/frame_12.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17952/frame_13.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_17952/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4298",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you doing <lift up and away from the box> at this very moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4298/frame_0.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4298/frame_1.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4298/frame_2.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4298/frame_3.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4298/frame_4.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4298/frame_5.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4298/frame_6.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4298/frame_7.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4298/frame_8.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4298/frame_9.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4298/frame_10.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4298/frame_11.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4298/frame_12.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4298/frame_13.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4298/frame_14.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4298/frame_15.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4298/frame_16.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4298/frame_17.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4298/frame_18.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4298/frame_19.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4298/frame_20.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4298/frame_21.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4298/frame_22.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4298/frame_23.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4298/frame_24.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4298/frame_25.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4298/frame_26.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4298/frame_27.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4298/frame_28.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4298/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_9/49_bridge#episode_20641",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you currently engaged in <emptying the bowl above the plate>"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20641/frame_0.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20641/frame_1.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20641/frame_2.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20641/frame_3.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20641/frame_4.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20641/frame_5.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20641/frame_6.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20641/frame_7.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20641/frame_8.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20641/frame_9.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20641/frame_10.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20641/frame_11.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20641/frame_12.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20641/frame_13.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15935",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <retract from the container with the tea bag> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15935/frame_0.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15935/frame_1.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15935/frame_2.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15935/frame_3.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15935/frame_4.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15935/frame_5.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15935/frame_6.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15935/frame_7.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15935/frame_8.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15935/frame_9.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15935/frame_10.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15935/frame_11.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15935/frame_12.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15935/frame_13.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15935/frame_14.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15935/frame_15.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15935/frame_16.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15935/frame_17.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15935/frame_18.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15813",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <move the plush toy towards the toaster> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15813/frame_0.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15813/frame_1.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15813/frame_2.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15813/frame_3.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15813/frame_4.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15813/frame_5.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15813/frame_6.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15813/frame_7.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15813/frame_8.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15813/frame_9.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15813/frame_10.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15813/frame_11.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15813/frame_12.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15813/frame_13.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15813/frame_14.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15813/frame_15.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15813/frame_16.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15813/frame_17.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15813/frame_18.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15813/frame_19.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15813/frame_20.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15813/frame_21.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15813/frame_22.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15813/frame_23.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15813/frame_24.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15813/frame_25.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15813/frame_26.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15813/frame_27.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15813/frame_28.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_15813/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_5/49_bridge#episode_14761",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <move towards the mushroom stem> you're focused on right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14761/frame_0.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14761/frame_1.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14761/frame_2.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14761/frame_3.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14761/frame_4.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14761/frame_5.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14761/frame_6.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14761/frame_7.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14761/frame_8.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15338",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you currently engaged in <move the mouse pad to the right>"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15338/frame_0.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15338/frame_1.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15338/frame_2.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15338/frame_3.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15338/frame_4.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15338/frame_5.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15338/frame_6.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15338/frame_7.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15338/frame_8.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15338/frame_9.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15338/frame_10.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15338/frame_11.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15338/frame_12.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15338/frame_13.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15338/frame_14.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15338/frame_15.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15338/frame_16.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15338/frame_17.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15338/frame_18.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15338/frame_19.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15338/frame_20.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15338/frame_21.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15338/frame_22.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15338/frame_23.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15338/frame_24.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15338/frame_25.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15338/frame_26.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15338/frame_27.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15338/frame_28.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15338/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12499",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <erase the rest of the heart> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12499/frame_0.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12499/frame_1.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12499/frame_2.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12499/frame_3.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12499/frame_4.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12499/frame_5.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12499/frame_6.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12499/frame_7.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12499/frame_8.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12499/frame_9.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12499/frame_10.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12499/frame_11.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12499/frame_12.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12499/frame_13.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12499/frame_14.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12499/frame_15.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12499/frame_16.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12499/frame_17.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12499/frame_18.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12499/frame_19.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12499/frame_20.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12499/frame_21.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12499/frame_22.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12499/frame_23.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12499/frame_24.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12499/frame_25.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12499/frame_26.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12499/frame_27.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12499/frame_28.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12499/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2827",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 3,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you currently engaged in <reach for the button area>"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2827/frame_0.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2827/frame_1.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2827/frame_2.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2827/frame_3.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2827/frame_4.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2827/frame_5.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2827/frame_6.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2827/frame_7.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2827/frame_8.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2827/frame_9.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2827/frame_10.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2827/frame_11.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2827/frame_12.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2827/frame_13.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2827/frame_14.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2827/frame_15.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2827/frame_16.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2827/frame_17.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2827/frame_18.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2827/frame_19.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2827/frame_20.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2827/frame_21.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2827/frame_22.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2827/frame_23.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2827/frame_24.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2827/frame_25.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2827/frame_26.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2827/frame_27.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2827/frame_28.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2827/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_8/49_bridge#episode_19163",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image>\nIs <slide the lid to the right> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19163/frame_0.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19163/frame_1.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19163/frame_2.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19163/frame_3.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19163/frame_4.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19163/frame_5.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12238",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 3,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <move the rectangular prism over the matching spot> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12238/frame_0.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12238/frame_1.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12238/frame_2.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12238/frame_3.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12238/frame_4.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12238/frame_5.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12238/frame_6.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12238/frame_7.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12238/frame_8.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12238/frame_9.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12238/frame_10.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12238/frame_11.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12238/frame_12.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12238/frame_13.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12238/frame_14.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12238/frame_15.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12238/frame_16.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12238/frame_17.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12238/frame_18.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12238/frame_19.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12238/frame_20.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12238/frame_21.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12238/frame_22.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12238/frame_23.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12238/frame_24.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12238/frame_25.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_15/49_bridge#episode_6419",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you doing <place the towel slightly to the left of the pot> at this very moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6419/frame_0.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6419/frame_1.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6419/frame_2.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6419/frame_3.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6419/frame_4.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6419/frame_5.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6419/frame_6.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6419/frame_7.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6419/frame_8.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6419/frame_9.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6419/frame_10.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6419/frame_11.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6419/frame_12.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6419/frame_13.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6419/frame_14.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6419/frame_15.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6419/frame_16.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6419/frame_17.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6419/frame_18.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6419/frame_19.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6419/frame_20.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_11/49_bridge#episode_22874",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <move above the bin> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22874/frame_0.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22874/frame_1.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22874/frame_2.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22874/frame_3.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22874/frame_4.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22874/frame_5.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22874/frame_6.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22874/frame_7.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22874/frame_8.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22874/frame_9.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22874/frame_10.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22874/frame_11.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22874/frame_12.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22874/frame_13.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22874/frame_14.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22874/frame_15.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22874/frame_16.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22874/frame_17.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22874/frame_18.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22874/frame_19.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22874/frame_20.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_30/57_fmb#episode_3948",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 4,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <insert the green object into the slot on the pink base> you're focused on right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3948/frame_0.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3948/frame_1.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3948/frame_2.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3948/frame_3.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3948/frame_4.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3948/frame_5.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3948/frame_6.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3948/frame_7.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3948/frame_8.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3948/frame_9.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3948/frame_10.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3948/frame_11.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3948/frame_12.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3948/frame_13.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3948/frame_14.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3948/frame_15.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3948/frame_16.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3948/frame_17.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3948/frame_18.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3948/frame_19.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3948/frame_20.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3948/frame_21.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3948/frame_22.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3948/frame_23.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3948/frame_24.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3948/frame_25.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3948/frame_26.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3948/frame_27.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3948/frame_28.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3948/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3563",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you currently engaged in <place the block in the compartment>"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3563/frame_0.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3563/frame_1.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3563/frame_2.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3563/frame_3.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3563/frame_4.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3563/frame_5.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3563/frame_6.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3563/frame_7.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3563/frame_8.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3563/frame_9.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3563/frame_10.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3563/frame_11.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3563/frame_12.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3563/frame_13.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3563/frame_14.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3563/frame_15.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3563/frame_16.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3563/frame_17.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9325",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image>\nIs this <place the pot near the orange object> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9325/frame_0.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9325/frame_1.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9325/frame_2.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9325/frame_3.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9325/frame_4.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9325/frame_5.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9325/frame_6.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_28/57_fmb#episode_2804",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <place the chopstick on the plate> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2804/frame_0.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2804/frame_1.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2804/frame_2.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2804/frame_3.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2804/frame_4.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2804/frame_5.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2804/frame_6.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2804/frame_7.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2804/frame_8.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2804/frame_9.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2804/frame_10.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2804/frame_11.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2804/frame_12.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2804/frame_13.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2804/frame_14.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2804/frame_15.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2804/frame_16.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2804/frame_17.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2804/frame_18.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2804/frame_19.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2804/frame_20.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2804/frame_21.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2804/frame_22.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2804/frame_23.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_8/49_bridge#episode_18370",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <grasp the object on top of the container> you're focused on right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18370/frame_0.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18370/frame_1.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18370/frame_2.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18370/frame_3.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18370/frame_4.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18370/frame_5.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18370/frame_6.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18370/frame_7.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18370/frame_8.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18370/frame_9.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18370/frame_10.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18370/frame_11.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18370/frame_12.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18370/frame_13.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18370/frame_14.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18370/frame_15.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18370/frame_16.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18370/frame_17.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18370/frame_18.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18370/frame_19.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18370/frame_20.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18370/frame_21.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18370/frame_22.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18370/frame_23.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18370/frame_24.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18370/frame_25.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18370/frame_26.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18370/frame_27.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18370/frame_28.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18370/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_13/49_bridge#episode_3219",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 4,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <move towards the blade> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3219/frame_0.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3219/frame_1.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3219/frame_2.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3219/frame_3.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3219/frame_4.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3219/frame_5.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3219/frame_6.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3219/frame_7.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3219/frame_8.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3219/frame_9.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3219/frame_10.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3219/frame_11.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3219/frame_12.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3219/frame_13.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3219/frame_14.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3219/frame_15.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3219/frame_16.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3219/frame_17.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3219/frame_18.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3219/frame_19.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3219/frame_20.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3219/frame_21.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3219/frame_22.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3219/frame_23.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3219/frame_24.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3219/frame_25.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3219/frame_26.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3219/frame_27.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3219/frame_28.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3219/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12455",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <move the scoop towards the cloth and pot> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12455/frame_0.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12455/frame_1.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12455/frame_2.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12455/frame_3.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12455/frame_4.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12455/frame_5.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12455/frame_6.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12455/frame_7.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12455/frame_8.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12455/frame_9.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12455/frame_10.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12455/frame_11.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12455/frame_12.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12455/frame_13.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12455/frame_14.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12455/frame_15.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12455/frame_16.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12455/frame_17.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12455/frame_18.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12455/frame_19.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12455/frame_20.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12455/frame_21.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12455/frame_22.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12455/frame_23.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12455/frame_24.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12455/frame_25.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12455/frame_26.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12455/frame_27.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12455/frame_28.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12455/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_3/49_bridge#episode_11795",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <reach for the brown stopper> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11795/frame_0.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11795/frame_1.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11795/frame_2.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11795/frame_3.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11795/frame_4.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11795/frame_5.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11795/frame_6.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11795/frame_7.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11795/frame_8.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11795/frame_9.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11795/frame_10.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11795/frame_11.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11795/frame_12.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11795/frame_13.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11795/frame_14.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11795/frame_15.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11795/frame_16.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11795/frame_17.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11795/frame_18.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11795/frame_19.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11795/frame_20.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_32/57_fmb#episode_6380",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image>\nAre you currently engaged in <use the towel to sweep the objects to the left side of the table>"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6380/frame_0.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6380/frame_1.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6380/frame_2.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6380/frame_3.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6380/frame_4.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_30/57_fmb#episode_4774",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <hover over the scissors> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4774/frame_0.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4774/frame_1.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4774/frame_2.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4774/frame_3.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4774/frame_4.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4774/frame_5.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4774/frame_6.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4774/frame_7.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4774/frame_8.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4774/frame_9.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4774/frame_10.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4774/frame_11.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4774/frame_12.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4774/frame_13.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4774/frame_14.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4774/frame_15.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_16/49_bridge#episode_73",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 3,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <pick up the orange can> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_73/frame_0.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_73/frame_1.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_73/frame_2.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_73/frame_3.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_73/frame_4.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_73/frame_5.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_73/frame_6.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_73/frame_7.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_73/frame_8.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_73/frame_9.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_73/frame_10.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_73/frame_11.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_73/frame_12.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_73/frame_13.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_73/frame_14.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_73/frame_15.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_73/frame_16.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_73/frame_17.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_73/frame_18.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_73/frame_19.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_73/frame_20.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_73/frame_21.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_73/frame_22.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_73/frame_23.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_73/frame_24.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_73/frame_25.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_73/frame_26.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_73/frame_27.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_73/frame_28.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13959",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 3,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <move towards the zip ties> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13959/frame_0.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13959/frame_1.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13959/frame_2.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13959/frame_3.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13959/frame_4.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13959/frame_5.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13959/frame_6.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13959/frame_7.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13959/frame_8.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13959/frame_9.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13959/frame_10.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13959/frame_11.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13959/frame_12.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13959/frame_13.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13959/frame_14.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13959/frame_15.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13959/frame_16.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13959/frame_17.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13959/frame_18.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13959/frame_19.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13959/frame_20.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13959/frame_21.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13959/frame_22.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13959/frame_23.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6984",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <position over the cup and the bottle> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6984/frame_0.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6984/frame_1.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6984/frame_2.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6984/frame_3.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6984/frame_4.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6984/frame_5.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6984/frame_6.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6984/frame_7.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6984/frame_8.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6984/frame_9.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6984/frame_10.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6984/frame_11.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6984/frame_12.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6984/frame_13.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6984/frame_14.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6984/frame_15.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6984/frame_16.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6984/frame_17.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6984/frame_18.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6984/frame_19.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6984/frame_20.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8756",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you doing <move the brush left> at this very moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8756/frame_0.png",
+            "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8756/frame_1.png",
+            "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8756/frame_2.png",
+            "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8756/frame_3.png",
+            "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8756/frame_4.png",
+            "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8756/frame_5.png",
+            "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8756/frame_6.png",
+            "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8756/frame_7.png",
+            "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8756/frame_8.png",
+            "rt_frames_success/rtx_frames_success_52/62_robo_set#episode_8756/frame_9.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11833",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 3,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <pick up a small container and place it on the plate> you're focused on right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11833/frame_0.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11833/frame_1.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11833/frame_2.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11833/frame_3.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11833/frame_4.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11833/frame_5.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11833/frame_6.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11833/frame_7.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11833/frame_8.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11833/frame_9.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11833/frame_10.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11833/frame_11.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11833/frame_12.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11833/frame_13.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11833/frame_14.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11833/frame_15.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11833/frame_16.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11833/frame_17.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11833/frame_18.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11833/frame_19.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11833/frame_20.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11833/frame_21.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11833/frame_22.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11833/frame_23.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_26/55_dobbe#episode_569",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <pick up the wooden toy and place it beside the spice shaker> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_569/frame_0.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_569/frame_1.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_569/frame_2.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_569/frame_3.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_569/frame_4.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_569/frame_5.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_569/frame_6.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_569/frame_7.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_569/frame_8.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_569/frame_9.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_569/frame_10.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_569/frame_11.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_569/frame_12.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_569/frame_13.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_569/frame_14.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_569/frame_15.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_569/frame_16.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_569/frame_17.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_569/frame_18.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_569/frame_19.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_569/frame_20.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_569/frame_21.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_569/frame_22.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_569/frame_23.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_569/frame_24.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_569/frame_25.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_569/frame_26.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_569/frame_27.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_569/frame_28.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_569/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_45/62_robo_set#episode_235",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 5,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <pick up the nested blue and orange cups> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_235/frame_0.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_235/frame_1.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_235/frame_2.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_235/frame_3.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_235/frame_4.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_235/frame_5.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_235/frame_6.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_235/frame_7.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_235/frame_8.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_235/frame_9.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_235/frame_10.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_235/frame_11.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_235/frame_12.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_235/frame_13.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_235/frame_14.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_235/frame_15.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_235/frame_16.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_235/frame_17.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_235/frame_18.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_235/frame_19.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_235/frame_20.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_235/frame_21.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_235/frame_22.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_235/frame_23.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_235/frame_24.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_235/frame_25.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_235/frame_26.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_235/frame_27.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_235/frame_28.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_235/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14644",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 3,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <move the lid towards the designated area on the table> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14644/frame_0.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14644/frame_1.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14644/frame_2.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14644/frame_3.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14644/frame_4.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14644/frame_5.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14644/frame_6.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14644/frame_7.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14644/frame_8.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14644/frame_9.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14644/frame_10.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14644/frame_11.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14644/frame_12.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14644/frame_13.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14644/frame_14.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14644/frame_15.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14644/frame_16.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14644/frame_17.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14644/frame_18.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14644/frame_19.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14644/frame_20.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14644/frame_21.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14644/frame_22.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14644/frame_23.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14644/frame_24.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3187",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <drop the marker into the trash can> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3187/frame_0.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3187/frame_1.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3187/frame_2.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3187/frame_3.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3187/frame_4.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3187/frame_5.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3187/frame_6.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3187/frame_7.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3187/frame_8.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3187/frame_9.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_29/57_fmb#episode_2995",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <pick up another cube from the bowl> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_2995/frame_0.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_2995/frame_1.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_2995/frame_2.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_2995/frame_3.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_2995/frame_4.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_2995/frame_5.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_2995/frame_6.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_2995/frame_7.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_2995/frame_8.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_2995/frame_9.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_2995/frame_10.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_2995/frame_11.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_254",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <lift the wire strippers> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_254/frame_0.png",
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_254/frame_1.png",
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_254/frame_2.png",
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_254/frame_3.png",
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_254/frame_4.png",
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_254/frame_5.png",
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_254/frame_6.png",
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_254/frame_7.png",
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_254/frame_8.png",
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_254/frame_9.png",
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_254/frame_10.png",
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_254/frame_11.png",
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_254/frame_12.png",
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_254/frame_13.png",
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_254/frame_14.png",
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_254/frame_15.png",
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_254/frame_16.png",
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_254/frame_17.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16704",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 3,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <move the knife towards the green onion> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16704/frame_0.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16704/frame_1.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16704/frame_2.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16704/frame_3.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16704/frame_4.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16704/frame_5.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16704/frame_6.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16704/frame_7.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16704/frame_8.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16704/frame_9.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16704/frame_10.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16704/frame_11.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16704/frame_12.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16704/frame_13.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16704/frame_14.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16704/frame_15.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16704/frame_16.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16704/frame_17.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16704/frame_18.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16704/frame_19.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16704/frame_20.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16704/frame_21.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_29/57_fmb#episode_3680",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <hold the butter> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3680/frame_0.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3680/frame_1.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3680/frame_2.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3680/frame_3.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3680/frame_4.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3680/frame_5.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3680/frame_6.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3680/frame_7.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3680/frame_8.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3680/frame_9.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3680/frame_10.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3680/frame_11.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3680/frame_12.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3680/frame_13.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3680/frame_14.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3680/frame_15.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3680/frame_16.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3680/frame_17.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_18/49_bridge#episode_9666",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <position the bottle under the scoop> you're focused on right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9666/frame_0.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9666/frame_1.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9666/frame_2.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9666/frame_3.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9666/frame_4.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9666/frame_5.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9666/frame_6.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9666/frame_7.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9666/frame_8.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9666/frame_9.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9666/frame_10.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9666/frame_11.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_30/57_fmb#episode_4572",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you doing <positioning above the marker> at this very moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4572/frame_0.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4572/frame_1.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4572/frame_2.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4572/frame_3.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4572/frame_4.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4572/frame_5.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4572/frame_6.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4572/frame_7.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4572/frame_8.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4572/frame_9.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4572/frame_10.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4572/frame_11.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4572/frame_12.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4572/frame_13.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4572/frame_14.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4572/frame_15.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_4/49_bridge#episode_12864",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <stir the mixture in the bowl> you're focused on right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12864/frame_0.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12864/frame_1.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12864/frame_2.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12864/frame_3.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12864/frame_4.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12864/frame_5.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12864/frame_6.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12864/frame_7.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12864/frame_8.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12864/frame_9.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12864/frame_10.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12864/frame_11.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12608",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you currently engaged in <pick a red lego block>"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12608/frame_0.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12608/frame_1.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12608/frame_2.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12608/frame_3.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12608/frame_4.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12608/frame_5.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12608/frame_6.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12608/frame_7.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12608/frame_8.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12608/frame_9.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12608/frame_10.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3654",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <place the sushi in the bottom left corner> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3654/frame_0.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3654/frame_1.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3654/frame_2.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3654/frame_3.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3654/frame_4.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3654/frame_5.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3654/frame_6.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3654/frame_7.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3654/frame_8.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3654/frame_9.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3654/frame_10.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3654/frame_11.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3654/frame_12.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3654/frame_13.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3654/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17301",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you currently engaged in <grab the rope>"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17301/frame_0.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17301/frame_1.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17301/frame_2.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17301/frame_3.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17301/frame_4.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17301/frame_5.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17301/frame_6.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17301/frame_7.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17301/frame_8.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17301/frame_9.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17301/frame_10.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17301/frame_11.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6902",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you doing <move the grasped cup towards the counter> at this very moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6902/frame_0.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6902/frame_1.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6902/frame_2.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6902/frame_3.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6902/frame_4.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6902/frame_5.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6902/frame_6.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6902/frame_7.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6902/frame_8.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6902/frame_9.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6902/frame_10.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6902/frame_11.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6902/frame_12.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6902/frame_13.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6902/frame_14.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6902/frame_15.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_33/57_fmb#episode_7632",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you doing <move the black object towards the countertop> at this very moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7632/frame_0.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7632/frame_1.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7632/frame_2.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7632/frame_3.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7632/frame_4.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7632/frame_5.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7632/frame_6.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7632/frame_7.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7632/frame_8.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7632/frame_9.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7632/frame_10.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7632/frame_11.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7632/frame_12.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7632/frame_13.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7632/frame_14.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7632/frame_15.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7632/frame_16.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_18/49_bridge#episode_9836",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <release the banana into the bowl> you're focused on right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9836/frame_0.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9836/frame_1.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9836/frame_2.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9836/frame_3.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9836/frame_4.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9836/frame_5.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9836/frame_6.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9836/frame_7.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9836/frame_8.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9836/frame_9.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9836/frame_10.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9836/frame_11.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9836/frame_12.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9836/frame_13.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9836/frame_14.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9836/frame_15.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9836/frame_16.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9836/frame_17.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9836/frame_18.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9836/frame_19.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9836/frame_20.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9836/frame_21.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9836/frame_22.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9836/frame_23.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9836/frame_24.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9836/frame_25.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9836/frame_26.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9836/frame_27.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9836/frame_28.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9836/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_17/49_bridge#episode_7992",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <move towards the burner with the tin can> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_7992/frame_0.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_7992/frame_1.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_7992/frame_2.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_7992/frame_3.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_7992/frame_4.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_7992/frame_5.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_7992/frame_6.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_7992/frame_7.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_7992/frame_8.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_7992/frame_9.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_7992/frame_10.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_7992/frame_11.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_7992/frame_12.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_7992/frame_13.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_7992/frame_14.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_7992/frame_15.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_7992/frame_16.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_7992/frame_17.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_7992/frame_18.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_7992/frame_19.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_7992/frame_20.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_7992/frame_21.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_7992/frame_22.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_7992/frame_23.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_7992/frame_24.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_7992/frame_25.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_7992/frame_26.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_7992/frame_27.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_7992/frame_28.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_7992/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_46/62_robo_set#episode_330",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <place the bottles on the surface> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_330/frame_0.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_330/frame_1.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_330/frame_2.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_330/frame_3.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_330/frame_4.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_330/frame_5.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_330/frame_6.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_330/frame_7.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_330/frame_8.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_330/frame_9.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_330/frame_10.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_330/frame_11.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_330/frame_12.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_330/frame_13.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_330/frame_14.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_330/frame_15.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_330/frame_16.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_330/frame_17.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_330/frame_18.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_330/frame_19.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_330/frame_20.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_5/49_bridge#episode_14193",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <press the middle (green) button> you're focused on right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14193/frame_0.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14193/frame_1.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14193/frame_2.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14193/frame_3.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14193/frame_4.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14193/frame_5.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14193/frame_6.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14193/frame_7.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14193/frame_8.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14193/frame_9.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14193/frame_10.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14193/frame_11.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14193/frame_12.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14193/frame_13.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14193/frame_14.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14193/frame_15.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14193/frame_16.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14193/frame_17.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_47/62_robo_set#episode_41",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 3,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <move the figure towards the cloth edge> you're focused on right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_41/frame_0.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_41/frame_1.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_41/frame_2.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_41/frame_3.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_41/frame_4.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_41/frame_5.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_41/frame_6.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_41/frame_7.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_41/frame_8.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_41/frame_9.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_41/frame_10.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_41/frame_11.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_41/frame_12.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_41/frame_13.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_41/frame_14.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_41/frame_15.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_41/frame_16.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_41/frame_17.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_41/frame_18.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_41/frame_19.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_41/frame_20.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_41/frame_21.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_41/frame_22.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_41/frame_23.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_41/frame_24.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9599",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you currently engaged in <insert the hexagon block into the slot>"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9599/frame_0.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9599/frame_1.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9599/frame_2.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9599/frame_3.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9599/frame_4.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9599/frame_5.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9599/frame_6.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9599/frame_7.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9599/frame_8.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9599/frame_9.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9599/frame_10.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9599/frame_11.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9599/frame_12.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9599/frame_13.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9599/frame_14.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9599/frame_15.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9599/frame_16.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9599/frame_17.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9599/frame_18.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9599/frame_19.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9599/frame_20.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9599/frame_21.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9599/frame_22.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_15/49_bridge#episode_5204",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you currently engaged in <move the mushroom towards the towel>"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5204/frame_0.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5204/frame_1.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5204/frame_2.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5204/frame_3.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5204/frame_4.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5204/frame_5.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5204/frame_6.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5204/frame_7.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5204/frame_8.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5204/frame_9.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5204/frame_10.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5204/frame_11.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5204/frame_12.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5204/frame_13.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_32/57_fmb#episode_5946",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <place the cup on the white table> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5946/frame_0.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5946/frame_1.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5946/frame_2.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5946/frame_3.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5946/frame_4.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5946/frame_5.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5946/frame_6.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5946/frame_7.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5946/frame_8.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5946/frame_9.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5946/frame_10.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5946/frame_11.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5946/frame_12.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5946/frame_13.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5946/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_8/49_bridge#episode_19223",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 3,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you doing <pour contents from the jar into the pot> at this very moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19223/frame_0.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19223/frame_1.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19223/frame_2.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19223/frame_3.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19223/frame_4.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19223/frame_5.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19223/frame_6.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19223/frame_7.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19223/frame_8.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19223/frame_9.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19223/frame_10.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19223/frame_11.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19223/frame_12.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19223/frame_13.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19223/frame_14.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19223/frame_15.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19223/frame_16.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19223/frame_17.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19223/frame_18.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19223/frame_19.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19223/frame_20.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19223/frame_21.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19223/frame_22.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19223/frame_23.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19223/frame_24.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19223/frame_25.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19223/frame_26.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19223/frame_27.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19223/frame_28.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19223/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <grasp the leftmost rod> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_0.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_1.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_2.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_3.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_4.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_5.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_6.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_7.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_8.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_9.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_10.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_11.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_12.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_13.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_14.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_15.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_16.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_17.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_18.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_19.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_20.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_21.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_22.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_23.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5446/frame_24.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_5/49_bridge#episode_14898",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you currently engaged in <move the green marker towards the thermos>"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14898/frame_0.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14898/frame_1.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14898/frame_2.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14898/frame_3.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14898/frame_4.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14898/frame_5.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14898/frame_6.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14898/frame_7.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14898/frame_8.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14898/frame_9.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14898/frame_10.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14898/frame_11.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14898/frame_12.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14898/frame_13.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14898/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14237",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 4,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <move the orange cloth diagonally downwards> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14237/frame_0.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14237/frame_1.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14237/frame_2.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14237/frame_3.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14237/frame_4.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14237/frame_5.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14237/frame_6.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14237/frame_7.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14237/frame_8.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14237/frame_9.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14237/frame_10.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14237/frame_11.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14237/frame_12.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14237/frame_13.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14237/frame_14.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14237/frame_15.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14237/frame_16.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14237/frame_17.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14237/frame_18.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14237/frame_19.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14237/frame_20.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14237/frame_21.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14237/frame_22.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14237/frame_23.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14237/frame_24.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14237/frame_25.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14237/frame_26.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14237/frame_27.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14237/frame_28.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14237/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_28/57_fmb#episode_2447",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you doing <retract from the switch box> at this very moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2447/frame_0.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2447/frame_1.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2447/frame_2.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2447/frame_3.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2447/frame_4.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2447/frame_5.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2447/frame_6.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2447/frame_7.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2447/frame_8.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2447/frame_9.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2447/frame_10.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2447/frame_11.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2447/frame_12.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_55",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <move the spice container towards the shelf> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_55/frame_0.png",
+            "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_55/frame_1.png",
+            "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_55/frame_2.png",
+            "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_55/frame_3.png",
+            "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_55/frame_4.png",
+            "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_55/frame_5.png",
+            "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_55/frame_6.png",
+            "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_55/frame_7.png",
+            "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_55/frame_8.png",
+            "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_55/frame_9.png",
+            "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_55/frame_10.png",
+            "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_55/frame_11.png",
+            "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_55/frame_12.png",
+            "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_55/frame_13.png",
+            "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_55/frame_14.png",
+            "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_55/frame_15.png",
+            "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_55/frame_16.png",
+            "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_55/frame_17.png",
+            "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_55/frame_18.png",
+            "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_55/frame_19.png",
+            "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_55/frame_20.png",
+            "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_55/frame_21.png",
+            "rt_frames_success/rtx_frames_success_0/10_utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds#episode_55/frame_22.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17426",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <reposition the remaining potato piece> you're focused on right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17426/frame_0.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17426/frame_1.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17426/frame_2.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17426/frame_3.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17426/frame_4.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17426/frame_5.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17426/frame_6.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17426/frame_7.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17426/frame_8.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17426/frame_9.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17426/frame_10.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17426/frame_11.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17426/frame_12.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17426/frame_13.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7370",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image>\nAre you currently engaged in <insert the prism into the hexagonal slot>"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7370/frame_0.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7370/frame_1.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7370/frame_2.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7370/frame_3.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7370/frame_4.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7370/frame_5.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7370/frame_6.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7370/frame_7.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5802",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you currently engaged in <reach for the purple knife>"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5802/frame_0.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5802/frame_1.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5802/frame_2.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5802/frame_3.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5802/frame_4.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5802/frame_5.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5802/frame_6.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5802/frame_7.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5802/frame_8.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5802/frame_9.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5802/frame_10.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5802/frame_11.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5802/frame_12.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5802/frame_13.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5802/frame_14.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5802/frame_15.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5802/frame_16.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5802/frame_17.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5802/frame_18.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5802/frame_19.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5802/frame_20.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5802/frame_21.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5802/frame_22.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5802/frame_23.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5802/frame_24.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_5802/frame_25.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4445",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <place the spoon on the desk> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4445/frame_0.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4445/frame_1.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4445/frame_2.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4445/frame_3.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4445/frame_4.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4445/frame_5.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4445/frame_6.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4445/frame_7.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4445/frame_8.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4445/frame_9.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4445/frame_10.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4445/frame_11.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4445/frame_12.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4445/frame_13.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4445/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9394",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 3,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you currently engaged in <tilt and pour ketchup into a container>"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9394/frame_0.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9394/frame_1.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9394/frame_2.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9394/frame_3.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9394/frame_4.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9394/frame_5.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9394/frame_6.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9394/frame_7.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9394/frame_8.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9394/frame_9.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9394/frame_10.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9394/frame_11.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9394/frame_12.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9394/frame_13.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9394/frame_14.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9394/frame_15.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9394/frame_16.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9394/frame_17.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9394/frame_18.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9394/frame_19.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9394/frame_20.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9394/frame_21.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9394/frame_22.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9394/frame_23.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9394/frame_24.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9394/frame_25.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9394/frame_26.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9394/frame_27.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9394/frame_28.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_7/49_bridge#episode_1791",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you doing <reach for the green block> at this very moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1791/frame_0.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1791/frame_1.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1791/frame_2.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1791/frame_3.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1791/frame_4.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1791/frame_5.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1791/frame_6.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1791/frame_7.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1791/frame_8.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1791/frame_9.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1791/frame_10.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1791/frame_11.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_853",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you doing <staple the paper> at this very moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_853/frame_0.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_853/frame_1.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_853/frame_2.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_853/frame_3.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_853/frame_4.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_853/frame_5.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_853/frame_6.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_853/frame_7.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_853/frame_8.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_853/frame_9.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_15/49_bridge#episode_5834",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image>\nAre you currently engaged in <fold the towel in half to form a triangle>"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5834/frame_0.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5834/frame_1.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5834/frame_2.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5834/frame_3.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5834/frame_4.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5834/frame_5.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5834/frame_6.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13151",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you currently engaged in <place the pear plush toy in the basket>"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13151/frame_0.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13151/frame_1.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13151/frame_2.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13151/frame_3.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13151/frame_4.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13151/frame_5.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13151/frame_6.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13151/frame_7.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13151/frame_8.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13151/frame_9.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13151/frame_10.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_8/49_bridge#episode_18051",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 4,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <lower and position the gripper over the can> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18051/frame_0.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18051/frame_1.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18051/frame_2.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18051/frame_3.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18051/frame_4.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18051/frame_5.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18051/frame_6.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18051/frame_7.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18051/frame_8.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18051/frame_9.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18051/frame_10.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18051/frame_11.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18051/frame_12.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18051/frame_13.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18051/frame_14.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18051/frame_15.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18051/frame_16.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18051/frame_17.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18051/frame_18.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18051/frame_19.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18051/frame_20.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18051/frame_21.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18051/frame_22.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18051/frame_23.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18051/frame_24.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18051/frame_25.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18051/frame_26.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18051/frame_27.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18051/frame_28.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18051/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_15/49_bridge#episode_6172",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <move towards the cup with the teabag> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6172/frame_0.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6172/frame_1.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6172/frame_2.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6172/frame_3.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6172/frame_4.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6172/frame_5.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6172/frame_6.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6172/frame_7.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6172/frame_8.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6172/frame_9.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_12/49_bridge#episode_24514",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 4,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you currently engaged in <push the object down, ensuring it is fully inserted>"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24514/frame_0.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24514/frame_1.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24514/frame_2.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24514/frame_3.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24514/frame_4.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24514/frame_5.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24514/frame_6.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24514/frame_7.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24514/frame_8.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24514/frame_9.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24514/frame_10.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24514/frame_11.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24514/frame_12.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24514/frame_13.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24514/frame_14.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24514/frame_15.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24514/frame_16.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24514/frame_17.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24514/frame_18.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24514/frame_19.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24514/frame_20.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24514/frame_21.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24514/frame_22.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24514/frame_23.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24514/frame_24.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24514/frame_25.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24514/frame_26.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24514/frame_27.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24514/frame_28.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_377",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image>\nIs this <approach the mushroom in the pan> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_377/frame_0.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_377/frame_1.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_377/frame_2.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_377/frame_3.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_377/frame_4.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_377/frame_5.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_377/frame_6.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_377/frame_7.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_26/55_dobbe#episode_630",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 3,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you doing <move the squeeze bottle towards the counter> at this very moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_630/frame_0.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_630/frame_1.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_630/frame_2.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_630/frame_3.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_630/frame_4.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_630/frame_5.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_630/frame_6.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_630/frame_7.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_630/frame_8.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_630/frame_9.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_630/frame_10.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_630/frame_11.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_630/frame_12.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_630/frame_13.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_630/frame_14.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_630/frame_15.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_630/frame_16.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_630/frame_17.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_630/frame_18.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_630/frame_19.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_630/frame_20.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_17/49_bridge#episode_8514",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you doing <move towards the golf club> at this very moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8514/frame_0.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8514/frame_1.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8514/frame_2.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8514/frame_3.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8514/frame_4.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8514/frame_5.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8514/frame_6.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8514/frame_7.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8514/frame_8.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8514/frame_9.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8514/frame_10.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8514/frame_11.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8514/frame_12.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8514/frame_13.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_16/49_bridge#episode_6729",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 3,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you doing <move the blue cloth towards the bed> at this very moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6729/frame_0.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6729/frame_1.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6729/frame_2.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6729/frame_3.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6729/frame_4.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6729/frame_5.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6729/frame_6.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6729/frame_7.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6729/frame_8.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6729/frame_9.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6729/frame_10.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6729/frame_11.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6729/frame_12.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6729/frame_13.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6729/frame_14.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6729/frame_15.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6729/frame_16.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6729/frame_17.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6729/frame_18.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6729/frame_19.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6729/frame_20.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6729/frame_21.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6729/frame_22.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6729/frame_23.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6729/frame_24.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6729/frame_25.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13706",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you doing <move the clothing towards the bin> at this very moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13706/frame_0.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13706/frame_1.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13706/frame_2.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13706/frame_3.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13706/frame_4.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13706/frame_5.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13706/frame_6.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13706/frame_7.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13706/frame_8.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13706/frame_9.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13706/frame_10.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13706/frame_11.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13706/frame_12.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13706/frame_13.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13706/frame_14.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13706/frame_15.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_21/54_conq_hose_manipulation#episode_25",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you doing <slide the towel across the table> at this very moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_21/54_conq_hose_manipulation#episode_25/frame_0.png",
+            "rt_frames_success/rtx_frames_success_21/54_conq_hose_manipulation#episode_25/frame_1.png",
+            "rt_frames_success/rtx_frames_success_21/54_conq_hose_manipulation#episode_25/frame_2.png",
+            "rt_frames_success/rtx_frames_success_21/54_conq_hose_manipulation#episode_25/frame_3.png",
+            "rt_frames_success/rtx_frames_success_21/54_conq_hose_manipulation#episode_25/frame_4.png",
+            "rt_frames_success/rtx_frames_success_21/54_conq_hose_manipulation#episode_25/frame_5.png",
+            "rt_frames_success/rtx_frames_success_21/54_conq_hose_manipulation#episode_25/frame_6.png",
+            "rt_frames_success/rtx_frames_success_21/54_conq_hose_manipulation#episode_25/frame_7.png",
+            "rt_frames_success/rtx_frames_success_21/54_conq_hose_manipulation#episode_25/frame_8.png",
+            "rt_frames_success/rtx_frames_success_21/54_conq_hose_manipulation#episode_25/frame_9.png",
+            "rt_frames_success/rtx_frames_success_21/54_conq_hose_manipulation#episode_25/frame_10.png",
+            "rt_frames_success/rtx_frames_success_21/54_conq_hose_manipulation#episode_25/frame_11.png",
+            "rt_frames_success/rtx_frames_success_21/54_conq_hose_manipulation#episode_25/frame_12.png",
+            "rt_frames_success/rtx_frames_success_21/54_conq_hose_manipulation#episode_25/frame_13.png",
+            "rt_frames_success/rtx_frames_success_21/54_conq_hose_manipulation#episode_25/frame_14.png",
+            "rt_frames_success/rtx_frames_success_21/54_conq_hose_manipulation#episode_25/frame_15.png",
+            "rt_frames_success/rtx_frames_success_21/54_conq_hose_manipulation#episode_25/frame_16.png",
+            "rt_frames_success/rtx_frames_success_21/54_conq_hose_manipulation#episode_25/frame_17.png",
+            "rt_frames_success/rtx_frames_success_21/54_conq_hose_manipulation#episode_25/frame_18.png",
+            "rt_frames_success/rtx_frames_success_21/54_conq_hose_manipulation#episode_25/frame_19.png",
+            "rt_frames_success/rtx_frames_success_21/54_conq_hose_manipulation#episode_25/frame_20.png",
+            "rt_frames_success/rtx_frames_success_21/54_conq_hose_manipulation#episode_25/frame_21.png",
+            "rt_frames_success/rtx_frames_success_21/54_conq_hose_manipulation#episode_25/frame_22.png",
+            "rt_frames_success/rtx_frames_success_21/54_conq_hose_manipulation#episode_25/frame_23.png",
+            "rt_frames_success/rtx_frames_success_21/54_conq_hose_manipulation#episode_25/frame_24.png",
+            "rt_frames_success/rtx_frames_success_21/54_conq_hose_manipulation#episode_25/frame_25.png",
+            "rt_frames_success/rtx_frames_success_21/54_conq_hose_manipulation#episode_25/frame_26.png",
+            "rt_frames_success/rtx_frames_success_21/54_conq_hose_manipulation#episode_25/frame_27.png",
+            "rt_frames_success/rtx_frames_success_21/54_conq_hose_manipulation#episode_25/frame_28.png",
+            "rt_frames_success/rtx_frames_success_21/54_conq_hose_manipulation#episode_25/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_3/49_bridge#episode_11134",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you currently engaged in <move the plate above the white napkin>"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11134/frame_0.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11134/frame_1.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11134/frame_2.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11134/frame_3.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11134/frame_4.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11134/frame_5.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11134/frame_6.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11134/frame_7.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11134/frame_8.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11020",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image>\nIs this <move towards the second orange tile> you're focused on right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11020/frame_0.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11020/frame_1.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11020/frame_2.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11020/frame_3.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11020/frame_4.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11020/frame_5.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_11020/frame_6.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_3/49_bridge#episode_11261",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 3,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you currently engaged in <place the sushi on the top right edge of the cloth>"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11261/frame_0.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11261/frame_1.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11261/frame_2.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11261/frame_3.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11261/frame_4.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11261/frame_5.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11261/frame_6.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11261/frame_7.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11261/frame_8.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11261/frame_9.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11261/frame_10.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11261/frame_11.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11261/frame_12.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11261/frame_13.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11261/frame_14.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11261/frame_15.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11261/frame_16.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11261/frame_17.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11261/frame_18.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11261/frame_19.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11261/frame_20.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11261/frame_21.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11261/frame_22.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14908",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 4,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you doing <carefully align the yellow u-shaped block with the slot> at this very moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14908/frame_0.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14908/frame_1.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14908/frame_2.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14908/frame_3.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14908/frame_4.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14908/frame_5.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14908/frame_6.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14908/frame_7.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14908/frame_8.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14908/frame_9.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14908/frame_10.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14908/frame_11.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14908/frame_12.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14908/frame_13.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14908/frame_14.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14908/frame_15.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14908/frame_16.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14908/frame_17.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14908/frame_18.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14908/frame_19.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14908/frame_20.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14908/frame_21.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14908/frame_22.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14908/frame_23.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14908/frame_24.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14908/frame_25.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14908/frame_26.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14908/frame_27.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14908/frame_28.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14908/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_16/49_bridge#episode_7154",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 5,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <lift the blue detergent bottle> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7154/frame_0.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7154/frame_1.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7154/frame_2.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7154/frame_3.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7154/frame_4.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7154/frame_5.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7154/frame_6.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7154/frame_7.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7154/frame_8.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7154/frame_9.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7154/frame_10.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7154/frame_11.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7154/frame_12.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7154/frame_13.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7154/frame_14.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7154/frame_15.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7154/frame_16.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7154/frame_17.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7154/frame_18.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7154/frame_19.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7154/frame_20.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7154/frame_21.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7154/frame_22.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7154/frame_23.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7154/frame_24.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7154/frame_25.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7154/frame_26.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7154/frame_27.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7154/frame_28.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7154/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6359",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <move towards the straw> you're focused on right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6359/frame_0.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6359/frame_1.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6359/frame_2.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6359/frame_3.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6359/frame_4.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6359/frame_5.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6359/frame_6.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6359/frame_7.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6359/frame_8.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6359/frame_9.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6359/frame_10.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6359/frame_11.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6359/frame_12.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6359/frame_13.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6359/frame_14.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6359/frame_15.png",
+            "rt_frames_success/rtx_frames_success_49/62_robo_set#episode_6359/frame_16.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_3/49_bridge#episode_11421",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <grip the handle of the refrigerator door> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11421/frame_0.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11421/frame_1.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11421/frame_2.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11421/frame_3.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11421/frame_4.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11421/frame_5.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11421/frame_6.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11421/frame_7.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11421/frame_8.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11421/frame_9.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11421/frame_10.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11421/frame_11.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11421/frame_12.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_8/49_bridge#episode_18759",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 4,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <grab the coffee filter> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18759/frame_0.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18759/frame_1.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18759/frame_2.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18759/frame_3.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18759/frame_4.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18759/frame_5.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18759/frame_6.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18759/frame_7.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18759/frame_8.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18759/frame_9.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18759/frame_10.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18759/frame_11.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18759/frame_12.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18759/frame_13.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18759/frame_14.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18759/frame_15.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18759/frame_16.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18759/frame_17.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18759/frame_18.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18759/frame_19.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18759/frame_20.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18759/frame_21.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18759/frame_22.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18759/frame_23.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18759/frame_24.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18759/frame_25.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18759/frame_26.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18759/frame_27.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18759/frame_28.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18759/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7197",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image>\nIs <reach into the closet> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7197/frame_0.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7197/frame_1.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7197/frame_2.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7197/frame_3.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7197/frame_4.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7197/frame_5.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7197/frame_6.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7197/frame_7.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_31/57_fmb#episode_5346",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 4,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <move above the goal> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5346/frame_0.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5346/frame_1.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5346/frame_2.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5346/frame_3.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5346/frame_4.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5346/frame_5.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5346/frame_6.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5346/frame_7.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5346/frame_8.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5346/frame_9.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5346/frame_10.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5346/frame_11.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5346/frame_12.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5346/frame_13.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5346/frame_14.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5346/frame_15.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5346/frame_16.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5346/frame_17.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5346/frame_18.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5346/frame_19.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5346/frame_20.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5346/frame_21.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5346/frame_22.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5346/frame_23.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5346/frame_24.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5346/frame_25.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17536",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <move the spoon backwards> you're focused on right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17536/frame_0.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17536/frame_1.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17536/frame_2.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17536/frame_3.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17536/frame_4.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17536/frame_5.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17536/frame_6.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17536/frame_7.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17536/frame_8.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17536/frame_9.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17536/frame_10.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17536/frame_11.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17536/frame_12.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17536/frame_13.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17536/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2322",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <pick up the lime from the black bowl> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2322/frame_0.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2322/frame_1.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2322/frame_2.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2322/frame_3.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2322/frame_4.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2322/frame_5.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2322/frame_6.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2322/frame_7.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2322/frame_8.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2322/frame_9.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2322/frame_10.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2322/frame_11.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2322/frame_12.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2322/frame_13.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2322/frame_14.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2322/frame_15.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2322/frame_16.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2322/frame_17.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1250",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 3,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <release the grip on the blue block> you're focused on right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1250/frame_0.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1250/frame_1.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1250/frame_2.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1250/frame_3.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1250/frame_4.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1250/frame_5.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1250/frame_6.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1250/frame_7.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1250/frame_8.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1250/frame_9.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1250/frame_10.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1250/frame_11.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1250/frame_12.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1250/frame_13.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1250/frame_14.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1250/frame_15.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1250/frame_16.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1250/frame_17.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1250/frame_18.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1250/frame_19.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1250/frame_20.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1250/frame_21.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1250/frame_22.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1250/frame_23.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1250/frame_24.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1250/frame_25.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_3/49_bridge#episode_12232",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <lift the towel from the bottle> you're focused on right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12232/frame_0.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12232/frame_1.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12232/frame_2.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12232/frame_3.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12232/frame_4.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12232/frame_5.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12232/frame_6.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12232/frame_7.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12232/frame_8.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12232/frame_9.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12232/frame_10.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12232/frame_11.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12232/frame_12.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12232/frame_13.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12232/frame_14.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12232/frame_15.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4710",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 3,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <place the napkin on the countertop> you're focused on right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4710/frame_0.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4710/frame_1.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4710/frame_2.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4710/frame_3.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4710/frame_4.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4710/frame_5.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4710/frame_6.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4710/frame_7.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4710/frame_8.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4710/frame_9.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4710/frame_10.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4710/frame_11.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4710/frame_12.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4710/frame_13.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4710/frame_14.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4710/frame_15.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4710/frame_16.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4710/frame_17.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4710/frame_18.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4710/frame_19.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4710/frame_20.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4710/frame_21.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4710/frame_22.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4710/frame_23.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4710/frame_24.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4710/frame_25.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4710/frame_26.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4710/frame_27.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4710/frame_28.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4710/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5145",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <grab the serviette> you're focused on right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5145/frame_0.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5145/frame_1.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5145/frame_2.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5145/frame_3.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5145/frame_4.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5145/frame_5.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5145/frame_6.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5145/frame_7.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5145/frame_8.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5145/frame_9.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5145/frame_10.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_6/49_bridge#episode_15410",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 3,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <lower towards the objects> you're focused on right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15410/frame_0.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15410/frame_1.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15410/frame_2.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15410/frame_3.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15410/frame_4.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15410/frame_5.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15410/frame_6.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15410/frame_7.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15410/frame_8.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15410/frame_9.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15410/frame_10.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15410/frame_11.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15410/frame_12.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15410/frame_13.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15410/frame_14.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15410/frame_15.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15410/frame_16.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15410/frame_17.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15410/frame_18.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15410/frame_19.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15410/frame_20.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15410/frame_21.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15410/frame_22.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15410/frame_23.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15410/frame_24.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15410/frame_25.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15410/frame_26.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15410/frame_27.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15410/frame_28.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15410/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_6/49_bridge#episode_15911",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <place the steak in the oven> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15911/frame_0.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15911/frame_1.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15911/frame_2.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15911/frame_3.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15911/frame_4.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15911/frame_5.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15911/frame_6.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15911/frame_7.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15911/frame_8.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15911/frame_9.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15911/frame_10.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15911/frame_11.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15911/frame_12.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15911/frame_13.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15911/frame_14.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15911/frame_15.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_6/49_bridge#episode_15791",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <turn the door handle and pull the door closed> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15791/frame_0.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15791/frame_1.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15791/frame_2.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15791/frame_3.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15791/frame_4.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15791/frame_5.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15791/frame_6.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15791/frame_7.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15791/frame_8.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15791/frame_9.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15791/frame_10.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15791/frame_11.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15791/frame_12.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15791/frame_13.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15791/frame_14.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15791/frame_15.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15791/frame_16.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15791/frame_17.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15791/frame_18.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15791/frame_19.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15791/frame_20.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15791/frame_21.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15791/frame_22.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15791/frame_23.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15791/frame_24.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15791/frame_25.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15791/frame_26.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15791/frame_27.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15791/frame_28.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15791/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2465",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <move towards the sink with the spatula> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2465/frame_0.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2465/frame_1.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2465/frame_2.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2465/frame_3.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2465/frame_4.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2465/frame_5.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2465/frame_6.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2465/frame_7.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2465/frame_8.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2465/frame_9.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2465/frame_10.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2465/frame_11.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2465/frame_12.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2465/frame_13.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2465/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_9/49_bridge#episode_20419",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <pour the corn kernels into the bowl> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20419/frame_0.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20419/frame_1.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20419/frame_2.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20419/frame_3.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20419/frame_4.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20419/frame_5.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20419/frame_6.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20419/frame_7.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20419/frame_8.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20419/frame_9.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20419/frame_10.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20419/frame_11.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20419/frame_12.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20419/frame_13.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20419/frame_14.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20419/frame_15.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20419/frame_16.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20419/frame_17.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20419/frame_18.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20419/frame_19.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20419/frame_20.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10163",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 3,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you currently engaged in <move the pot away from the cabinet>"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10163/frame_0.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10163/frame_1.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10163/frame_2.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10163/frame_3.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10163/frame_4.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10163/frame_5.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10163/frame_6.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10163/frame_7.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10163/frame_8.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10163/frame_9.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10163/frame_10.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10163/frame_11.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10163/frame_12.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10163/frame_13.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10163/frame_14.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10163/frame_15.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10163/frame_16.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10163/frame_17.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10163/frame_18.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10163/frame_19.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10163/frame_20.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10163/frame_21.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10163/frame_22.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10163/frame_23.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10163/frame_24.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10163/frame_25.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10163/frame_26.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2902",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you currently engaged in <retract from the toppled bottle>"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2902/frame_0.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2902/frame_1.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2902/frame_2.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2902/frame_3.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2902/frame_4.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2902/frame_5.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2902/frame_6.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2902/frame_7.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2902/frame_8.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2902/frame_9.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2902/frame_10.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2902/frame_11.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2902/frame_12.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2902/frame_13.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_2902/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14017",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <place the yellow cloth next to the pot> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14017/frame_0.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14017/frame_1.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14017/frame_2.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14017/frame_3.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14017/frame_4.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14017/frame_5.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14017/frame_6.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14017/frame_7.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14017/frame_8.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14017/frame_9.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14017/frame_10.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14017/frame_11.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14017/frame_12.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14017/frame_13.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14017/frame_14.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14017/frame_15.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14017/frame_16.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3180",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <move towards the yellow object with the orange object> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3180/frame_0.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3180/frame_1.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3180/frame_2.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3180/frame_3.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3180/frame_4.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3180/frame_5.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3180/frame_6.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3180/frame_7.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3180/frame_8.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3180/frame_9.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3180/frame_10.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3180/frame_11.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_44",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 4,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <grasp the top edge of the towel> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_44/frame_0.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_44/frame_1.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_44/frame_2.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_44/frame_3.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_44/frame_4.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_44/frame_5.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_44/frame_6.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_44/frame_7.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_44/frame_8.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_44/frame_9.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_44/frame_10.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_44/frame_11.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_44/frame_12.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_44/frame_13.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_44/frame_14.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_44/frame_15.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_44/frame_16.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_44/frame_17.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_44/frame_18.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_44/frame_19.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_44/frame_20.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_44/frame_21.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_44/frame_22.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_44/frame_23.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13070",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <move the basket towards the center of the counter> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13070/frame_0.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13070/frame_1.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13070/frame_2.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13070/frame_3.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13070/frame_4.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13070/frame_5.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13070/frame_6.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13070/frame_7.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13070/frame_8.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13070/frame_9.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13070/frame_10.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13070/frame_11.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13070/frame_12.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13070/frame_13.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13070/frame_14.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13070/frame_15.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13070/frame_16.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13070/frame_17.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13070/frame_18.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13070/frame_19.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13070/frame_20.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13070/frame_21.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13070/frame_22.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13070/frame_23.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13070/frame_24.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13070/frame_25.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13070/frame_26.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13070/frame_27.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13070/frame_28.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13070/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_15/49_bridge#episode_5621",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you currently engaged in <grasp the gray cube>"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5621/frame_0.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5621/frame_1.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5621/frame_2.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5621/frame_3.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5621/frame_4.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5621/frame_5.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5621/frame_6.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5621/frame_7.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5621/frame_8.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5621/frame_9.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5621/frame_10.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5621/frame_11.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_10/49_bridge#episode_20915",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <place the rubik's cube onto the shelf> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20915/frame_0.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20915/frame_1.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20915/frame_2.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20915/frame_3.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20915/frame_4.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20915/frame_5.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20915/frame_6.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20915/frame_7.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20915/frame_8.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20915/frame_9.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20915/frame_10.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20915/frame_11.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20915/frame_12.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20915/frame_13.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_20915/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7308",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 5,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <dispense ice into the bowl> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7308/frame_0.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7308/frame_1.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7308/frame_2.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7308/frame_3.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7308/frame_4.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7308/frame_5.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7308/frame_6.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7308/frame_7.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7308/frame_8.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7308/frame_9.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7308/frame_10.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7308/frame_11.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7308/frame_12.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7308/frame_13.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7308/frame_14.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7308/frame_15.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7308/frame_16.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7308/frame_17.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7308/frame_18.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7308/frame_19.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7308/frame_20.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7308/frame_21.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7308/frame_22.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7308/frame_23.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7308/frame_24.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7308/frame_25.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7308/frame_26.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7308/frame_27.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7308/frame_28.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7308/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_9/49_bridge#episode_19939",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 6,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you currently engaged in <grab the scissors from the shelf>"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19939/frame_0.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19939/frame_1.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19939/frame_2.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19939/frame_3.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19939/frame_4.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19939/frame_5.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19939/frame_6.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19939/frame_7.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19939/frame_8.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19939/frame_9.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19939/frame_10.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19939/frame_11.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19939/frame_12.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19939/frame_13.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19939/frame_14.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19939/frame_15.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19939/frame_16.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19939/frame_17.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19939/frame_18.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19939/frame_19.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19939/frame_20.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19939/frame_21.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19939/frame_22.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19939/frame_23.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19939/frame_24.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19939/frame_25.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19939/frame_26.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19939/frame_27.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19939/frame_28.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_19939/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6508",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 3,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <move towards the box of zip ties> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6508/frame_0.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6508/frame_1.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6508/frame_2.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6508/frame_3.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6508/frame_4.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6508/frame_5.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6508/frame_6.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6508/frame_7.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6508/frame_8.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6508/frame_9.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6508/frame_10.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6508/frame_11.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6508/frame_12.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6508/frame_13.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6508/frame_14.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6508/frame_15.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6508/frame_16.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6508/frame_17.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6508/frame_18.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6508/frame_19.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6508/frame_20.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6508/frame_21.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6508/frame_22.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6508/frame_23.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_7/49_bridge#episode_1742",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <move the clothing towards the open drawer> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1742/frame_0.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1742/frame_1.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1742/frame_2.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1742/frame_3.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1742/frame_4.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1742/frame_5.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1742/frame_6.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1742/frame_7.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1742/frame_8.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1742/frame_9.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1742/frame_10.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1742/frame_11.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1742/frame_12.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1742/frame_13.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1742/frame_14.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1742/frame_15.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1742/frame_16.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1742/frame_17.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1742/frame_18.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1742/frame_19.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1742/frame_20.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1742/frame_21.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1742/frame_22.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1742/frame_23.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1742/frame_24.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1742/frame_25.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1742/frame_26.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1742/frame_27.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1742/frame_28.png",
+            "rt_frames_success/rtx_frames_success_7/49_bridge#episode_1742/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_31/57_fmb#episode_5855",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 3,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <stretch and position the elastic band over the cup> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5855/frame_0.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5855/frame_1.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5855/frame_2.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5855/frame_3.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5855/frame_4.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5855/frame_5.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5855/frame_6.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5855/frame_7.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5855/frame_8.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5855/frame_9.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5855/frame_10.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5855/frame_11.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5855/frame_12.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5855/frame_13.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5855/frame_14.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5855/frame_15.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5855/frame_16.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5855/frame_17.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_33/57_fmb#episode_7793",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image>\nAre you doing <approach the metal vessel> at this very moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7793/frame_0.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7793/frame_1.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7793/frame_2.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7793/frame_3.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7793/frame_4.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7793/frame_5.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7793/frame_6.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7793/frame_7.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14391",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image>\nIs this <lower the bottle into the top compartment> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14391/frame_0.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14391/frame_1.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14391/frame_2.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14391/frame_3.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14391/frame_4.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14391/frame_5.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14391/frame_6.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14391/frame_7.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14431",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <place the lid back on the bottle> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14431/frame_0.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14431/frame_1.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14431/frame_2.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14431/frame_3.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14431/frame_4.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14431/frame_5.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14431/frame_6.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14431/frame_7.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14431/frame_8.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14431/frame_9.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14431/frame_10.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11814",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you currently engaged in <pick up green and yellow toy fruits from the bag and place it on the table>"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11814/frame_0.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11814/frame_1.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11814/frame_2.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11814/frame_3.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11814/frame_4.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11814/frame_5.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11814/frame_6.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11814/frame_7.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11814/frame_8.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11814/frame_9.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11814/frame_10.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11814/frame_11.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11814/frame_12.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11814/frame_13.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11814/frame_14.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11814/frame_15.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11814/frame_16.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11814/frame_17.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11814/frame_18.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11814/frame_19.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11814/frame_20.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11814/frame_21.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11814/frame_22.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11814/frame_23.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11814/frame_24.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11814/frame_25.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1847",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <move broccoli over pot> you're focused on right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1847/frame_0.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1847/frame_1.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1847/frame_2.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1847/frame_3.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1847/frame_4.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1847/frame_5.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1847/frame_6.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1847/frame_7.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1847/frame_8.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1847/frame_9.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1847/frame_10.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1847/frame_11.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1847/frame_12.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1847/frame_13.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1847/frame_14.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1847/frame_15.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1847/frame_16.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_3/49_bridge#episode_12262",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <grab the object from the rack> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12262/frame_0.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12262/frame_1.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12262/frame_2.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12262/frame_3.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12262/frame_4.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12262/frame_5.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12262/frame_6.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12262/frame_7.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12262/frame_8.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12262/frame_9.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12262/frame_10.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12262/frame_11.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12262/frame_12.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12262/frame_13.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12262/frame_14.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12262/frame_15.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12262/frame_16.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12262/frame_17.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12262/frame_18.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12262/frame_19.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_12/49_bridge#episode_24581",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <reach into the left cabinet> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24581/frame_0.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24581/frame_1.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24581/frame_2.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24581/frame_3.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24581/frame_4.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24581/frame_5.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24581/frame_6.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24581/frame_7.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24581/frame_8.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24581/frame_9.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24581/frame_10.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24581/frame_11.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24581/frame_12.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24581/frame_13.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24581/frame_14.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24581/frame_15.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24581/frame_16.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24581/frame_17.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_17/49_bridge#episode_815",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 6,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you currently engaged in <move towards the orange toy>"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_815/frame_0.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_815/frame_1.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_815/frame_2.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_815/frame_3.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_815/frame_4.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_815/frame_5.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_815/frame_6.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_815/frame_7.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_815/frame_8.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_815/frame_9.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_815/frame_10.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_815/frame_11.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_815/frame_12.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_815/frame_13.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_815/frame_14.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_815/frame_15.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_815/frame_16.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_815/frame_17.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_815/frame_18.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_815/frame_19.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_815/frame_20.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_815/frame_21.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_815/frame_22.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_815/frame_23.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_815/frame_24.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_815/frame_25.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3668",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you currently engaged in <lift the fork out of the holder>"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3668/frame_0.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3668/frame_1.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3668/frame_2.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3668/frame_3.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3668/frame_4.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3668/frame_5.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3668/frame_6.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3668/frame_7.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3668/frame_8.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3668/frame_9.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3668/frame_10.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3668/frame_11.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3668/frame_12.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3668/frame_13.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3668/frame_14.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3668/frame_15.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_32/57_fmb#episode_6024",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <place the spoon down parallel to the table edge> you're focused on right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6024/frame_0.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6024/frame_1.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6024/frame_2.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6024/frame_3.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6024/frame_4.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6024/frame_5.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6024/frame_6.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6024/frame_7.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6024/frame_8.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_10/49_bridge#episode_21361",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <lift the snack pack out of the sink> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21361/frame_0.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21361/frame_1.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21361/frame_2.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21361/frame_3.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21361/frame_4.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21361/frame_5.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21361/frame_6.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21361/frame_7.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21361/frame_8.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21361/frame_9.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21361/frame_10.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21361/frame_11.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21361/frame_12.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21361/frame_13.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21361/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_28/57_fmb#episode_2762",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <place the tape on the bottom shelf> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2762/frame_0.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2762/frame_1.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2762/frame_2.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2762/frame_3.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2762/frame_4.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2762/frame_5.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2762/frame_6.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2762/frame_7.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2762/frame_8.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2762/frame_9.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2762/frame_10.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2762/frame_11.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2762/frame_12.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2762/frame_13.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2762/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_473",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <lift the block up and away from the scale> you're focused on right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_473/frame_0.png",
+            "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_473/frame_1.png",
+            "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_473/frame_2.png",
+            "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_473/frame_3.png",
+            "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_473/frame_4.png",
+            "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_473/frame_5.png",
+            "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_473/frame_6.png",
+            "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_473/frame_7.png",
+            "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_473/frame_8.png",
+            "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_473/frame_9.png",
+            "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_473/frame_10.png",
+            "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_473/frame_11.png",
+            "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_473/frame_12.png",
+            "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_473/frame_13.png",
+            "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_473/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13492",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <reach towards the alarm clock> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13492/frame_0.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13492/frame_1.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13492/frame_2.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13492/frame_3.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13492/frame_4.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13492/frame_5.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13492/frame_6.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13492/frame_7.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13492/frame_8.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13492/frame_9.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13492/frame_10.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10904",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 4,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <move the can towards the counter> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10904/frame_0.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10904/frame_1.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10904/frame_2.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10904/frame_3.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10904/frame_4.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10904/frame_5.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10904/frame_6.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10904/frame_7.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10904/frame_8.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10904/frame_9.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10904/frame_10.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10904/frame_11.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10904/frame_12.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10904/frame_13.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10904/frame_14.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10904/frame_15.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10904/frame_16.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10904/frame_17.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10904/frame_18.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10904/frame_19.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10904/frame_20.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10904/frame_21.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10904/frame_22.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10904/frame_23.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10904/frame_24.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10904/frame_25.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10904/frame_26.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10904/frame_27.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10904/frame_28.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10904/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_3/49_bridge#episode_1135",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 3,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <lift and move the bowl towards the orange object> you're focused on right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1135/frame_0.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1135/frame_1.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1135/frame_2.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1135/frame_3.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1135/frame_4.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1135/frame_5.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1135/frame_6.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1135/frame_7.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1135/frame_8.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1135/frame_9.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1135/frame_10.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1135/frame_11.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1135/frame_12.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1135/frame_13.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1135/frame_14.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1135/frame_15.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1135/frame_16.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1135/frame_17.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1135/frame_18.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1135/frame_19.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1135/frame_20.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1135/frame_21.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1135/frame_22.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1135/frame_23.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1135/frame_24.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1135/frame_25.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_1135/frame_26.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_14/49_bridge#episode_3813",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 4,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <adjust and smoothen the folded cloth> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3813/frame_0.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3813/frame_1.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3813/frame_2.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3813/frame_3.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3813/frame_4.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3813/frame_5.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3813/frame_6.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3813/frame_7.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3813/frame_8.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3813/frame_9.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3813/frame_10.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3813/frame_11.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3813/frame_12.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3813/frame_13.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3813/frame_14.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3813/frame_15.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3813/frame_16.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3813/frame_17.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3813/frame_18.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3813/frame_19.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3813/frame_20.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3813/frame_21.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3813/frame_22.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3813/frame_23.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3813/frame_24.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3813/frame_25.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3813/frame_26.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3813/frame_27.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3813/frame_28.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3813/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_30/57_fmb#episode_4417",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 3,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <position the cucumber over the cup> you're focused on right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4417/frame_0.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4417/frame_1.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4417/frame_2.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4417/frame_3.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4417/frame_4.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4417/frame_5.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4417/frame_6.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4417/frame_7.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4417/frame_8.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4417/frame_9.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4417/frame_10.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4417/frame_11.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4417/frame_12.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4417/frame_13.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4417/frame_14.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4417/frame_15.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4417/frame_16.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4417/frame_17.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4417/frame_18.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4417/frame_19.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4417/frame_20.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4417/frame_21.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4417/frame_22.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4417/frame_23.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4417/frame_24.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4417/frame_25.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4417/frame_26.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4417/frame_27.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_40/62_robo_set#episode_148",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 4,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you doing <move the ladle with the coffee beans towards the black and white bowl> at this very moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_148/frame_0.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_148/frame_1.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_148/frame_2.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_148/frame_3.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_148/frame_4.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_148/frame_5.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_148/frame_6.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_148/frame_7.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_148/frame_8.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_148/frame_9.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_148/frame_10.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_148/frame_11.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_148/frame_12.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_148/frame_13.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_148/frame_14.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_148/frame_15.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_148/frame_16.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_148/frame_17.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_148/frame_18.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_148/frame_19.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_148/frame_20.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_148/frame_21.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_148/frame_22.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_148/frame_23.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_148/frame_24.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_148/frame_25.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_148/frame_26.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_148/frame_27.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_148/frame_28.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_32/57_fmb#episode_6723",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <pick a red cup from the shelf> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6723/frame_0.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6723/frame_1.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6723/frame_2.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6723/frame_3.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6723/frame_4.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6723/frame_5.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6723/frame_6.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6723/frame_7.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6723/frame_8.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6723/frame_9.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6723/frame_10.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6723/frame_11.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6723/frame_12.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6723/frame_13.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6723/frame_14.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6723/frame_15.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6723/frame_16.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6723/frame_17.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6723/frame_18.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6723/frame_19.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6723/frame_20.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6723/frame_21.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6723/frame_22.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_24",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <drop the spray bottle into the box> you're focused on right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_24/frame_0.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_24/frame_1.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_24/frame_2.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_24/frame_3.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_24/frame_4.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_24/frame_5.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_24/frame_6.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_24/frame_7.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_24/frame_8.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_24/frame_9.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_24/frame_10.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_24/frame_11.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_24/frame_12.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_24/frame_13.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_24/frame_14.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_24/frame_15.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10089",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you doing <move the marker towards the plate (not visible)> at this very moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10089/frame_0.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10089/frame_1.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10089/frame_2.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10089/frame_3.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10089/frame_4.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10089/frame_5.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10089/frame_6.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10089/frame_7.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10089/frame_8.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10089/frame_9.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10089/frame_10.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10089/frame_11.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10089/frame_12.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10089/frame_13.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10089/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_10/49_bridge#episode_21068",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 4,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you currently engaged in <move the grasped item towards the countertop>"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21068/frame_0.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21068/frame_1.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21068/frame_2.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21068/frame_3.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21068/frame_4.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21068/frame_5.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21068/frame_6.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21068/frame_7.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21068/frame_8.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21068/frame_9.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21068/frame_10.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21068/frame_11.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21068/frame_12.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21068/frame_13.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21068/frame_14.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21068/frame_15.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21068/frame_16.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21068/frame_17.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21068/frame_18.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21068/frame_19.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21068/frame_20.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21068/frame_21.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21068/frame_22.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21068/frame_23.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21068/frame_24.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21068/frame_25.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21068/frame_26.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21068/frame_27.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_16/49_bridge#episode_6625",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image>\nIs this <push the yellow block> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6625/frame_0.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6625/frame_1.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6625/frame_2.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6625/frame_3.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6625/frame_4.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6625/frame_5.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6625/frame_6.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6625/frame_7.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10188",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 3,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you doing <place the bowl down at the front center table edge> at this very moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10188/frame_0.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10188/frame_1.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10188/frame_2.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10188/frame_3.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10188/frame_4.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10188/frame_5.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10188/frame_6.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10188/frame_7.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10188/frame_8.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10188/frame_9.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10188/frame_10.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10188/frame_11.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10188/frame_12.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10188/frame_13.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10188/frame_14.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10188/frame_15.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10188/frame_16.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10188/frame_17.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10188/frame_18.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10188/frame_19.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10188/frame_20.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10188/frame_21.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10188/frame_22.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10188/frame_23.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10188/frame_24.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10188/frame_25.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10188/frame_26.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10188/frame_27.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10188/frame_28.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10188/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14591",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <move the fruit towards the pot> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14591/frame_0.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14591/frame_1.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14591/frame_2.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14591/frame_3.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14591/frame_4.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14591/frame_5.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14591/frame_6.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14591/frame_7.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14591/frame_8.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14591/frame_9.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14591/frame_10.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14591/frame_11.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14591/frame_12.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14591/frame_13.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14591/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_33/57_fmb#episode_6938",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image>\nIs this <place the hex key into the container> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6938/frame_0.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6938/frame_1.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6938/frame_2.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6938/frame_3.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6938/frame_4.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6938/frame_5.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6938/frame_6.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6938/frame_7.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_51/62_robo_set#episode_800",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 3,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <place the grasped corner onto the top left of the cloth, folding it> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_800/frame_0.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_800/frame_1.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_800/frame_2.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_800/frame_3.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_800/frame_4.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_800/frame_5.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_800/frame_6.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_800/frame_7.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_800/frame_8.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_800/frame_9.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_800/frame_10.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_800/frame_11.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_800/frame_12.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_800/frame_13.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_800/frame_14.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_800/frame_15.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_800/frame_16.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_800/frame_17.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_800/frame_18.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_800/frame_19.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_800/frame_20.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_800/frame_21.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_800/frame_22.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_800/frame_23.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_800/frame_24.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_800/frame_25.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_800/frame_26.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_8/49_bridge#episode_18149",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <position the brush over the pen rack> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18149/frame_0.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18149/frame_1.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18149/frame_2.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18149/frame_3.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18149/frame_4.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18149/frame_5.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18149/frame_6.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18149/frame_7.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18149/frame_8.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18149/frame_9.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18149/frame_10.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1983",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <place the bottle on the table in line with the other bottles> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1983/frame_0.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1983/frame_1.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1983/frame_2.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1983/frame_3.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1983/frame_4.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1983/frame_5.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1983/frame_6.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1983/frame_7.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1983/frame_8.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1983/frame_9.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1983/frame_10.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1983/frame_11.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1983/frame_12.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1983/frame_13.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1983/frame_14.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1983/frame_15.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1983/frame_16.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1983/frame_17.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4908",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <place the bread in the oven> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4908/frame_0.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4908/frame_1.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4908/frame_2.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4908/frame_3.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4908/frame_4.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4908/frame_5.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4908/frame_6.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4908/frame_7.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4908/frame_8.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4908/frame_9.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4908/frame_10.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4908/frame_11.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4908/frame_12.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4908/frame_13.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4908/frame_14.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4908/frame_15.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4908/frame_16.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4908/frame_17.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4908/frame_18.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4908/frame_19.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4908/frame_20.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_54/62_robo_set#episode_9969",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you doing <move the bowl towards the purple towel> at this very moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_54/62_robo_set#episode_9969/frame_0.png",
+            "rt_frames_success/rtx_frames_success_54/62_robo_set#episode_9969/frame_1.png",
+            "rt_frames_success/rtx_frames_success_54/62_robo_set#episode_9969/frame_2.png",
+            "rt_frames_success/rtx_frames_success_54/62_robo_set#episode_9969/frame_3.png",
+            "rt_frames_success/rtx_frames_success_54/62_robo_set#episode_9969/frame_4.png",
+            "rt_frames_success/rtx_frames_success_54/62_robo_set#episode_9969/frame_5.png",
+            "rt_frames_success/rtx_frames_success_54/62_robo_set#episode_9969/frame_6.png",
+            "rt_frames_success/rtx_frames_success_54/62_robo_set#episode_9969/frame_7.png",
+            "rt_frames_success/rtx_frames_success_54/62_robo_set#episode_9969/frame_8.png",
+            "rt_frames_success/rtx_frames_success_54/62_robo_set#episode_9969/frame_9.png",
+            "rt_frames_success/rtx_frames_success_54/62_robo_set#episode_9969/frame_10.png",
+            "rt_frames_success/rtx_frames_success_54/62_robo_set#episode_9969/frame_11.png",
+            "rt_frames_success/rtx_frames_success_54/62_robo_set#episode_9969/frame_12.png",
+            "rt_frames_success/rtx_frames_success_54/62_robo_set#episode_9969/frame_13.png",
+            "rt_frames_success/rtx_frames_success_54/62_robo_set#episode_9969/frame_14.png",
+            "rt_frames_success/rtx_frames_success_54/62_robo_set#episode_9969/frame_15.png",
+            "rt_frames_success/rtx_frames_success_54/62_robo_set#episode_9969/frame_16.png",
+            "rt_frames_success/rtx_frames_success_54/62_robo_set#episode_9969/frame_17.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1064",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <place the shoe back on the table> you're focused on right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1064/frame_0.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1064/frame_1.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1064/frame_2.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1064/frame_3.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1064/frame_4.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1064/frame_5.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1064/frame_6.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1064/frame_7.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1064/frame_8.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1064/frame_9.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1064/frame_10.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1064/frame_11.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1064/frame_12.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1064/frame_13.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1064/frame_14.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1064/frame_15.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1064/frame_16.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1064/frame_17.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1064/frame_18.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1064/frame_19.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1064/frame_20.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1064/frame_21.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1064/frame_22.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1064/frame_23.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1064/frame_24.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1064/frame_25.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1064/frame_26.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1064/frame_27.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1064/frame_28.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1064/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5484",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <straighten the towel in the air> you're focused on right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5484/frame_0.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5484/frame_1.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5484/frame_2.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5484/frame_3.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5484/frame_4.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5484/frame_5.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5484/frame_6.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5484/frame_7.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5484/frame_8.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5484/frame_9.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5484/frame_10.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5484/frame_11.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5484/frame_12.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5484/frame_13.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5484/frame_14.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5484/frame_15.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5484/frame_16.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5484/frame_17.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5484/frame_18.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5484/frame_19.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5484/frame_20.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5484/frame_21.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5484/frame_22.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5484/frame_23.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5484/frame_24.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5484/frame_25.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5484/frame_26.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5484/frame_27.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5484/frame_28.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3980",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you doing <move the towels towards the rail> at this very moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3980/frame_0.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3980/frame_1.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3980/frame_2.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3980/frame_3.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3980/frame_4.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3980/frame_5.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3980/frame_6.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3980/frame_7.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3980/frame_8.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3980/frame_9.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3980/frame_10.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3980/frame_11.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3980/frame_12.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3980/frame_13.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3980/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3924",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 4,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <place the eraser on the stand> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3924/frame_0.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3924/frame_1.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3924/frame_2.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3924/frame_3.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3924/frame_4.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3924/frame_5.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3924/frame_6.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3924/frame_7.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3924/frame_8.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3924/frame_9.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3924/frame_10.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3924/frame_11.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3924/frame_12.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3924/frame_13.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3924/frame_14.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3924/frame_15.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3924/frame_16.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3924/frame_17.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3924/frame_18.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3924/frame_19.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3924/frame_20.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3924/frame_21.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3924/frame_22.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3924/frame_23.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3924/frame_24.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3924/frame_25.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3924/frame_26.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3924/frame_27.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3924/frame_28.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3924/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_26/55_dobbe#episode_763",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image>\nAre you currently engaged in <position over the pillow>"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_763/frame_0.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_763/frame_1.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_763/frame_2.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_763/frame_3.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_763/frame_4.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_763/frame_5.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3083",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <move towards wires> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3083/frame_0.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3083/frame_1.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3083/frame_2.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3083/frame_3.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3083/frame_4.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3083/frame_5.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3083/frame_6.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3083/frame_7.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3083/frame_8.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3083/frame_9.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3083/frame_10.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3083/frame_11.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3083/frame_12.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3083/frame_13.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3083/frame_14.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3083/frame_15.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3083/frame_16.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3083/frame_17.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3083/frame_18.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3083/frame_19.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3083/frame_20.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3083/frame_21.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3083/frame_22.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3083/frame_23.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3083/frame_24.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3083/frame_25.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3083/frame_26.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3083/frame_27.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3083/frame_28.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3083/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_195",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <lift and reposition the green tool> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_195/frame_0.png",
+            "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_195/frame_1.png",
+            "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_195/frame_2.png",
+            "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_195/frame_3.png",
+            "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_195/frame_4.png",
+            "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_195/frame_5.png",
+            "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_195/frame_6.png",
+            "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_195/frame_7.png",
+            "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_195/frame_8.png",
+            "rt_frames_success/rtx_frames_success_35/61_qut_dexterous_manpulation#episode_195/frame_9.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_12/49_bridge#episode_23829",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <hover above the pot and bottle> you're focused on right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23829/frame_0.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23829/frame_1.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23829/frame_2.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23829/frame_3.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23829/frame_4.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23829/frame_5.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23829/frame_6.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23829/frame_7.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23829/frame_8.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23829/frame_9.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23829/frame_10.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23829/frame_11.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23829/frame_12.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23829/frame_13.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23829/frame_14.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23829/frame_15.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23829/frame_16.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23829/frame_17.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23829/frame_18.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23829/frame_19.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23829/frame_20.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23829/frame_21.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23829/frame_22.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_691",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 5,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <place the grasped corner onto the top left corner of the cloth> you're focused on right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_691/frame_0.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_691/frame_1.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_691/frame_2.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_691/frame_3.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_691/frame_4.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_691/frame_5.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_691/frame_6.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_691/frame_7.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_691/frame_8.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_691/frame_9.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_691/frame_10.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_691/frame_11.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_691/frame_12.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_691/frame_13.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_691/frame_14.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_691/frame_15.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_691/frame_16.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_691/frame_17.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_691/frame_18.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_691/frame_19.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_691/frame_20.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_691/frame_21.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_691/frame_22.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_691/frame_23.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_691/frame_24.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_691/frame_25.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_691/frame_26.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_691/frame_27.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_691/frame_28.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_691/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_8/49_bridge#episode_18024",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <reach for the doll on the counter> you're focused on right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18024/frame_0.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18024/frame_1.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18024/frame_2.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18024/frame_3.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18024/frame_4.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18024/frame_5.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18024/frame_6.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18024/frame_7.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18024/frame_8.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18024/frame_9.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18024/frame_10.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18024/frame_11.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18024/frame_12.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18024/frame_13.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18024/frame_14.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18024/frame_15.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_17/49_bridge#episode_8054",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 4,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <place the green block on its side> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8054/frame_0.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8054/frame_1.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8054/frame_2.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8054/frame_3.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8054/frame_4.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8054/frame_5.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8054/frame_6.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8054/frame_7.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8054/frame_8.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8054/frame_9.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8054/frame_10.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8054/frame_11.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8054/frame_12.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8054/frame_13.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8054/frame_14.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8054/frame_15.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8054/frame_16.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8054/frame_17.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8054/frame_18.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8054/frame_19.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8054/frame_20.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8054/frame_21.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8054/frame_22.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8054/frame_23.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8054/frame_24.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8054/frame_25.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8054/frame_26.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8054/frame_27.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8054/frame_28.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8054/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_26/55_dobbe#episode_898",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <move the watering can over the plant> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_898/frame_0.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_898/frame_1.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_898/frame_2.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_898/frame_3.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_898/frame_4.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_898/frame_5.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_898/frame_6.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_898/frame_7.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_898/frame_8.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_898/frame_9.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_898/frame_10.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_898/frame_11.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_898/frame_12.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_898/frame_13.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_898/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_28/57_fmb#episode_2404",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <folding other ends and adjust the folded towel> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2404/frame_0.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2404/frame_1.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2404/frame_2.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2404/frame_3.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2404/frame_4.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2404/frame_5.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2404/frame_6.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2404/frame_7.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2404/frame_8.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2404/frame_9.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2404/frame_10.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2404/frame_11.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2404/frame_12.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2404/frame_13.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2404/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13578",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 4,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <wipe the pan with the kitchen towel> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13578/frame_0.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13578/frame_1.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13578/frame_2.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13578/frame_3.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13578/frame_4.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13578/frame_5.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13578/frame_6.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13578/frame_7.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13578/frame_8.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13578/frame_9.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13578/frame_10.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13578/frame_11.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13578/frame_12.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13578/frame_13.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13578/frame_14.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13578/frame_15.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13578/frame_16.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13578/frame_17.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13578/frame_18.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13578/frame_19.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13578/frame_20.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13578/frame_21.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13578/frame_22.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13578/frame_23.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13578/frame_24.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13578/frame_25.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13578/frame_26.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13578/frame_27.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13578/frame_28.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13578/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17867",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you doing <place the adapter on the floor> at this very moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17867/frame_0.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17867/frame_1.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17867/frame_2.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17867/frame_3.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17867/frame_4.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17867/frame_5.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17867/frame_6.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17867/frame_7.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17867/frame_8.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17867/frame_9.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17867/frame_10.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17867/frame_11.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17867/frame_12.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17867/frame_13.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17867/frame_14.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17867/frame_15.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17867/frame_16.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17867/frame_17.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17867/frame_18.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_34/57_fmb#episode_802",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you doing <wipe the table with the cloth> at this very moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_802/frame_0.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_802/frame_1.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_802/frame_2.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_802/frame_3.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_802/frame_4.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_802/frame_5.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_802/frame_6.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_802/frame_7.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_802/frame_8.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_802/frame_9.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_802/frame_10.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_802/frame_11.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10478",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you currently engaged in <move the can towards the blue object>"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10478/frame_0.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10478/frame_1.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10478/frame_2.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10478/frame_3.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10478/frame_4.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10478/frame_5.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10478/frame_6.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10478/frame_7.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10478/frame_8.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10478/frame_9.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10478/frame_10.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10478/frame_11.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10478/frame_12.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10478/frame_13.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10478/frame_14.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10478/frame_15.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10478/frame_16.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10478/frame_17.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10478/frame_18.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10478/frame_19.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10478/frame_20.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10478/frame_21.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10478/frame_22.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10478/frame_23.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10478/frame_24.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10478/frame_25.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10478/frame_26.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10478/frame_27.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10478/frame_28.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10478/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_37/62_robo_set#episode_12016",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 5,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <pick up the c-clamp handle> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_12016/frame_0.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_12016/frame_1.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_12016/frame_2.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_12016/frame_3.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_12016/frame_4.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_12016/frame_5.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_12016/frame_6.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_12016/frame_7.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_12016/frame_8.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_12016/frame_9.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_12016/frame_10.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_12016/frame_11.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_12016/frame_12.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_12016/frame_13.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_12016/frame_14.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_12016/frame_15.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_12016/frame_16.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_12016/frame_17.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_12016/frame_18.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_12016/frame_19.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_12016/frame_20.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_12016/frame_21.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_12016/frame_22.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_12016/frame_23.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_12016/frame_24.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_12016/frame_25.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_12016/frame_26.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_12016/frame_27.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_12016/frame_28.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13808",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 4,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you doing <lower the spatula and release the bagel> at this very moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13808/frame_0.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13808/frame_1.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13808/frame_2.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13808/frame_3.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13808/frame_4.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13808/frame_5.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13808/frame_6.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13808/frame_7.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13808/frame_8.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13808/frame_9.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13808/frame_10.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13808/frame_11.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13808/frame_12.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13808/frame_13.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13808/frame_14.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13808/frame_15.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13808/frame_16.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13808/frame_17.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13808/frame_18.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13808/frame_19.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13808/frame_20.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13808/frame_21.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13808/frame_22.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13808/frame_23.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13808/frame_24.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13808/frame_25.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13808/frame_26.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13808/frame_27.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13808/frame_28.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13808/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5462",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <lift and fold the grasped end of the paper> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5462/frame_0.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5462/frame_1.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5462/frame_2.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5462/frame_3.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5462/frame_4.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5462/frame_5.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5462/frame_6.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5462/frame_7.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5462/frame_8.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5462/frame_9.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5462/frame_10.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14662",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <move the lid towards the base> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14662/frame_0.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14662/frame_1.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14662/frame_2.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14662/frame_3.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14662/frame_4.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14662/frame_5.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14662/frame_6.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14662/frame_7.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14662/frame_8.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14662/frame_9.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14662/frame_10.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14662/frame_11.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6845",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <move the clothing out of the machine> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6845/frame_0.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6845/frame_1.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6845/frame_2.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6845/frame_3.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6845/frame_4.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6845/frame_5.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6845/frame_6.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6845/frame_7.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6845/frame_8.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6845/frame_9.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6845/frame_10.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_16/49_bridge#episode_6786",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 3,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <approach the middle shelf> you're focused on right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6786/frame_0.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6786/frame_1.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6786/frame_2.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6786/frame_3.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6786/frame_4.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6786/frame_5.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6786/frame_6.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6786/frame_7.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6786/frame_8.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6786/frame_9.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6786/frame_10.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6786/frame_11.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6786/frame_12.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6786/frame_13.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6786/frame_14.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6786/frame_15.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6786/frame_16.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6786/frame_17.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6786/frame_18.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6786/frame_19.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6786/frame_20.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6786/frame_21.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6786/frame_22.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6786/frame_23.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6786/frame_24.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6786/frame_25.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6786/frame_26.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6786/frame_27.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6786/frame_28.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6786/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_174",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 3,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <move towards the switch> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_174/frame_0.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_174/frame_1.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_174/frame_2.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_174/frame_3.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_174/frame_4.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_174/frame_5.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_174/frame_6.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_174/frame_7.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_174/frame_8.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_174/frame_9.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_174/frame_10.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_174/frame_11.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_174/frame_12.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_174/frame_13.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_174/frame_14.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_174/frame_15.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_174/frame_16.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_174/frame_17.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_174/frame_18.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_174/frame_19.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_174/frame_20.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_174/frame_21.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1892",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <pick up the right sneaker> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1892/frame_0.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1892/frame_1.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1892/frame_2.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1892/frame_3.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1892/frame_4.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1892/frame_5.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1892/frame_6.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1892/frame_7.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1892/frame_8.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1892/frame_9.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1892/frame_10.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1892/frame_11.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1892/frame_12.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1892/frame_13.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1892/frame_14.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1892/frame_15.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1892/frame_16.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1892/frame_17.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_6/49_bridge#episode_1597",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you currently engaged in <continue erasing and seemingly finish>"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1597/frame_0.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1597/frame_1.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1597/frame_2.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1597/frame_3.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1597/frame_4.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1597/frame_5.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1597/frame_6.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1597/frame_7.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1597/frame_8.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1597/frame_9.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1597/frame_10.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1597/frame_11.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1597/frame_12.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1597/frame_13.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1597/frame_14.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1597/frame_15.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1597/frame_16.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1597/frame_17.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1597/frame_18.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1597/frame_19.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_1597/frame_20.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_50/62_robo_set#episode_641",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <reach towards the spice rack> you're focused on right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_641/frame_0.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_641/frame_1.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_641/frame_2.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_641/frame_3.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_641/frame_4.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_641/frame_5.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_641/frame_6.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_641/frame_7.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_641/frame_8.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_641/frame_9.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_641/frame_10.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_641/frame_11.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_641/frame_12.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_641/frame_13.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_641/frame_14.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_641/frame_15.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_641/frame_16.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4937",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you currently engaged in <move the chicken towards the sink>"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4937/frame_0.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4937/frame_1.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4937/frame_2.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4937/frame_3.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4937/frame_4.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4937/frame_5.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4937/frame_6.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4937/frame_7.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4937/frame_8.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4937/frame_9.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4937/frame_10.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4937/frame_11.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4937/frame_12.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4937/frame_13.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4937/frame_14.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4937/frame_15.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4937/frame_16.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4937/frame_17.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4937/frame_18.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4937/frame_19.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4937/frame_20.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4937/frame_21.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4937/frame_22.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4937/frame_23.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4937/frame_24.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4937/frame_25.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4937/frame_26.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4937/frame_27.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4937/frame_28.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4937/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_14/49_bridge#episode_3644",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <move the lemon over the plate> you're focused on right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3644/frame_0.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3644/frame_1.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3644/frame_2.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3644/frame_3.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3644/frame_4.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3644/frame_5.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3644/frame_6.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3644/frame_7.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3644/frame_8.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3644/frame_9.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3644/frame_10.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3644/frame_11.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3644/frame_12.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3644/frame_13.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3644/frame_14.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3644/frame_15.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3644/frame_16.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3644/frame_17.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3644/frame_18.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3644/frame_19.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3644/frame_20.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3644/frame_21.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3644/frame_22.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3644/frame_23.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3644/frame_24.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3644/frame_25.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3644/frame_26.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4099",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 3,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <retract from the shelf with the scissors> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4099/frame_0.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4099/frame_1.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4099/frame_2.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4099/frame_3.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4099/frame_4.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4099/frame_5.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4099/frame_6.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4099/frame_7.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4099/frame_8.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4099/frame_9.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4099/frame_10.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4099/frame_11.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4099/frame_12.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4099/frame_13.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4099/frame_14.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4099/frame_15.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4099/frame_16.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4099/frame_17.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4099/frame_18.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4099/frame_19.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4099/frame_20.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4099/frame_21.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4099/frame_22.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4099/frame_23.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4099/frame_24.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4099/frame_25.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4099/frame_26.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4099/frame_27.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4099/frame_28.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4099/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10310",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <lowering and positioning above the scattered beans> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10310/frame_0.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10310/frame_1.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10310/frame_2.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10310/frame_3.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10310/frame_4.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10310/frame_5.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10310/frame_6.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10310/frame_7.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10310/frame_8.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10310/frame_9.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10310/frame_10.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10310/frame_11.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10310/frame_12.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10310/frame_13.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10310/frame_14.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10310/frame_15.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10310/frame_16.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10310/frame_17.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10310/frame_18.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10310/frame_19.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10310/frame_20.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10310/frame_21.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10310/frame_22.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10310/frame_23.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10310/frame_24.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10310/frame_25.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10310/frame_26.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10310/frame_27.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10310/frame_28.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10310/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13985",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 4,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you doing <move towards the purple figure> at this very moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13985/frame_0.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13985/frame_1.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13985/frame_2.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13985/frame_3.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13985/frame_4.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13985/frame_5.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13985/frame_6.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13985/frame_7.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13985/frame_8.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13985/frame_9.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13985/frame_10.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13985/frame_11.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13985/frame_12.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13985/frame_13.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13985/frame_14.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13985/frame_15.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13985/frame_16.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13985/frame_17.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13985/frame_18.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13985/frame_19.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13985/frame_20.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13985/frame_21.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13985/frame_22.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13985/frame_23.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13985/frame_24.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13985/frame_25.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13985/frame_26.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13985/frame_27.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13985/frame_28.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_13985/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_45/62_robo_set#episode_1957",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <pull the cabinet door> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_1957/frame_0.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_1957/frame_1.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_1957/frame_2.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_1957/frame_3.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_1957/frame_4.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_1957/frame_5.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_1957/frame_6.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_1957/frame_7.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_1957/frame_8.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_1957/frame_9.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_1957/frame_10.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6457",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <move the towel between the fork and the pot> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6457/frame_0.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6457/frame_1.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6457/frame_2.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6457/frame_3.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6457/frame_4.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6457/frame_5.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6457/frame_6.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6457/frame_7.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6457/frame_8.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6457/frame_9.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6457/frame_10.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6457/frame_11.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6457/frame_12.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6457/frame_13.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6457/frame_14.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6457/frame_15.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6457/frame_16.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_33/57_fmb#episode_6870",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <fold the towel for the first time> you're focused on right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6870/frame_0.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6870/frame_1.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6870/frame_2.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6870/frame_3.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6870/frame_4.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6870/frame_5.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6870/frame_6.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6870/frame_7.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6870/frame_8.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6870/frame_9.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6870/frame_10.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6870/frame_11.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6870/frame_12.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6870/frame_13.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6870/frame_14.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6870/frame_15.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6870/frame_16.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6870/frame_17.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6870/frame_18.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6870/frame_19.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6870/frame_20.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6870/frame_21.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6870/frame_22.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_6870/frame_23.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_23/55_dobbe#episode_27",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <move the belt towards the couch armrest> you're focused on right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_27/frame_0.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_27/frame_1.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_27/frame_2.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_27/frame_3.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_27/frame_4.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_27/frame_5.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_27/frame_6.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_27/frame_7.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_27/frame_8.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_27/frame_9.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_27/frame_10.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_27/frame_11.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_27/frame_12.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_27/frame_13.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_27/frame_14.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_27/frame_15.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_27/frame_16.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_27/frame_17.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9128",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 3,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <move the spatula between the burners> you're focused on right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9128/frame_0.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9128/frame_1.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9128/frame_2.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9128/frame_3.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9128/frame_4.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9128/frame_5.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9128/frame_6.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9128/frame_7.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9128/frame_8.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9128/frame_9.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9128/frame_10.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9128/frame_11.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9128/frame_12.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9128/frame_13.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9128/frame_14.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9128/frame_15.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9128/frame_16.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9128/frame_17.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9128/frame_18.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9128/frame_19.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9128/frame_20.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9128/frame_21.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9128/frame_22.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9128/frame_23.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9128/frame_24.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9128/frame_25.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9128/frame_26.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_11/49_bridge#episode_23285",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image>\nAre you doing <place the blanket on top of the bin> at this very moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23285/frame_0.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23285/frame_1.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23285/frame_2.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23285/frame_3.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23285/frame_4.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23285/frame_5.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23285/frame_6.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7954",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you currently engaged in <slightly adjust the spoon\u2019s position in the bowl>"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7954/frame_0.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7954/frame_1.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7954/frame_2.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7954/frame_3.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7954/frame_4.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7954/frame_5.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7954/frame_6.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7954/frame_7.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7954/frame_8.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7954/frame_9.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7954/frame_10.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7954/frame_11.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7954/frame_12.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7954/frame_13.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7954/frame_14.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7954/frame_15.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7954/frame_16.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7954/frame_17.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7954/frame_18.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7954/frame_19.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7954/frame_20.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_30/57_fmb#episode_4759",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <move the cylindrical object towards the drawer> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4759/frame_0.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4759/frame_1.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4759/frame_2.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4759/frame_3.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4759/frame_4.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4759/frame_5.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4759/frame_6.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4759/frame_7.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4759/frame_8.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4759/frame_9.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4759/frame_10.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4759/frame_11.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4759/frame_12.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4759/frame_13.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4759/frame_14.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4759/frame_15.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4759/frame_16.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4759/frame_17.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4759/frame_18.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4759/frame_19.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3874",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you currently engaged in <hold the camera in the turned position>"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3874/frame_0.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3874/frame_1.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3874/frame_2.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3874/frame_3.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3874/frame_4.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3874/frame_5.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3874/frame_6.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3874/frame_7.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3874/frame_8.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3874/frame_9.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3874/frame_10.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3874/frame_11.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3874/frame_12.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3874/frame_13.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3874/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_498",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 3,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you doing <reach for the pink bottle> at this very moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_498/frame_0.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_498/frame_1.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_498/frame_2.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_498/frame_3.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_498/frame_4.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_498/frame_5.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_498/frame_6.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_498/frame_7.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_498/frame_8.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_498/frame_9.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_498/frame_10.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_498/frame_11.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_498/frame_12.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_498/frame_13.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_498/frame_14.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_498/frame_15.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_498/frame_16.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_498/frame_17.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_498/frame_18.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_498/frame_19.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_498/frame_20.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_498/frame_21.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_498/frame_22.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_83",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <place the cloth on the back rest of the chair> you're focused on right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_83/frame_0.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_83/frame_1.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_83/frame_2.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_83/frame_3.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_83/frame_4.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_83/frame_5.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_83/frame_6.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_83/frame_7.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_83/frame_8.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_83/frame_9.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_83/frame_10.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_83/frame_11.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_32/57_fmb#episode_6192",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you currently engaged in <pick up the headphones from the table>"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6192/frame_0.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6192/frame_1.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6192/frame_2.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6192/frame_3.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6192/frame_4.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6192/frame_5.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6192/frame_6.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6192/frame_7.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6192/frame_8.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6192/frame_9.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6192/frame_10.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6192/frame_11.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6192/frame_12.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_28/57_fmb#episode_2860",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 4,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you currently engaged in <pour the sweets into the cup on the left>"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2860/frame_0.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2860/frame_1.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2860/frame_2.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2860/frame_3.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2860/frame_4.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2860/frame_5.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2860/frame_6.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2860/frame_7.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2860/frame_8.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2860/frame_9.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2860/frame_10.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2860/frame_11.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2860/frame_12.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2860/frame_13.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2860/frame_14.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2860/frame_15.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2860/frame_16.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2860/frame_17.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2860/frame_18.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2860/frame_19.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2860/frame_20.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2860/frame_21.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2860/frame_22.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2860/frame_23.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2860/frame_24.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2860/frame_25.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2860/frame_26.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2860/frame_27.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1480",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 3,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <attempt to push a block but fails> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1480/frame_0.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1480/frame_1.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1480/frame_2.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1480/frame_3.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1480/frame_4.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1480/frame_5.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1480/frame_6.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1480/frame_7.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1480/frame_8.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1480/frame_9.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1480/frame_10.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1480/frame_11.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1480/frame_12.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1480/frame_13.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1480/frame_14.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1480/frame_15.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1480/frame_16.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1480/frame_17.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1480/frame_18.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1480/frame_19.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1480/frame_20.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1480/frame_21.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_1480/frame_22.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_31/57_fmb#episode_5698",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image>\nIs this <place the pot beside the spool> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5698/frame_0.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5698/frame_1.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5698/frame_2.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5698/frame_3.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5698/frame_4.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5698/frame_5.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5698/frame_6.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5698/frame_7.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_26/55_dobbe#episode_635",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <grasp the book> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_635/frame_0.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_635/frame_1.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_635/frame_2.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_635/frame_3.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_635/frame_4.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_635/frame_5.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_635/frame_6.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_635/frame_7.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_635/frame_8.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_635/frame_9.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_635/frame_10.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_635/frame_11.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_635/frame_12.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_635/frame_13.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_635/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_46/62_robo_set#episode_339",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <move the brown cylinder towards the designated slot in the pink structure> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_339/frame_0.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_339/frame_1.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_339/frame_2.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_339/frame_3.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_339/frame_4.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_339/frame_5.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_339/frame_6.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_339/frame_7.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_339/frame_8.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_339/frame_9.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_339/frame_10.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_339/frame_11.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_339/frame_12.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_339/frame_13.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_339/frame_14.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_339/frame_15.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_339/frame_16.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_339/frame_17.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_5/49_bridge#episode_14981",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 4,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <grab the white spoon> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14981/frame_0.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14981/frame_1.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14981/frame_2.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14981/frame_3.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14981/frame_4.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14981/frame_5.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14981/frame_6.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14981/frame_7.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14981/frame_8.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14981/frame_9.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14981/frame_10.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14981/frame_11.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14981/frame_12.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14981/frame_13.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14981/frame_14.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14981/frame_15.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14981/frame_16.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14981/frame_17.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14981/frame_18.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14981/frame_19.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14981/frame_20.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14981/frame_21.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14981/frame_22.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14981/frame_23.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14981/frame_24.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14981/frame_25.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14981/frame_26.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14981/frame_27.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14981/frame_28.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14981/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7060",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 0,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <move the spatula towards the center of the table> you're focused on right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7060/frame_0.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7060/frame_1.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7060/frame_2.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7060/frame_3.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7060/frame_4.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7060/frame_5.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7060/frame_6.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7060/frame_7.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7060/frame_8.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7060/frame_9.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7060/frame_10.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7060/frame_11.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7060/frame_12.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7060/frame_13.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7060/frame_14.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7060/frame_15.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7060/frame_16.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4022",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <move the cucumbers over the green bowl> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4022/frame_0.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4022/frame_1.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4022/frame_2.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4022/frame_3.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4022/frame_4.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4022/frame_5.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4022/frame_6.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4022/frame_7.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4022/frame_8.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4022/frame_9.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4022/frame_10.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4022/frame_11.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4022/frame_12.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4022/frame_13.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4022/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1057",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <pick up a yellow object from the grid> what you're working on at the moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1057/frame_0.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1057/frame_1.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1057/frame_2.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1057/frame_3.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1057/frame_4.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1057/frame_5.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1057/frame_6.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1057/frame_7.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1057/frame_8.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1057/frame_9.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1057/frame_10.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1057/frame_11.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1057/frame_12.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1057/frame_13.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1057/frame_14.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1057/frame_15.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1057/frame_16.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_814",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <lower towards the can of peaches> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_814/frame_0.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_814/frame_1.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_814/frame_2.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_814/frame_3.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_814/frame_4.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_814/frame_5.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_814/frame_6.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_814/frame_7.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_814/frame_8.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_814/frame_9.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_814/frame_10.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_814/frame_11.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_814/frame_12.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_814/frame_13.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_814/frame_14.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_814/frame_15.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_814/frame_16.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_814/frame_17.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_814/frame_18.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_814/frame_19.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_814/frame_20.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_814/frame_21.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_814/frame_22.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_814/frame_23.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_814/frame_24.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_814/frame_25.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_814/frame_26.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_814/frame_27.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_814/frame_28.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_814/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15676",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you doing <move the chip towards the green cup> at this very moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15676/frame_0.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15676/frame_1.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15676/frame_2.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15676/frame_3.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15676/frame_4.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15676/frame_5.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15676/frame_6.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15676/frame_7.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15676/frame_8.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15676/frame_9.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15676/frame_10.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15676/frame_11.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15676/frame_12.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15676/frame_13.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15676/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_11/49_bridge#episode_23578",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nAre you currently engaged in <hover over the plate>"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23578/frame_0.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23578/frame_1.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23578/frame_2.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23578/frame_3.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23578/frame_4.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23578/frame_5.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23578/frame_6.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23578/frame_7.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23578/frame_8.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23578/frame_9.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23578/frame_10.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23578/frame_11.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23578/frame_12.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23578/frame_13.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_23578/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10136",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 4,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <lift and flip the bottle> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10136/frame_0.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10136/frame_1.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10136/frame_2.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10136/frame_3.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10136/frame_4.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10136/frame_5.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10136/frame_6.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10136/frame_7.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10136/frame_8.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10136/frame_9.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10136/frame_10.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10136/frame_11.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10136/frame_12.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10136/frame_13.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10136/frame_14.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10136/frame_15.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10136/frame_16.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10136/frame_17.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10136/frame_18.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10136/frame_19.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10136/frame_20.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10136/frame_21.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10136/frame_22.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10136/frame_23.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10136/frame_24.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10136/frame_25.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10136/frame_26.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10136/frame_27.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10136/frame_28.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10136/frame_29.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4021",
+        "task": "Discriminative_Affordance_(Negative)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs this <place the unplugged charger on the table> you're handling at present?"
+            },
+            {
+                "from": "gpt",
+                "value": "no"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4021/frame_0.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4021/frame_1.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4021/frame_2.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4021/frame_3.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4021/frame_4.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4021/frame_5.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4021/frame_6.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4021/frame_7.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4021/frame_8.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4021/frame_9.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4021/frame_10.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4021/frame_11.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4021/frame_12.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4021/frame_13.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4021/frame_14.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4021/frame_15.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4021/frame_16.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4021/frame_17.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4021/frame_18.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4021/frame_19.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4021/frame_20.png"
+        ]
+    }
+]
\ No newline at end of file