diff --git "a/planning/test/discriminative_affordance_(positive)_task.json" "b/planning/test/discriminative_affordance_(positive)_task.json"
new file mode 100644--- /dev/null
+++ "b/planning/test/discriminative_affordance_(positive)_task.json"
@@ -0,0 +1,6941 @@
+[
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9583",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <lift the banana> something that can be accomplished right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9583/frame_0.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9583/frame_1.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9583/frame_2.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9583/frame_3.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9583/frame_4.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9583/frame_5.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9583/frame_6.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9583/frame_7.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9583/frame_8.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9583/frame_9.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9583/frame_10.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9583/frame_11.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9583/frame_12.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9583/frame_13.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9583/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4554",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs it feasible to begin <lift the object> immediately?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4554/frame_0.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4554/frame_1.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4554/frame_2.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4554/frame_3.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4554/frame_4.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4554/frame_5.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4554/frame_6.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4554/frame_7.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4554/frame_8.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4554/frame_9.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4554/frame_10.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4554/frame_11.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2820",
+        "task": "Discriminative_Affordance_(Positive)_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 it feasible to begin <grasp the handle> immediately?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2820/frame_0.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2820/frame_1.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2820/frame_2.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2820/frame_3.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2820/frame_4.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2820/frame_5.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2820/frame_6.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2820/frame_7.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2820/frame_8.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2820/frame_9.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2820/frame_10.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2820/frame_11.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2820/frame_12.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2820/frame_13.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2820/frame_14.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2820/frame_15.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2820/frame_16.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_108",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image>\nCan <grasp the bottle> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_108/frame_0.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_108/frame_1.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_108/frame_2.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_108/frame_3.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_108/frame_4.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_108/frame_5.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_108/frame_6.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_108/frame_7.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13494",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nCan <grab the strainer> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13494/frame_0.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13494/frame_1.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13494/frame_2.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13494/frame_3.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13494/frame_4.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13494/frame_5.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13494/frame_6.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13494/frame_7.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13494/frame_8.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13494/frame_9.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13494/frame_10.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13494/frame_11.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13494/frame_12.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13494/frame_13.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1565",
+        "task": "Discriminative_Affordance_(Positive)_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>\nIs <place the banana on the table> something that can be accomplished right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1565/frame_0.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1565/frame_1.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1565/frame_2.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1565/frame_3.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1565/frame_4.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1565/frame_5.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1565/frame_6.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1565/frame_7.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1565/frame_8.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1565/frame_9.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1565/frame_10.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1565/frame_11.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1565/frame_12.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1565/frame_13.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1565/frame_14.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1565/frame_15.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1565/frame_16.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1565/frame_17.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1565/frame_18.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1565/frame_19.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1565/frame_20.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1565/frame_21.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1565/frame_22.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1565/frame_23.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_1565/frame_24.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_50/62_robo_set#episode_648",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nCan <lift the banana> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_648/frame_0.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_648/frame_1.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_648/frame_2.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_648/frame_3.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_648/frame_4.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_648/frame_5.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_648/frame_6.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_648/frame_7.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_648/frame_8.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_648/frame_9.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_648/frame_10.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_6/49_bridge#episode_15155",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan you proceed with <move the pot above the fork> given the current conditions?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15155/frame_0.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15155/frame_1.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15155/frame_2.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15155/frame_3.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15155/frame_4.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15155/frame_5.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15155/frame_6.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15155/frame_7.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15155/frame_8.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15155/frame_9.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15155/frame_10.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15155/frame_11.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15155/frame_12.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15155/frame_13.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15155/frame_14.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15155/frame_15.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15155/frame_16.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15155/frame_17.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15155/frame_18.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15155/frame_19.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15155/frame_20.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11724",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <lift the ketchup bottle> something that can be accomplished right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11724/frame_0.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11724/frame_1.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11724/frame_2.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11724/frame_3.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11724/frame_4.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11724/frame_5.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11724/frame_6.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11724/frame_7.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11724/frame_8.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11724/frame_9.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11724/frame_10.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11724/frame_11.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11724/frame_12.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11724/frame_13.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_3/49_bridge#episode_10993",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan <release the corn cob> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10993/frame_0.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10993/frame_1.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10993/frame_2.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10993/frame_3.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10993/frame_4.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10993/frame_5.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10993/frame_6.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10993/frame_7.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10993/frame_8.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10993/frame_9.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10993/frame_10.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10993/frame_11.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10993/frame_12.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10993/frame_13.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10993/frame_14.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10993/frame_15.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10993/frame_16.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10993/frame_17.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10993/frame_18.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10993/frame_19.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10993/frame_20.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10993/frame_21.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_10993/frame_22.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4870",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nCan you proceed with <lift the banana> given the current conditions?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4870/frame_0.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4870/frame_1.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4870/frame_2.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4870/frame_3.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4870/frame_4.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4870/frame_5.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4870/frame_6.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4870/frame_7.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4870/frame_8.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4870/frame_9.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4870/frame_10.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4870/frame_11.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4870/frame_12.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4870/frame_13.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4870/frame_14.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_4870/frame_15.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_14/49_bridge#episode_4933",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nCan <move the tomato towards the pan> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4933/frame_0.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4933/frame_1.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4933/frame_2.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4933/frame_3.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4933/frame_4.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4933/frame_5.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4933/frame_6.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4933/frame_7.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4933/frame_8.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4933/frame_9.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4933/frame_10.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4933/frame_11.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4933/frame_12.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_4933/frame_13.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_12/49_bridge#episode_24902",
+        "task": "Discriminative_Affordance_(Positive)_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>\nIs now a suitable time to carry out <move the towel towards the bowl>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24902/frame_0.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24902/frame_1.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24902/frame_2.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24902/frame_3.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24902/frame_4.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24902/frame_5.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24902/frame_6.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24902/frame_7.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24902/frame_8.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24902/frame_9.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24902/frame_10.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24902/frame_11.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24902/frame_12.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24902/frame_13.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24902/frame_14.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24902/frame_15.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24902/frame_16.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24902/frame_17.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24902/frame_18.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24902/frame_19.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24902/frame_20.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_18/49_bridge#episode_9506",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan <place the cloth on the table> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9506/frame_0.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9506/frame_1.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9506/frame_2.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9506/frame_3.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9506/frame_4.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9506/frame_5.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9506/frame_6.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9506/frame_7.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9506/frame_8.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9506/frame_9.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9506/frame_10.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9506/frame_11.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9506/frame_12.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9506/frame_13.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9506/frame_14.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9506/frame_15.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9506/frame_16.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9506/frame_17.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9506/frame_18.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9506/frame_19.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9506/frame_20.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9506/frame_21.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9506/frame_22.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9506/frame_23.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9506/frame_24.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9506/frame_25.png",
+            "rt_frames_success/rtx_frames_success_18/49_bridge#episode_9506/frame_26.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_43",
+        "task": "Discriminative_Affordance_(Positive)_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>\nIs <release the white plate> something that can be accomplished right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_43/frame_0.png",
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_43/frame_1.png",
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_43/frame_2.png",
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_43/frame_3.png",
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_43/frame_4.png",
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_43/frame_5.png",
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_43/frame_6.png",
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_43/frame_7.png",
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_43/frame_8.png",
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_43/frame_9.png",
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_43/frame_10.png",
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_43/frame_11.png",
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_43/frame_12.png",
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_43/frame_13.png",
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_43/frame_14.png",
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_43/frame_15.png",
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_43/frame_16.png",
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_43/frame_17.png",
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_43/frame_18.png",
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_43/frame_19.png",
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_43/frame_20.png",
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_43/frame_21.png",
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_43/frame_22.png",
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_43/frame_23.png",
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_43/frame_24.png",
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_43/frame_25.png",
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_43/frame_26.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_24/55_dobbe#episode_364",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan <lift the glue stick> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_364/frame_0.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_364/frame_1.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_364/frame_2.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_364/frame_3.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_364/frame_4.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_364/frame_5.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_364/frame_6.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_364/frame_7.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_364/frame_8.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_364/frame_9.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_364/frame_10.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_364/frame_11.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_364/frame_12.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_364/frame_13.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_364/frame_14.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_364/frame_15.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_364/frame_16.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_364/frame_17.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_29/57_fmb#episode_3287",
+        "task": "Discriminative_Affordance_(Positive)_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>\nIs it feasible to begin <insert the object into the hole> immediately?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3287/frame_0.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3287/frame_1.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3287/frame_2.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3287/frame_3.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3287/frame_4.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3287/frame_5.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3287/frame_6.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3287/frame_7.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3287/frame_8.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3287/frame_9.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3287/frame_10.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3287/frame_11.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3287/frame_12.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3287/frame_13.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3287/frame_14.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3287/frame_15.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3287/frame_16.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_21/55_dobbe#episode_145",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan you proceed with <turn and pull the door handle to close the door> given the current conditions?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_145/frame_0.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_145/frame_1.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_145/frame_2.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_145/frame_3.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_145/frame_4.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_145/frame_5.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_145/frame_6.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_145/frame_7.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_145/frame_8.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_145/frame_9.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_145/frame_10.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_145/frame_11.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_145/frame_12.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_145/frame_13.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_145/frame_14.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_145/frame_15.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_145/frame_16.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_145/frame_17.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_145/frame_18.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_167",
+        "task": "Discriminative_Affordance_(Positive)_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 it feasible to begin <retract from the table> immediately?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_167/frame_0.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_167/frame_1.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_167/frame_2.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_167/frame_3.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_167/frame_4.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_167/frame_5.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_167/frame_6.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_167/frame_7.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_167/frame_8.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_167/frame_9.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_167/frame_10.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_167/frame_11.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_167/frame_12.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_167/frame_13.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_167/frame_14.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_167/frame_15.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_167/frame_16.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_167/frame_17.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_167/frame_18.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_167/frame_19.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_167/frame_20.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_167/frame_21.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_167/frame_22.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_167/frame_23.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_167/frame_24.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_167/frame_25.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_221",
+        "task": "Discriminative_Affordance_(Positive)_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>\nIs it feasible to begin <return the bowl to its original position> immediately?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_221/frame_0.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_221/frame_1.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_221/frame_2.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_221/frame_3.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_221/frame_4.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_221/frame_5.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_221/frame_6.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_221/frame_7.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_221/frame_8.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_221/frame_9.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_221/frame_10.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_221/frame_11.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_221/frame_12.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_221/frame_13.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_221/frame_14.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_221/frame_15.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_221/frame_16.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_221/frame_17.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_221/frame_18.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_221/frame_19.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_221/frame_20.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_221/frame_21.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_8/49_bridge#episode_18495",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan <place the knife beside the towel and pepper> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18495/frame_0.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18495/frame_1.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18495/frame_2.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18495/frame_3.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18495/frame_4.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18495/frame_5.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18495/frame_6.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18495/frame_7.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18495/frame_8.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18495/frame_9.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18495/frame_10.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18495/frame_11.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18495/frame_12.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18495/frame_13.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18495/frame_14.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18495/frame_15.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18495/frame_16.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18495/frame_17.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18495/frame_18.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18495/frame_19.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18495/frame_20.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18495/frame_21.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18495/frame_22.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18495/frame_23.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18495/frame_24.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_12/49_bridge#episode_23690",
+        "task": "Discriminative_Affordance_(Positive)_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>\nIs now a suitable time to carry out <hold the oven door open>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23690/frame_0.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23690/frame_1.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23690/frame_2.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23690/frame_3.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23690/frame_4.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23690/frame_5.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23690/frame_6.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23690/frame_7.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23690/frame_8.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23690/frame_9.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23690/frame_10.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23690/frame_11.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23690/frame_12.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23690/frame_13.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23690/frame_14.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23690/frame_15.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23690/frame_16.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23690/frame_17.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_23690/frame_18.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_10/49_bridge#episode_21446",
+        "task": "Discriminative_Affordance_(Positive)_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>\nIs <release the spoon> something that can be accomplished right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21446/frame_0.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21446/frame_1.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21446/frame_2.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21446/frame_3.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21446/frame_4.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21446/frame_5.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21446/frame_6.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21446/frame_7.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21446/frame_8.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21446/frame_9.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21446/frame_10.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21446/frame_11.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21446/frame_12.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21446/frame_13.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21446/frame_14.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21446/frame_15.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21446/frame_16.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21446/frame_17.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21446/frame_18.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21446/frame_19.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21446/frame_20.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21446/frame_21.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_34/57_fmb#episode_7925",
+        "task": "Discriminative_Affordance_(Positive)_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>\nIs now a suitable time to carry out <release the cylinder>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7925/frame_0.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7925/frame_1.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7925/frame_2.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7925/frame_3.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7925/frame_4.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7925/frame_5.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7925/frame_6.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7925/frame_7.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7925/frame_8.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7925/frame_9.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7925/frame_10.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7925/frame_11.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7925/frame_12.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7925/frame_13.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7925/frame_14.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7925/frame_15.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7925/frame_16.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7925/frame_17.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7925/frame_18.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7925/frame_19.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7925/frame_20.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7925/frame_21.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_7925/frame_22.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5284",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nCan <drag the strainer backwards> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5284/frame_0.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5284/frame_1.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5284/frame_2.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5284/frame_3.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5284/frame_4.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5284/frame_5.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5284/frame_6.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5284/frame_7.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5284/frame_8.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5284/frame_9.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5284/frame_10.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5284/frame_11.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5284/frame_12.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5284/frame_13.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5284/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_5/49_bridge#episode_14646",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan you proceed with <drop the object into the bowl> given the current conditions?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14646/frame_0.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14646/frame_1.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14646/frame_2.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14646/frame_3.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14646/frame_4.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14646/frame_5.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14646/frame_6.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14646/frame_7.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14646/frame_8.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14646/frame_9.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14646/frame_10.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14646/frame_11.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14646/frame_12.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14646/frame_13.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14646/frame_14.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14646/frame_15.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14646/frame_16.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14646/frame_17.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14646/frame_18.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14646/frame_19.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14646/frame_20.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14646/frame_21.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_5/49_bridge#episode_14354",
+        "task": "Discriminative_Affordance_(Positive)_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 <release the handle> something that can be accomplished right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14354/frame_0.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14354/frame_1.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14354/frame_2.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14354/frame_3.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14354/frame_4.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14354/frame_5.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14354/frame_6.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14354/frame_7.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14354/frame_8.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14354/frame_9.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14354/frame_10.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14354/frame_11.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14354/frame_12.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14354/frame_13.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14354/frame_14.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14354/frame_15.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14354/frame_16.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14354/frame_17.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14354/frame_18.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14354/frame_19.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14354/frame_20.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14354/frame_21.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3923",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs now a suitable time to carry out <pull open the cabinet door>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3923/frame_0.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3923/frame_1.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3923/frame_2.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3923/frame_3.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3923/frame_4.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3923/frame_5.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3923/frame_6.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3923/frame_7.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3923/frame_8.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3923/frame_9.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3923/frame_10.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3923/frame_11.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3923/frame_12.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3923/frame_13.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3923/frame_14.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3923/frame_15.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2080",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nCan you proceed with <pull the cabinet doors closed> given the current conditions?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2080/frame_0.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2080/frame_1.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2080/frame_2.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2080/frame_3.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2080/frame_4.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2080/frame_5.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2080/frame_6.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2080/frame_7.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2080/frame_8.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_2080/frame_9.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3684",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image>\nCan <grasp the handle> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3684/frame_0.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3684/frame_1.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3684/frame_2.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3684/frame_3.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3684/frame_4.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_31/57_fmb#episode_5355",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs now a suitable time to carry out <pick up the rectangular object>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5355/frame_0.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5355/frame_1.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5355/frame_2.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5355/frame_3.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5355/frame_4.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5355/frame_5.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5355/frame_6.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5355/frame_7.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5355/frame_8.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5355/frame_9.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5355/frame_10.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5355/frame_11.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5355/frame_12.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5355/frame_13.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5355/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_513",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nCan <move the sponge toward the sink> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_513/frame_0.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_513/frame_1.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_513/frame_2.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_513/frame_3.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_513/frame_4.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_513/frame_5.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_513/frame_6.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_513/frame_7.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_513/frame_8.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_513/frame_9.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_513/frame_10.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_513/frame_11.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_513/frame_12.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_513/frame_13.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_513/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1783",
+        "task": "Discriminative_Affordance_(Positive)_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>\nIs now a suitable time to carry out <place the ketchup bottle on the table>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1783/frame_0.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1783/frame_1.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1783/frame_2.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1783/frame_3.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1783/frame_4.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1783/frame_5.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1783/frame_6.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1783/frame_7.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1783/frame_8.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1783/frame_9.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1783/frame_10.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1783/frame_11.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1783/frame_12.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1783/frame_13.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1783/frame_14.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1783/frame_15.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1783/frame_16.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1783/frame_17.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1783/frame_18.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1783/frame_19.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1783/frame_20.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1783/frame_21.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1783/frame_22.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1783/frame_23.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1783/frame_24.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1783/frame_25.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1783/frame_26.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1783/frame_27.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1783/frame_28.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_26/55_dobbe#episode_85",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image>\nIs <reach for the cabinet door> something that can be accomplished right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_85/frame_0.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_85/frame_1.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_85/frame_2.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_85/frame_3.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_85/frame_4.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_14/49_bridge#episode_38",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs now a suitable time to carry out <lift the yellow capsicum from the pan>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_38/frame_0.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_38/frame_1.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_38/frame_2.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_38/frame_3.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_38/frame_4.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_38/frame_5.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_38/frame_6.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_38/frame_7.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_38/frame_8.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_38/frame_9.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_38/frame_10.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_38/frame_11.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_38/frame_12.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_38/frame_13.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_38/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3203",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <grasp the ketchup bottle> something that can be accomplished right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3203/frame_0.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3203/frame_1.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3203/frame_2.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3203/frame_3.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3203/frame_4.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3203/frame_5.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3203/frame_6.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3203/frame_7.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3203/frame_8.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3203/frame_9.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3203/frame_10.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3203/frame_11.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3203/frame_12.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3203/frame_13.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16856",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan you proceed with <move the banana towards the mug> given the current conditions?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16856/frame_0.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16856/frame_1.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16856/frame_2.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16856/frame_3.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16856/frame_4.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16856/frame_5.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16856/frame_6.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16856/frame_7.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16856/frame_8.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16856/frame_9.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16856/frame_10.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16856/frame_11.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16856/frame_12.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16856/frame_13.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16856/frame_14.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16856/frame_15.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16856/frame_16.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16856/frame_17.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16856/frame_18.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16856/frame_19.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16856/frame_20.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_6/49_bridge#episode_16388",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan you proceed with <place the pot on the surface> given the current conditions?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16388/frame_0.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16388/frame_1.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16388/frame_2.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16388/frame_3.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16388/frame_4.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16388/frame_5.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16388/frame_6.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16388/frame_7.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16388/frame_8.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16388/frame_9.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16388/frame_10.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16388/frame_11.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16388/frame_12.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16388/frame_13.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16388/frame_14.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16388/frame_15.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16388/frame_16.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16388/frame_17.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16388/frame_18.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16388/frame_19.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16388/frame_20.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16388/frame_21.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16388/frame_22.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16388/frame_23.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_16388/frame_24.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_27/57_fmb#episode_1542",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <pick up the red hexagonal prism> something that can be accomplished right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1542/frame_0.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1542/frame_1.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1542/frame_2.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1542/frame_3.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1542/frame_4.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1542/frame_5.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1542/frame_6.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1542/frame_7.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1542/frame_8.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1542/frame_9.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1542/frame_10.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1542/frame_11.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1542/frame_12.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_29/57_fmb#episode_3466",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nCan you proceed with <pick up the rectangular object> given the current conditions?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3466/frame_0.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3466/frame_1.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3466/frame_2.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3466/frame_3.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3466/frame_4.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3466/frame_5.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3466/frame_6.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3466/frame_7.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3466/frame_8.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3466/frame_9.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3466/frame_10.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3466/frame_11.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3466/frame_12.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3466/frame_13.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3466/frame_14.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3466/frame_15.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11899",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs it feasible to begin <grasp the strainer> immediately?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11899/frame_0.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11899/frame_1.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11899/frame_2.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11899/frame_3.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11899/frame_4.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11899/frame_5.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11899/frame_6.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11899/frame_7.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11899/frame_8.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7460",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs now a suitable time to carry out <grasp the mug>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7460/frame_0.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7460/frame_1.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7460/frame_2.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7460/frame_3.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7460/frame_4.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7460/frame_5.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7460/frame_6.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7460/frame_7.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7460/frame_8.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7460/frame_9.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7460/frame_10.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7460/frame_11.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7460/frame_12.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7460/frame_13.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_171",
+        "task": "Discriminative_Affordance_(Positive)_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>\nIs <place the pot inside the cabinet> something that can be accomplished right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_171/frame_0.png",
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_171/frame_1.png",
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_171/frame_2.png",
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_171/frame_3.png",
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_171/frame_4.png",
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_171/frame_5.png",
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_171/frame_6.png",
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_171/frame_7.png",
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_171/frame_8.png",
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_171/frame_9.png",
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_171/frame_10.png",
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_171/frame_11.png",
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_171/frame_12.png",
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_171/frame_13.png",
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_171/frame_14.png",
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_171/frame_15.png",
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_171/frame_16.png",
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_171/frame_17.png",
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_171/frame_18.png",
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_171/frame_19.png",
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_171/frame_20.png",
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_171/frame_21.png",
+            "rt_frames_success/rtx_frames_success_21/53_aloha_mobile#episode_171/frame_22.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173",
+        "task": "Discriminative_Affordance_(Positive)_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>\nIs <insert the double-square shaped object into the matching slot> something that can be accomplished right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_0.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_1.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_2.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_3.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_4.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_5.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_6.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_7.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_8.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_9.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_10.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_11.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_12.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_13.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_14.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_15.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_16.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_17.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_18.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_19.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1173/frame_20.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11494",
+        "task": "Discriminative_Affordance_(Positive)_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 it feasible to begin <push the drawer to close it> immediately?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11494/frame_0.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11494/frame_1.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11494/frame_2.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11494/frame_3.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11494/frame_4.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11494/frame_5.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11494/frame_6.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11494/frame_7.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11494/frame_8.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11494/frame_9.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11494/frame_10.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11494/frame_11.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11494/frame_12.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11494/frame_13.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11494/frame_14.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11494/frame_15.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7430",
+        "task": "Discriminative_Affordance_(Positive)_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 it feasible to begin <grab the toast> immediately?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7430/frame_0.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7430/frame_1.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7430/frame_2.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7430/frame_3.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7430/frame_4.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7430/frame_5.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7430/frame_6.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7430/frame_7.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7430/frame_8.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7430/frame_9.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7430/frame_10.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7430/frame_11.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7430/frame_12.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7430/frame_13.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7430/frame_14.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7430/frame_15.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_2/49_bridge#episode_10239",
+        "task": "Discriminative_Affordance_(Positive)_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>\nIs now a suitable time to carry out <move the broccoli towards the pot>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10239/frame_0.png",
+            "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10239/frame_1.png",
+            "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10239/frame_2.png",
+            "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10239/frame_3.png",
+            "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10239/frame_4.png",
+            "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10239/frame_5.png",
+            "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10239/frame_6.png",
+            "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10239/frame_7.png",
+            "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10239/frame_8.png",
+            "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10239/frame_9.png",
+            "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10239/frame_10.png",
+            "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10239/frame_11.png",
+            "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10239/frame_12.png",
+            "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10239/frame_13.png",
+            "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10239/frame_14.png",
+            "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10239/frame_15.png",
+            "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10239/frame_16.png",
+            "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10239/frame_17.png",
+            "rt_frames_success/rtx_frames_success_2/49_bridge#episode_10239/frame_18.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_31/57_fmb#episode_5605",
+        "task": "Discriminative_Affordance_(Positive)_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 now a suitable time to carry out <release the square prism>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5605/frame_0.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5605/frame_1.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5605/frame_2.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5605/frame_3.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5605/frame_4.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5605/frame_5.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5605/frame_6.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5605/frame_7.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5605/frame_8.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5605/frame_9.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5605/frame_10.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5605/frame_11.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5605/frame_12.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5605/frame_13.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5605/frame_14.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5605/frame_15.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5605/frame_16.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5605/frame_17.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5605/frame_18.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5605/frame_19.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5605/frame_20.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5605/frame_21.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5605/frame_22.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5605/frame_23.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5605/frame_24.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5605/frame_25.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5605/frame_26.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5605/frame_27.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5605/frame_28.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_28/57_fmb#episode_2584",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nCan <move the double-square object towards the matching slot> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2584/frame_0.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2584/frame_1.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2584/frame_2.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2584/frame_3.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2584/frame_4.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2584/frame_5.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2584/frame_6.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2584/frame_7.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2584/frame_8.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2584/frame_9.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2584/frame_10.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2584/frame_11.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2584/frame_12.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2584/frame_13.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2584/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_53/62_robo_set#episode_921",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs now a suitable time to carry out <push the tray closed>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_921/frame_0.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_921/frame_1.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_921/frame_2.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_921/frame_3.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_921/frame_4.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_921/frame_5.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_921/frame_6.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_921/frame_7.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_921/frame_8.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_921/frame_9.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_921/frame_10.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_921/frame_11.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_27/57_fmb#episode_1724",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image>\nCan you proceed with <pick up the black object> given the current conditions?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1724/frame_0.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1724/frame_1.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1724/frame_2.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1724/frame_3.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1724/frame_4.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1724/frame_5.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_5/49_bridge#episode_14303",
+        "task": "Discriminative_Affordance_(Positive)_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 now a suitable time to carry out <move the capsicum towards the pan>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14303/frame_0.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14303/frame_1.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14303/frame_2.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14303/frame_3.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14303/frame_4.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14303/frame_5.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14303/frame_6.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14303/frame_7.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14303/frame_8.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14303/frame_9.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14303/frame_10.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14303/frame_11.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14303/frame_12.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14303/frame_13.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14303/frame_14.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14303/frame_15.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14303/frame_16.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14303/frame_17.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14303/frame_18.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14303/frame_19.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14303/frame_20.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14303/frame_21.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17337",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nCan <pull the drawer closed> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17337/frame_0.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17337/frame_1.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17337/frame_2.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17337/frame_3.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17337/frame_4.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17337/frame_5.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17337/frame_6.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17337/frame_7.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17337/frame_8.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17337/frame_9.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17337/frame_10.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17337/frame_11.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17337/frame_12.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17337/frame_13.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_26/55_dobbe#episode_617",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 3,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nCan <pull the door open> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_617/frame_0.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_617/frame_1.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_617/frame_2.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_617/frame_3.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_617/frame_4.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_617/frame_5.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_617/frame_6.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_617/frame_7.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_617/frame_8.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_617/frame_9.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_617/frame_10.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_617/frame_11.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_617/frame_12.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_617/frame_13.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_617/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_27/57_fmb#episode_1169",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan <insert the star-shaped object into the slot> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1169/frame_0.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1169/frame_1.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1169/frame_2.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1169/frame_3.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1169/frame_4.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1169/frame_5.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1169/frame_6.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1169/frame_7.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1169/frame_8.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1169/frame_9.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1169/frame_10.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1169/frame_11.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1169/frame_12.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1169/frame_13.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1169/frame_14.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1169/frame_15.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1169/frame_16.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1169/frame_17.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1169/frame_18.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1169/frame_19.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1812",
+        "task": "Discriminative_Affordance_(Positive)_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 it feasible to begin <release the handle> immediately?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1812/frame_0.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1812/frame_1.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1812/frame_2.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1812/frame_3.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1812/frame_4.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1812/frame_5.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1812/frame_6.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1812/frame_7.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1812/frame_8.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1812/frame_9.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1812/frame_10.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1812/frame_11.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1812/frame_12.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1812/frame_13.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1812/frame_14.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1812/frame_15.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1812/frame_16.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1812/frame_17.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_4/49_bridge#episode_12717",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan you proceed with <release the object and retract> given the current conditions?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12717/frame_0.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12717/frame_1.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12717/frame_2.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12717/frame_3.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12717/frame_4.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12717/frame_5.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12717/frame_6.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12717/frame_7.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12717/frame_8.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12717/frame_9.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12717/frame_10.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12717/frame_11.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12717/frame_12.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12717/frame_13.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12717/frame_14.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12717/frame_15.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12717/frame_16.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12717/frame_17.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12717/frame_18.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12717/frame_19.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12717/frame_20.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12717/frame_21.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12717/frame_22.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12717/frame_23.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12717/frame_24.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12717/frame_25.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12717/frame_26.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_28/57_fmb#episode_2708",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs it feasible to begin <lift the star-shaped object> immediately?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2708/frame_0.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2708/frame_1.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2708/frame_2.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2708/frame_3.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2708/frame_4.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2708/frame_5.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2708/frame_6.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2708/frame_7.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2708/frame_8.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2708/frame_9.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2708/frame_10.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2708/frame_11.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_8/49_bridge#episode_18247",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 3,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nCan you proceed with <move the mushroom towards the pan> given the current conditions?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18247/frame_0.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18247/frame_1.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18247/frame_2.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18247/frame_3.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18247/frame_4.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18247/frame_5.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18247/frame_6.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18247/frame_7.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18247/frame_8.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18247/frame_9.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18247/frame_10.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18247/frame_11.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18247/frame_12.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_18247/frame_13.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_10/49_bridge#episode_213",
+        "task": "Discriminative_Affordance_(Positive)_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>\nIs it feasible to begin <release the stuffed animal> immediately?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_213/frame_0.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_213/frame_1.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_213/frame_2.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_213/frame_3.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_213/frame_4.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_213/frame_5.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_213/frame_6.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_213/frame_7.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_213/frame_8.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_213/frame_9.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_213/frame_10.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_213/frame_11.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_213/frame_12.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_213/frame_13.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_213/frame_14.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_213/frame_15.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_213/frame_16.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_213/frame_17.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_213/frame_18.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_213/frame_19.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_213/frame_20.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_213/frame_21.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_213/frame_22.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_213/frame_23.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_213/frame_24.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_213/frame_25.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_213/frame_26.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_213/frame_27.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16635",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs now a suitable time to carry out <pull the mug backwards>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16635/frame_0.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16635/frame_1.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16635/frame_2.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16635/frame_3.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16635/frame_4.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16635/frame_5.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16635/frame_6.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16635/frame_7.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16635/frame_8.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16635/frame_9.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16635/frame_10.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_27/57_fmb#episode_1042",
+        "task": "Discriminative_Affordance_(Positive)_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 now a suitable time to carry out <insert the blue block into the slot>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1042/frame_0.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1042/frame_1.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1042/frame_2.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1042/frame_3.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1042/frame_4.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1042/frame_5.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1042/frame_6.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1042/frame_7.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1042/frame_8.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1042/frame_9.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1042/frame_10.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1042/frame_11.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1042/frame_12.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1042/frame_13.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1042/frame_14.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1042/frame_15.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1042/frame_16.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1042/frame_17.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1042/frame_18.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1042/frame_19.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1042/frame_20.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1042/frame_21.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1042/frame_22.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1042/frame_23.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_22/55_dobbe#episode_239",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image>\nCan <grasp the handle> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_239/frame_0.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_239/frame_1.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_239/frame_2.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_239/frame_3.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_239/frame_4.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_239/frame_5.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_11/49_bridge#episode_22546",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan <move the bowl left of the red utensil> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22546/frame_0.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22546/frame_1.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22546/frame_2.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22546/frame_3.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22546/frame_4.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22546/frame_5.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22546/frame_6.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22546/frame_7.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22546/frame_8.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22546/frame_9.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22546/frame_10.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22546/frame_11.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22546/frame_12.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22546/frame_13.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22546/frame_14.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22546/frame_15.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22546/frame_16.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22546/frame_17.png",
+            "rt_frames_success/rtx_frames_success_11/49_bridge#episode_22546/frame_18.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_10/49_bridge#episode_2156",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan you proceed with <place the pear in the pot> given the current conditions?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_2156/frame_0.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_2156/frame_1.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_2156/frame_2.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_2156/frame_3.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_2156/frame_4.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_2156/frame_5.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_2156/frame_6.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_2156/frame_7.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_2156/frame_8.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_2156/frame_9.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_2156/frame_10.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_2156/frame_11.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_2156/frame_12.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_2156/frame_13.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_2156/frame_14.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_2156/frame_15.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_2156/frame_16.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_2156/frame_17.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_2156/frame_18.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_2156/frame_19.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_2156/frame_20.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_2156/frame_21.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_2156/frame_22.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_2156/frame_23.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12412",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nCan you proceed with <grasp the ketchup bottle> given the current conditions?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12412/frame_0.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12412/frame_1.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12412/frame_2.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12412/frame_3.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12412/frame_4.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12412/frame_5.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12412/frame_6.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12412/frame_7.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12412/frame_8.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12412/frame_9.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12412/frame_10.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12412/frame_11.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12412/frame_12.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12412/frame_13.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3409",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nCan you proceed with <lift the ketchup bottle> given the current conditions?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3409/frame_0.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3409/frame_1.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3409/frame_2.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3409/frame_3.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3409/frame_4.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3409/frame_5.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3409/frame_6.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3409/frame_7.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3409/frame_8.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3409/frame_9.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3409/frame_10.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3409/frame_11.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3409/frame_12.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3409/frame_13.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3409/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_33/57_fmb#episode_7263",
+        "task": "Discriminative_Affordance_(Positive)_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 now a suitable time to carry out <move the star object towards the blue board>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7263/frame_0.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7263/frame_1.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7263/frame_2.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7263/frame_3.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7263/frame_4.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7263/frame_5.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7263/frame_6.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7263/frame_7.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7263/frame_8.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7263/frame_9.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7263/frame_10.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7263/frame_11.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7263/frame_12.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7263/frame_13.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7263/frame_14.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7263/frame_15.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7263/frame_16.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7263/frame_17.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3919",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs now a suitable time to carry out <pull the door handle and rotate to close the door>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3919/frame_0.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3919/frame_1.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3919/frame_2.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3919/frame_3.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3919/frame_4.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3919/frame_5.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3919/frame_6.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3919/frame_7.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3919/frame_8.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3919/frame_9.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3919/frame_10.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_3919/frame_11.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_12/49_bridge#episode_24414",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs now a suitable time to carry out <grab the towel>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24414/frame_0.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24414/frame_1.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24414/frame_2.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24414/frame_3.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24414/frame_4.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24414/frame_5.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24414/frame_6.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24414/frame_7.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24414/frame_8.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24414/frame_9.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24414/frame_10.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14158",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <drag the strainer forwards> something that can be accomplished right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14158/frame_0.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14158/frame_1.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14158/frame_2.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14158/frame_3.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14158/frame_4.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14158/frame_5.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14158/frame_6.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14158/frame_7.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14158/frame_8.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14158/frame_9.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14158/frame_10.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14158/frame_11.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14158/frame_12.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14158/frame_13.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14158/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4524",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs it feasible to begin <lift the banana> immediately?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4524/frame_0.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4524/frame_1.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4524/frame_2.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4524/frame_3.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4524/frame_4.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4524/frame_5.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4524/frame_6.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4524/frame_7.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4524/frame_8.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4524/frame_9.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4524/frame_10.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4524/frame_11.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4524/frame_12.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_26/55_dobbe#episode_682",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs now a suitable time to carry out <flip the light switch>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_682/frame_0.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_682/frame_1.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_682/frame_2.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_682/frame_3.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_682/frame_4.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_682/frame_5.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_682/frame_6.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_682/frame_7.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_682/frame_8.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_682/frame_9.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_682/frame_10.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_682/frame_11.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_682/frame_12.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_30/57_fmb#episode_3941",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs it feasible to begin <move the star shaped object towards its matching slot> immediately?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3941/frame_0.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3941/frame_1.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3941/frame_2.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3941/frame_3.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3941/frame_4.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3941/frame_5.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3941/frame_6.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3941/frame_7.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3941/frame_8.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3941/frame_9.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3941/frame_10.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3941/frame_11.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3941/frame_12.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_3941/frame_13.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_30/57_fmb#episode_4502",
+        "task": "Discriminative_Affordance_(Positive)_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 now a suitable time to carry out <slightly adjust the position of the rectangular object>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4502/frame_0.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4502/frame_1.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4502/frame_2.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4502/frame_3.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4502/frame_4.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4502/frame_5.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4502/frame_6.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4502/frame_7.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4502/frame_8.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4502/frame_9.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4502/frame_10.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4502/frame_11.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4502/frame_12.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4502/frame_13.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4502/frame_14.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4502/frame_15.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4502/frame_16.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4502/frame_17.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4502/frame_18.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4502/frame_19.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4502/frame_20.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_5/49_bridge#episode_15012",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nCan <lift and move the brush towards the top left corner> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_15012/frame_0.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_15012/frame_1.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_15012/frame_2.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_15012/frame_3.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_15012/frame_4.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_15012/frame_5.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_15012/frame_6.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_15012/frame_7.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_15012/frame_8.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_15012/frame_9.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_15012/frame_10.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_15012/frame_11.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_15012/frame_12.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_15012/frame_13.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_15012/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13601",
+        "task": "Discriminative_Affordance_(Positive)_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 now a suitable time to carry out <grab the toast>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13601/frame_0.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13601/frame_1.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13601/frame_2.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13601/frame_3.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13601/frame_4.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13601/frame_5.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13601/frame_6.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13601/frame_7.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13601/frame_8.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13601/frame_9.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13601/frame_10.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13601/frame_11.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13601/frame_12.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13601/frame_13.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13601/frame_14.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13601/frame_15.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13601/frame_16.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13601/frame_17.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13601/frame_18.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13601/frame_19.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13601/frame_20.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_32/57_fmb#episode_6569",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan you proceed with <release the arch-shaped object> given the current conditions?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6569/frame_0.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6569/frame_1.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6569/frame_2.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6569/frame_3.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6569/frame_4.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6569/frame_5.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6569/frame_6.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6569/frame_7.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6569/frame_8.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6569/frame_9.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6569/frame_10.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6569/frame_11.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6569/frame_12.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6569/frame_13.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6569/frame_14.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6569/frame_15.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6569/frame_16.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6569/frame_17.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6569/frame_18.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6569/frame_19.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6569/frame_20.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6569/frame_21.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6569/frame_22.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6569/frame_23.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6569/frame_24.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6569/frame_25.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_135",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs now a suitable time to carry out <lift the object from the first container>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_135/frame_0.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_135/frame_1.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_135/frame_2.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_135/frame_3.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_135/frame_4.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_135/frame_5.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_135/frame_6.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_135/frame_7.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_135/frame_8.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_135/frame_9.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_135/frame_10.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_135/frame_11.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_135/frame_12.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_135/frame_13.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_135/frame_14.png",
+            "rt_frames_success/rtx_frames_success_20/43_berkeley_autolab_ur5#episode_135/frame_15.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_870",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image>\nIs <move the butter container towards the center of the table> something that can be accomplished right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_870/frame_0.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_870/frame_1.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_870/frame_2.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_870/frame_3.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_6/49_bridge#episode_15456",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <lift the pot> something that can be accomplished right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15456/frame_0.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15456/frame_1.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15456/frame_2.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15456/frame_3.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15456/frame_4.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15456/frame_5.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15456/frame_6.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15456/frame_7.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15456/frame_8.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15456/frame_9.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15456/frame_10.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15456/frame_11.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15456/frame_12.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15456/frame_13.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15456/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_4/49_bridge#episode_13016",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image>\nIs it feasible to begin <move the egg> immediately?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13016/frame_0.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13016/frame_1.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13016/frame_2.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13016/frame_3.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13016/frame_4.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13016/frame_5.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13016/frame_6.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9617",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 3,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs now a suitable time to carry out <pull down the lid of the oven to close it>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9617/frame_0.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9617/frame_1.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9617/frame_2.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9617/frame_3.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9617/frame_4.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9617/frame_5.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9617/frame_6.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9617/frame_7.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9617/frame_8.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9617/frame_9.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9617/frame_10.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9617/frame_11.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9617/frame_12.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9617/frame_13.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9617/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_15/49_bridge#episode_5879",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs now a suitable time to carry out <lift the pot>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5879/frame_0.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5879/frame_1.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5879/frame_2.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5879/frame_3.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5879/frame_4.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5879/frame_5.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5879/frame_6.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5879/frame_7.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5879/frame_8.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5879/frame_9.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5879/frame_10.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5879/frame_11.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5879/frame_12.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5879/frame_13.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_17/49_bridge#episode_8253",
+        "task": "Discriminative_Affordance_(Positive)_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>\nIs now a suitable time to carry out <place the knife down at the destination>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8253/frame_0.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8253/frame_1.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8253/frame_2.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8253/frame_3.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8253/frame_4.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8253/frame_5.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8253/frame_6.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8253/frame_7.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8253/frame_8.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8253/frame_9.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8253/frame_10.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8253/frame_11.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8253/frame_12.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8253/frame_13.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8253/frame_14.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8253/frame_15.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8253/frame_16.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8253/frame_17.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8253/frame_18.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8253/frame_19.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8253/frame_20.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8253/frame_21.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8253/frame_22.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8253/frame_23.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8253/frame_24.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8253/frame_25.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8253/frame_26.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_8253/frame_27.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_3/49_bridge#episode_12012",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan <place the pot on the counter> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12012/frame_0.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12012/frame_1.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12012/frame_2.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12012/frame_3.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12012/frame_4.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12012/frame_5.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12012/frame_6.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12012/frame_7.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12012/frame_8.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12012/frame_9.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12012/frame_10.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12012/frame_11.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12012/frame_12.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12012/frame_13.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12012/frame_14.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12012/frame_15.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_12012/frame_16.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3722",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image>\nCan you proceed with <lift the mug> given the current conditions?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3722/frame_0.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3722/frame_1.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3722/frame_2.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3722/frame_3.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3722/frame_4.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3722/frame_5.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3722/frame_6.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3722/frame_7.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2511",
+        "task": "Discriminative_Affordance_(Positive)_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 <lift and retrieve the tea bag> something that can be accomplished right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2511/frame_0.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2511/frame_1.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2511/frame_2.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2511/frame_3.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2511/frame_4.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2511/frame_5.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2511/frame_6.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2511/frame_7.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2511/frame_8.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2511/frame_9.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2511/frame_10.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2511/frame_11.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2511/frame_12.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2511/frame_13.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2511/frame_14.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2511/frame_15.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2511/frame_16.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2511/frame_17.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2511/frame_18.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2511/frame_19.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2511/frame_20.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2511/frame_21.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2511/frame_22.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2511/frame_23.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2511/frame_24.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2511/frame_25.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2511/frame_26.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_6/49_bridge#episode_15868",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan <place the pot onto the burner> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15868/frame_0.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15868/frame_1.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15868/frame_2.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15868/frame_3.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15868/frame_4.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15868/frame_5.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15868/frame_6.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15868/frame_7.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15868/frame_8.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15868/frame_9.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15868/frame_10.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15868/frame_11.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15868/frame_12.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15868/frame_13.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15868/frame_14.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15868/frame_15.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15868/frame_16.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15868/frame_17.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15868/frame_18.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15868/frame_19.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15868/frame_20.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4279",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs it feasible to begin <pull the handle to open the door> immediately?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4279/frame_0.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4279/frame_1.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4279/frame_2.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4279/frame_3.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4279/frame_4.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4279/frame_5.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4279/frame_6.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4279/frame_7.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4279/frame_8.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4279/frame_9.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4279/frame_10.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4279/frame_11.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4279/frame_12.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4279/frame_13.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4279/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_10/49_bridge#episode_22072",
+        "task": "Discriminative_Affordance_(Positive)_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 now a suitable time to carry out <drop the corn into the bowl>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_22072/frame_0.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_22072/frame_1.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_22072/frame_2.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_22072/frame_3.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_22072/frame_4.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_22072/frame_5.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_22072/frame_6.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_22072/frame_7.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_22072/frame_8.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_22072/frame_9.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_22072/frame_10.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_22072/frame_11.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_22072/frame_12.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_22072/frame_13.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_22072/frame_14.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_22072/frame_15.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_22072/frame_16.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_832",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs it feasible to begin <lower towards the red object> immediately?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_832/frame_0.png",
+            "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_832/frame_1.png",
+            "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_832/frame_2.png",
+            "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_832/frame_3.png",
+            "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_832/frame_4.png",
+            "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_832/frame_5.png",
+            "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_832/frame_6.png",
+            "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_832/frame_7.png",
+            "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_832/frame_8.png",
+            "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_832/frame_9.png",
+            "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_832/frame_10.png",
+            "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_832/frame_11.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8168",
+        "task": "Discriminative_Affordance_(Positive)_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>\nIs it feasible to begin <move the ketchup bottle towards the table> immediately?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8168/frame_0.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8168/frame_1.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8168/frame_2.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8168/frame_3.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8168/frame_4.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8168/frame_5.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8168/frame_6.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8168/frame_7.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8168/frame_8.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8168/frame_9.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8168/frame_10.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8168/frame_11.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8168/frame_12.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8168/frame_13.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8168/frame_14.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8168/frame_15.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8168/frame_16.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8168/frame_17.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8168/frame_18.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_8168/frame_19.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_9/49_bridge#episode_20278",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image>\nCan <grab the banana> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20278/frame_0.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20278/frame_1.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20278/frame_2.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20278/frame_3.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20278/frame_4.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20278/frame_5.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20278/frame_6.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20278/frame_7.png",
+            "rt_frames_success/rtx_frames_success_9/49_bridge#episode_20278/frame_8.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1935",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nCan <lift the ketchup bottle out of the bowl> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1935/frame_0.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1935/frame_1.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1935/frame_2.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1935/frame_3.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1935/frame_4.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1935/frame_5.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1935/frame_6.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1935/frame_7.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1935/frame_8.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1935/frame_9.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1935/frame_10.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1935/frame_11.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1935/frame_12.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1935/frame_13.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_1935/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_15/49_bridge#episode_6328",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan <place the pot down> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6328/frame_0.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6328/frame_1.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6328/frame_2.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6328/frame_3.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6328/frame_4.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6328/frame_5.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6328/frame_6.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6328/frame_7.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6328/frame_8.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6328/frame_9.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6328/frame_10.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6328/frame_11.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6328/frame_12.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6328/frame_13.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6328/frame_14.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6328/frame_15.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6328/frame_16.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6328/frame_17.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6328/frame_18.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6328/frame_19.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6328/frame_20.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6328/frame_21.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6328/frame_22.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6328/frame_23.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6328/frame_24.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_6328/frame_25.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_32/57_fmb#episode_642",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs now a suitable time to carry out <grab the rectangular prism>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_642/frame_0.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_642/frame_1.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_642/frame_2.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_642/frame_3.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_642/frame_4.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_642/frame_5.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_642/frame_6.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_642/frame_7.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_642/frame_8.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_642/frame_9.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_642/frame_10.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_642/frame_11.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_642/frame_12.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_642/frame_13.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_642/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_34/57_fmb#episode_868",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nCan you proceed with <insert the prism into the square hole> given the current conditions?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_868/frame_0.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_868/frame_1.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_868/frame_2.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_868/frame_3.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_868/frame_4.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_868/frame_5.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_868/frame_6.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_868/frame_7.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_868/frame_8.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_868/frame_9.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_868/frame_10.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_868/frame_11.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_868/frame_12.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_868/frame_13.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_868/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_29/57_fmb#episode_3196",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs now a suitable time to carry out <grab the square object>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3196/frame_0.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3196/frame_1.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3196/frame_2.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3196/frame_3.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3196/frame_4.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3196/frame_5.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3196/frame_6.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3196/frame_7.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3196/frame_8.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3196/frame_9.png",
+            "rt_frames_success/rtx_frames_success_29/57_fmb#episode_3196/frame_10.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7882",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <grasp the ketchup bottle> something that can be accomplished right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7882/frame_0.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7882/frame_1.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7882/frame_2.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7882/frame_3.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7882/frame_4.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7882/frame_5.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7882/frame_6.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7882/frame_7.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7882/frame_8.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_27/57_fmb#episode_1682",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan you proceed with <insert the object into the matching slot> given the current conditions?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1682/frame_0.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1682/frame_1.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1682/frame_2.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1682/frame_3.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1682/frame_4.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1682/frame_5.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1682/frame_6.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1682/frame_7.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1682/frame_8.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1682/frame_9.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1682/frame_10.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1682/frame_11.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1682/frame_12.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1682/frame_13.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1682/frame_14.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1682/frame_15.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1682/frame_16.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1682/frame_17.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1682/frame_18.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1682/frame_19.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1682/frame_20.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1682/frame_21.png",
+            "rt_frames_success/rtx_frames_success_27/57_fmb#episode_1682/frame_22.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4654",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image>\nIs it feasible to begin <reach for the doorknob> immediately?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4654/frame_0.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4654/frame_1.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4654/frame_2.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4654/frame_3.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4654/frame_4.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4654/frame_5.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4654/frame_6.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4654/frame_7.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_44/62_robo_set#episode_18110",
+        "task": "Discriminative_Affordance_(Positive)_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 <close the drawer> something that can be accomplished right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_18110/frame_0.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_18110/frame_1.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_18110/frame_2.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_18110/frame_3.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_18110/frame_4.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_18110/frame_5.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_18110/frame_6.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_18110/frame_7.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_18110/frame_8.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_18110/frame_9.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_18110/frame_10.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_18110/frame_11.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_18110/frame_12.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_18110/frame_13.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_18110/frame_14.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_18110/frame_15.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_18110/frame_16.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_28/57_fmb#episode_2515",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <insert the object into the slot> something that can be accomplished right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2515/frame_0.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2515/frame_1.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2515/frame_2.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2515/frame_3.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2515/frame_4.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2515/frame_5.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2515/frame_6.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2515/frame_7.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2515/frame_8.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2515/frame_9.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2515/frame_10.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2515/frame_11.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2515/frame_12.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2515/frame_13.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2515/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15418",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan <pull the drawer open> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15418/frame_0.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15418/frame_1.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15418/frame_2.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15418/frame_3.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15418/frame_4.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15418/frame_5.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15418/frame_6.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15418/frame_7.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15418/frame_8.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15418/frame_9.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15418/frame_10.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15418/frame_11.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15418/frame_12.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15418/frame_13.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15418/frame_14.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15418/frame_15.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15418/frame_16.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15418/frame_17.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15418/frame_18.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15418/frame_19.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_32/57_fmb#episode_6383",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nCan <pick up the blue object> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6383/frame_0.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6383/frame_1.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6383/frame_2.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6383/frame_3.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6383/frame_4.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6383/frame_5.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6383/frame_6.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6383/frame_7.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6383/frame_8.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6383/frame_9.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6383/frame_10.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6383/frame_11.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6383/frame_12.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6383/frame_13.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_6383/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_10/49_bridge#episode_21256",
+        "task": "Discriminative_Affordance_(Positive)_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 now a suitable time to carry out <move the pot to the left corner>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21256/frame_0.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21256/frame_1.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21256/frame_2.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21256/frame_3.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21256/frame_4.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21256/frame_5.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21256/frame_6.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21256/frame_7.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21256/frame_8.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21256/frame_9.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21256/frame_10.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21256/frame_11.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21256/frame_12.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21256/frame_13.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21256/frame_14.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21256/frame_15.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21256/frame_16.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21256/frame_17.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21256/frame_18.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21256/frame_19.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21256/frame_20.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21256/frame_21.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21256/frame_22.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21256/frame_23.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16951",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nCan <lift the strainer> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16951/frame_0.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16951/frame_1.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16951/frame_2.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16951/frame_3.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16951/frame_4.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16951/frame_5.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16951/frame_6.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16951/frame_7.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16951/frame_8.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16951/frame_9.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16951/frame_10.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10599",
+        "task": "Discriminative_Affordance_(Positive)_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 now a suitable time to carry out <pull the drawer open>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10599/frame_0.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10599/frame_1.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10599/frame_2.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10599/frame_3.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10599/frame_4.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10599/frame_5.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10599/frame_6.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10599/frame_7.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10599/frame_8.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10599/frame_9.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10599/frame_10.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10599/frame_11.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10599/frame_12.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10599/frame_13.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10599/frame_14.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10599/frame_15.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10599/frame_16.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10599/frame_17.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_15/49_bridge#episode_5615",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs now a suitable time to carry out <grasp the pot>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5615/frame_0.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5615/frame_1.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5615/frame_2.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5615/frame_3.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5615/frame_4.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5615/frame_5.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5615/frame_6.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5615/frame_7.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5615/frame_8.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5615/frame_9.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5615/frame_10.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5615/frame_11.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5615/frame_12.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5615/frame_13.png",
+            "rt_frames_success/rtx_frames_success_15/49_bridge#episode_5615/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_33/57_fmb#episode_7112",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs now a suitable time to carry out <pick up the oval object>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7112/frame_0.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7112/frame_1.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7112/frame_2.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7112/frame_3.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7112/frame_4.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7112/frame_5.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7112/frame_6.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7112/frame_7.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7112/frame_8.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7112/frame_9.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7112/frame_10.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7112/frame_11.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16024",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan you proceed with <lift the banana> given the current conditions?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16024/frame_0.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16024/frame_1.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16024/frame_2.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16024/frame_3.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16024/frame_4.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16024/frame_5.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16024/frame_6.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16024/frame_7.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16024/frame_8.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16024/frame_9.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16024/frame_10.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16024/frame_11.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16024/frame_12.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16024/frame_13.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16024/frame_14.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16024/frame_15.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16024/frame_16.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3790",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nCan <grasp the banana> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3790/frame_0.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3790/frame_1.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3790/frame_2.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3790/frame_3.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3790/frame_4.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3790/frame_5.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3790/frame_6.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3790/frame_7.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3790/frame_8.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_3790/frame_9.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16603",
+        "task": "Discriminative_Affordance_(Positive)_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 now a suitable time to carry out <grab the bowl>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16603/frame_0.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16603/frame_1.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16603/frame_2.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16603/frame_3.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16603/frame_4.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16603/frame_5.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16603/frame_6.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16603/frame_7.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16603/frame_8.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16603/frame_9.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16603/frame_10.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16603/frame_11.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16603/frame_12.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16603/frame_13.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16603/frame_14.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16603/frame_15.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16603/frame_16.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16603/frame_17.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1333",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs now a suitable time to carry out <grab the strainer>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1333/frame_0.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1333/frame_1.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1333/frame_2.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1333/frame_3.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1333/frame_4.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1333/frame_5.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1333/frame_6.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1333/frame_7.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1333/frame_8.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1333/frame_9.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_1333/frame_10.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12699",
+        "task": "Discriminative_Affordance_(Positive)_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 it feasible to begin <release the cutting board> immediately?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12699/frame_0.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12699/frame_1.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12699/frame_2.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12699/frame_3.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12699/frame_4.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12699/frame_5.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12699/frame_6.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12699/frame_7.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12699/frame_8.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12699/frame_9.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12699/frame_10.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12699/frame_11.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12699/frame_12.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12699/frame_13.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12699/frame_14.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12699/frame_15.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12699/frame_16.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12699/frame_17.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12699/frame_18.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12699/frame_19.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12699/frame_20.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12699/frame_21.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12699/frame_22.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12699/frame_23.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12699/frame_24.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12699/frame_25.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_34/57_fmb#episode_8409",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 3,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nCan you proceed with <position the green arch above its slot> given the current conditions?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8409/frame_0.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8409/frame_1.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8409/frame_2.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8409/frame_3.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8409/frame_4.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8409/frame_5.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8409/frame_6.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8409/frame_7.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8409/frame_8.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8409/frame_9.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8409/frame_10.png",
+            "rt_frames_success/rtx_frames_success_34/57_fmb#episode_8409/frame_11.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17034",
+        "task": "Discriminative_Affordance_(Positive)_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 <drop the banana peel into the bowl> something that can be accomplished right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17034/frame_0.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17034/frame_1.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17034/frame_2.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17034/frame_3.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17034/frame_4.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17034/frame_5.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17034/frame_6.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17034/frame_7.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17034/frame_8.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17034/frame_9.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17034/frame_10.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17034/frame_11.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17034/frame_12.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17034/frame_13.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17034/frame_14.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17034/frame_15.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17034/frame_16.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17034/frame_17.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17034/frame_18.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17034/frame_19.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17034/frame_20.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_17034/frame_21.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7097",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan <hold the drawer open> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7097/frame_0.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7097/frame_1.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7097/frame_2.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7097/frame_3.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7097/frame_4.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7097/frame_5.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7097/frame_6.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7097/frame_7.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7097/frame_8.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7097/frame_9.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7097/frame_10.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7097/frame_11.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7097/frame_12.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7097/frame_13.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7097/frame_14.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7097/frame_15.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7097/frame_16.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7097/frame_17.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7097/frame_18.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7097/frame_19.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7097/frame_20.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7097/frame_21.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7097/frame_22.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7097/frame_23.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7097/frame_24.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7097/frame_25.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7097/frame_26.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7097/frame_27.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_7097/frame_28.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16668",
+        "task": "Discriminative_Affordance_(Positive)_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 <lift the butter> something that can be accomplished right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16668/frame_0.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16668/frame_1.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16668/frame_2.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16668/frame_3.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16668/frame_4.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16668/frame_5.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16668/frame_6.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16668/frame_7.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16668/frame_8.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16668/frame_9.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16668/frame_10.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16668/frame_11.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16668/frame_12.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16668/frame_13.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16668/frame_14.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16668/frame_15.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16668/frame_16.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16668/frame_17.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16668/frame_18.png",
+            "rt_frames_success/rtx_frames_success_43/62_robo_set#episode_16668/frame_19.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15419",
+        "task": "Discriminative_Affordance_(Positive)_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 now a suitable time to carry out <lift and move the ketchup bottle>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15419/frame_0.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15419/frame_1.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15419/frame_2.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15419/frame_3.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15419/frame_4.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15419/frame_5.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15419/frame_6.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15419/frame_7.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15419/frame_8.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15419/frame_9.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15419/frame_10.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15419/frame_11.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15419/frame_12.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15419/frame_13.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15419/frame_14.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15419/frame_15.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15419/frame_16.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1902",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nCan <push the cabinet door to close it> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1902/frame_0.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1902/frame_1.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1902/frame_2.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1902/frame_3.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1902/frame_4.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1902/frame_5.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1902/frame_6.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1902/frame_7.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1902/frame_8.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1902/frame_9.png",
+            "rt_frames_success/rtx_frames_success_22/55_dobbe#episode_1902/frame_10.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_16/49_bridge#episode_7096",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs it feasible to begin <move the utensil towards the can> immediately?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7096/frame_0.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7096/frame_1.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7096/frame_2.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7096/frame_3.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7096/frame_4.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7096/frame_5.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7096/frame_6.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7096/frame_7.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7096/frame_8.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_10/49_bridge#episode_21161",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nCan <grasp the cloth> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21161/frame_0.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21161/frame_1.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21161/frame_2.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21161/frame_3.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21161/frame_4.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21161/frame_5.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21161/frame_6.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21161/frame_7.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21161/frame_8.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21161/frame_9.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21161/frame_10.png",
+            "rt_frames_success/rtx_frames_success_10/49_bridge#episode_21161/frame_11.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17714",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs it feasible to begin <grasp the ketchup bottle> immediately?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17714/frame_0.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17714/frame_1.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17714/frame_2.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17714/frame_3.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17714/frame_4.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17714/frame_5.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17714/frame_6.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17714/frame_7.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17714/frame_8.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17714/frame_9.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14238",
+        "task": "Discriminative_Affordance_(Positive)_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 now a suitable time to carry out <grab the butter>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14238/frame_0.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14238/frame_1.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14238/frame_2.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14238/frame_3.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14238/frame_4.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14238/frame_5.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14238/frame_6.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14238/frame_7.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14238/frame_8.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14238/frame_9.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14238/frame_10.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14238/frame_11.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14238/frame_12.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14238/frame_13.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14238/frame_14.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14238/frame_15.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14238/frame_16.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14238/frame_17.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_31/57_fmb#episode_5172",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nCan <place the arch shape in the corresponding slot> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5172/frame_0.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5172/frame_1.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5172/frame_2.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5172/frame_3.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5172/frame_4.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5172/frame_5.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5172/frame_6.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5172/frame_7.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5172/frame_8.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5172/frame_9.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5172/frame_10.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5172/frame_11.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5172/frame_12.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5172/frame_13.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_17/49_bridge#episode_9312",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nCan <grab the pot> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9312/frame_0.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9312/frame_1.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9312/frame_2.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9312/frame_3.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9312/frame_4.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9312/frame_5.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9312/frame_6.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9312/frame_7.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9312/frame_8.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9312/frame_9.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9312/frame_10.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9312/frame_11.png",
+            "rt_frames_success/rtx_frames_success_17/49_bridge#episode_9312/frame_12.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15017",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs now a suitable time to carry out <grasp the ketchup bottle>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15017/frame_0.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15017/frame_1.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15017/frame_2.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15017/frame_3.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15017/frame_4.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15017/frame_5.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15017/frame_6.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15017/frame_7.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15017/frame_8.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15017/frame_9.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15017/frame_10.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15017/frame_11.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15017/frame_12.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4946",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image>\nIs now a suitable time to carry out <push the door to close it>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4946/frame_0.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4946/frame_1.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4946/frame_2.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4946/frame_3.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4946/frame_4.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4946/frame_5.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4946/frame_6.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4946/frame_7.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12952",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 3,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <move the strainer from left to right> something that can be accomplished right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12952/frame_0.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12952/frame_1.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12952/frame_2.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12952/frame_3.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12952/frame_4.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12952/frame_5.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12952/frame_6.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12952/frame_7.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12952/frame_8.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12952/frame_9.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12952/frame_10.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12952/frame_11.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12952/frame_12.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12952/frame_13.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12952/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_28/57_fmb#episode_2808",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nCan you proceed with <move the hexagonal object towards the designated slot> given the current conditions?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2808/frame_0.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2808/frame_1.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2808/frame_2.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2808/frame_3.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2808/frame_4.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2808/frame_5.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2808/frame_6.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2808/frame_7.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2808/frame_8.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2808/frame_9.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2808/frame_10.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2808/frame_11.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2808/frame_12.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2808/frame_13.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2808/frame_14.png",
+            "rt_frames_success/rtx_frames_success_28/57_fmb#episode_2808/frame_15.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9241",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs now a suitable time to carry out <grasp the banana>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9241/frame_0.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9241/frame_1.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9241/frame_2.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9241/frame_3.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9241/frame_4.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9241/frame_5.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9241/frame_6.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9241/frame_7.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9241/frame_8.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9241/frame_9.png",
+            "rt_frames_success/rtx_frames_success_53/62_robo_set#episode_9241/frame_10.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_4/49_bridge#episode_12475",
+        "task": "Discriminative_Affordance_(Positive)_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>\nIs <place the yellow cloth in front of the microwave> something that can be accomplished right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12475/frame_0.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12475/frame_1.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12475/frame_2.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12475/frame_3.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12475/frame_4.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12475/frame_5.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12475/frame_6.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12475/frame_7.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12475/frame_8.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12475/frame_9.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12475/frame_10.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12475/frame_11.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12475/frame_12.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12475/frame_13.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12475/frame_14.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12475/frame_15.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12475/frame_16.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12475/frame_17.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12475/frame_18.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12475/frame_19.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12475/frame_20.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_26/55_dobbe#episode_959",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nCan you proceed with <pull the handles to open the cabinet door> given the current conditions?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_959/frame_0.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_959/frame_1.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_959/frame_2.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_959/frame_3.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_959/frame_4.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_959/frame_5.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_959/frame_6.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_959/frame_7.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_959/frame_8.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_959/frame_9.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_959/frame_10.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_959/frame_11.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_959/frame_12.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_959/frame_13.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_959/frame_14.png",
+            "rt_frames_success/rtx_frames_success_26/55_dobbe#episode_959/frame_15.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_155",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nCan <pull the cabinet door open> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_155/frame_0.png",
+            "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_155/frame_1.png",
+            "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_155/frame_2.png",
+            "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_155/frame_3.png",
+            "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_155/frame_4.png",
+            "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_155/frame_5.png",
+            "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_155/frame_6.png",
+            "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_155/frame_7.png",
+            "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_155/frame_8.png",
+            "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_155/frame_9.png",
+            "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_155/frame_10.png",
+            "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_155/frame_11.png",
+            "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_155/frame_12.png",
+            "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_155/frame_13.png",
+            "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_155/frame_14.png",
+            "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_155/frame_15.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_6/49_bridge#episode_15655",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan <lift the beet out of the pot> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15655/frame_0.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15655/frame_1.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15655/frame_2.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15655/frame_3.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15655/frame_4.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15655/frame_5.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15655/frame_6.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15655/frame_7.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15655/frame_8.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15655/frame_9.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15655/frame_10.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15655/frame_11.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15655/frame_12.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15655/frame_13.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15655/frame_14.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15655/frame_15.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15655/frame_16.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15655/frame_17.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15655/frame_18.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15655/frame_19.png",
+            "rt_frames_success/rtx_frames_success_6/49_bridge#episode_15655/frame_20.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10290",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan you proceed with <place the banana on the plate> given the current conditions?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10290/frame_0.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10290/frame_1.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10290/frame_2.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10290/frame_3.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10290/frame_4.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10290/frame_5.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10290/frame_6.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10290/frame_7.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10290/frame_8.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10290/frame_9.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10290/frame_10.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10290/frame_11.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10290/frame_12.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10290/frame_13.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10290/frame_14.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10290/frame_15.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10290/frame_16.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10290/frame_17.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10290/frame_18.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10290/frame_19.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10290/frame_20.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10290/frame_21.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10290/frame_22.png",
+            "rt_frames_success/rtx_frames_success_35/62_robo_set#episode_10290/frame_23.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4269",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan <retract from the oven> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4269/frame_0.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4269/frame_1.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4269/frame_2.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4269/frame_3.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4269/frame_4.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4269/frame_5.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4269/frame_6.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4269/frame_7.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4269/frame_8.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4269/frame_9.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4269/frame_10.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4269/frame_11.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4269/frame_12.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4269/frame_13.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4269/frame_14.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4269/frame_15.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4269/frame_16.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4269/frame_17.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4269/frame_18.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4269/frame_19.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4269/frame_20.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4269/frame_21.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4269/frame_22.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4269/frame_23.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4269/frame_24.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4269/frame_25.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4269/frame_26.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_162",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs it feasible to begin <pull the left door open> immediately?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_162/frame_0.png",
+            "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_162/frame_1.png",
+            "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_162/frame_2.png",
+            "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_162/frame_3.png",
+            "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_162/frame_4.png",
+            "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_162/frame_5.png",
+            "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_162/frame_6.png",
+            "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_162/frame_7.png",
+            "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_162/frame_8.png",
+            "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_162/frame_9.png",
+            "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_162/frame_10.png",
+            "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_162/frame_11.png",
+            "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_162/frame_12.png",
+            "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_162/frame_13.png",
+            "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_162/frame_14.png",
+            "rt_frames_success/rtx_frames_success_1/25_nyu_door_opening_surprising_effectiveness#episode_162/frame_15.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1108",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <pull the handle to open the cabinet> something that can be accomplished right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1108/frame_0.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1108/frame_1.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1108/frame_2.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1108/frame_3.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1108/frame_4.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1108/frame_5.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1108/frame_6.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1108/frame_7.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1108/frame_8.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1108/frame_9.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1108/frame_10.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1108/frame_11.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1108/frame_12.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1108/frame_13.png",
+            "rt_frames_success/rtx_frames_success_21/55_dobbe#episode_1108/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_33/57_fmb#episode_7701",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs it feasible to begin <insert the light blue rectangular prism into the slot on the blue puzzle board> immediately?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7701/frame_0.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7701/frame_1.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7701/frame_2.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7701/frame_3.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7701/frame_4.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7701/frame_5.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7701/frame_6.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7701/frame_7.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7701/frame_8.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7701/frame_9.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7701/frame_10.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7701/frame_11.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7701/frame_12.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7701/frame_13.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7701/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_8/49_bridge#episode_19143",
+        "task": "Discriminative_Affordance_(Positive)_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 now a suitable time to carry out <release the towel>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19143/frame_0.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19143/frame_1.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19143/frame_2.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19143/frame_3.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19143/frame_4.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19143/frame_5.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19143/frame_6.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19143/frame_7.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19143/frame_8.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19143/frame_9.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19143/frame_10.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19143/frame_11.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19143/frame_12.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19143/frame_13.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19143/frame_14.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19143/frame_15.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19143/frame_16.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19143/frame_17.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19143/frame_18.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19143/frame_19.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19143/frame_20.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19143/frame_21.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19143/frame_22.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19143/frame_23.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19143/frame_24.png",
+            "rt_frames_success/rtx_frames_success_8/49_bridge#episode_19143/frame_25.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10469",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan <place the butter on the board> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10469/frame_0.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10469/frame_1.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10469/frame_2.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10469/frame_3.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10469/frame_4.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10469/frame_5.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10469/frame_6.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10469/frame_7.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10469/frame_8.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10469/frame_9.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10469/frame_10.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10469/frame_11.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10469/frame_12.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10469/frame_13.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10469/frame_14.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10469/frame_15.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10469/frame_16.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10469/frame_17.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10469/frame_18.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10469/frame_19.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10469/frame_20.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10469/frame_21.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10469/frame_22.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10469/frame_23.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10469/frame_24.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10469/frame_25.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10469/frame_26.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2932",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nCan <ensure the cabinet door is closed and secure> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2932/frame_0.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2932/frame_1.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2932/frame_2.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2932/frame_3.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2932/frame_4.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2932/frame_5.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2932/frame_6.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2932/frame_7.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2932/frame_8.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2932/frame_9.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2932/frame_10.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2932/frame_11.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2932/frame_12.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2932/frame_13.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2932/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3370",
+        "task": "Discriminative_Affordance_(Positive)_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>\nIs <grasp the dish towel> something that can be accomplished right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3370/frame_0.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3370/frame_1.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3370/frame_2.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3370/frame_3.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3370/frame_4.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3370/frame_5.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3370/frame_6.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3370/frame_7.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3370/frame_8.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3370/frame_9.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3370/frame_10.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3370/frame_11.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3370/frame_12.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3370/frame_13.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3370/frame_14.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3370/frame_15.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3370/frame_16.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3370/frame_17.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3370/frame_18.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3370/frame_19.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3370/frame_20.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3370/frame_21.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3370/frame_22.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14314",
+        "task": "Discriminative_Affordance_(Positive)_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>\nIs now a suitable time to carry out <place the ketchup bottle on the table>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14314/frame_0.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14314/frame_1.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14314/frame_2.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14314/frame_3.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14314/frame_4.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14314/frame_5.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14314/frame_6.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14314/frame_7.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14314/frame_8.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14314/frame_9.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14314/frame_10.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14314/frame_11.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14314/frame_12.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14314/frame_13.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14314/frame_14.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14314/frame_15.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14314/frame_16.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14314/frame_17.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14314/frame_18.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14314/frame_19.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14314/frame_20.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14314/frame_21.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14314/frame_22.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14314/frame_23.png",
+            "rt_frames_success/rtx_frames_success_40/62_robo_set#episode_14314/frame_24.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2695",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs now a suitable time to carry out <grab the handle>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2695/frame_0.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2695/frame_1.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2695/frame_2.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2695/frame_3.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2695/frame_4.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2695/frame_5.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2695/frame_6.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2695/frame_7.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2695/frame_8.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_2695/frame_9.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_660",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nCan you proceed with <grab the sponge> given the current conditions?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_660/frame_0.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_660/frame_1.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_660/frame_2.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_660/frame_3.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_660/frame_4.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_660/frame_5.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_660/frame_6.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_660/frame_7.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_660/frame_8.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_660/frame_9.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_660/frame_10.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_660/frame_11.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_660/frame_12.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_660/frame_13.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_660/frame_14.png",
+            "rt_frames_success/rtx_frames_success_1/27_jaco_play#episode_660/frame_15.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17854",
+        "task": "Discriminative_Affordance_(Positive)_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>\nIs now a suitable time to carry out <open the oven door>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17854/frame_0.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17854/frame_1.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17854/frame_2.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17854/frame_3.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17854/frame_4.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17854/frame_5.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17854/frame_6.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17854/frame_7.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17854/frame_8.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17854/frame_9.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17854/frame_10.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17854/frame_11.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17854/frame_12.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17854/frame_13.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17854/frame_14.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17854/frame_15.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17854/frame_16.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17854/frame_17.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17854/frame_18.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17854/frame_19.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17854/frame_20.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4909",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nCan <pull the doors open> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4909/frame_0.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4909/frame_1.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4909/frame_2.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4909/frame_3.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4909/frame_4.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4909/frame_5.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4909/frame_6.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4909/frame_7.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4909/frame_8.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4909/frame_9.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4909/frame_10.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4909/frame_11.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4909/frame_12.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4909/frame_13.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4909/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_14/49_bridge#episode_3800",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan <pick up the potato> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3800/frame_0.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3800/frame_1.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3800/frame_2.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3800/frame_3.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3800/frame_4.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3800/frame_5.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3800/frame_6.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3800/frame_7.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3800/frame_8.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3800/frame_9.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3800/frame_10.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3800/frame_11.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3800/frame_12.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3800/frame_13.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3800/frame_14.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3800/frame_15.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3800/frame_16.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3800/frame_17.png",
+            "rt_frames_success/rtx_frames_success_14/49_bridge#episode_3800/frame_18.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4023",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image>\nIs it feasible to begin <grasp the orange> immediately?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4023/frame_0.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4023/frame_1.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4023/frame_2.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4023/frame_3.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4023/frame_4.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4023/frame_5.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4023/frame_6.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4023/frame_7.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10608",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image>\nIs <grab the mug> something that can be accomplished right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10608/frame_0.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10608/frame_1.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10608/frame_2.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10608/frame_3.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10608/frame_4.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10608/frame_5.png",
+            "rt_frames_success/rtx_frames_success_36/62_robo_set#episode_10608/frame_6.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5245",
+        "task": "Discriminative_Affordance_(Positive)_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 now a suitable time to carry out <lift the ketchup bottle>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5245/frame_0.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5245/frame_1.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5245/frame_2.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5245/frame_3.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5245/frame_4.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5245/frame_5.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5245/frame_6.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5245/frame_7.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5245/frame_8.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5245/frame_9.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5245/frame_10.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5245/frame_11.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5245/frame_12.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5245/frame_13.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5245/frame_14.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5245/frame_15.png",
+            "rt_frames_success/rtx_frames_success_48/62_robo_set#episode_5245/frame_16.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16366",
+        "task": "Discriminative_Affordance_(Positive)_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 <place the ketchup bottle down on the table> something that can be accomplished right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16366/frame_0.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16366/frame_1.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16366/frame_2.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16366/frame_3.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16366/frame_4.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16366/frame_5.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16366/frame_6.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16366/frame_7.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16366/frame_8.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16366/frame_9.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16366/frame_10.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16366/frame_11.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16366/frame_12.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16366/frame_13.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16366/frame_14.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16366/frame_15.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16366/frame_16.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16366/frame_17.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16366/frame_18.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16366/frame_19.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16366/frame_20.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16366/frame_21.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16366/frame_22.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16366/frame_23.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16366/frame_24.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_16366/frame_25.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_16/49_bridge#episode_7117",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan <move the towel to the other side of the table> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7117/frame_0.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7117/frame_1.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7117/frame_2.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7117/frame_3.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7117/frame_4.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7117/frame_5.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7117/frame_6.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7117/frame_7.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7117/frame_8.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7117/frame_9.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7117/frame_10.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7117/frame_11.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7117/frame_12.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7117/frame_13.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7117/frame_14.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7117/frame_15.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7117/frame_16.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7117/frame_17.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7117/frame_18.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7117/frame_19.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7117/frame_20.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7117/frame_21.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_33/57_fmb#episode_7283",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan you proceed with <insert the double-square object into the slot> given the current conditions?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7283/frame_0.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7283/frame_1.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7283/frame_2.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7283/frame_3.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7283/frame_4.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7283/frame_5.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7283/frame_6.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7283/frame_7.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7283/frame_8.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7283/frame_9.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7283/frame_10.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7283/frame_11.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7283/frame_12.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7283/frame_13.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7283/frame_14.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7283/frame_15.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7283/frame_16.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7283/frame_17.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7283/frame_18.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7283/frame_19.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7283/frame_20.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7283/frame_21.png",
+            "rt_frames_success/rtx_frames_success_33/57_fmb#episode_7283/frame_22.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4454",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan <drag the strainer backward> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4454/frame_0.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4454/frame_1.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4454/frame_2.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4454/frame_3.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4454/frame_4.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4454/frame_5.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4454/frame_6.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4454/frame_7.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4454/frame_8.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4454/frame_9.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4454/frame_10.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4454/frame_11.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4454/frame_12.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4454/frame_13.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4454/frame_14.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4454/frame_15.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4454/frame_16.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4454/frame_17.png",
+            "rt_frames_success/rtx_frames_success_47/62_robo_set#episode_4454/frame_18.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_4/49_bridge#episode_13288",
+        "task": "Discriminative_Affordance_(Positive)_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>\nIs it feasible to begin <move the spoon towards the bottom right corner of the table> immediately?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13288/frame_0.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13288/frame_1.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13288/frame_2.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13288/frame_3.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13288/frame_4.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13288/frame_5.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13288/frame_6.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13288/frame_7.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13288/frame_8.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13288/frame_9.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13288/frame_10.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13288/frame_11.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13288/frame_12.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13288/frame_13.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13288/frame_14.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13288/frame_15.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_13288/frame_16.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_31/57_fmb#episode_5686",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image>\nCan you proceed with <grasp the square-circle object> given the current conditions?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5686/frame_0.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5686/frame_1.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5686/frame_2.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5686/frame_3.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5686/frame_4.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5686/frame_5.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5686/frame_6.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5686/frame_7.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5686/frame_8.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6934",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs it feasible to begin <grasp the ketchup bottle> immediately?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6934/frame_0.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6934/frame_1.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6934/frame_2.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6934/frame_3.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6934/frame_4.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6934/frame_5.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6934/frame_6.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6934/frame_7.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6934/frame_8.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6934/frame_9.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6934/frame_10.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6934/frame_11.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6934/frame_12.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6934/frame_13.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6934/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_3/49_bridge#episode_11394",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan <move the yellow cloth to the right corner of the table> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11394/frame_0.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11394/frame_1.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11394/frame_2.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11394/frame_3.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11394/frame_4.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11394/frame_5.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11394/frame_6.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11394/frame_7.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11394/frame_8.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11394/frame_9.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11394/frame_10.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11394/frame_11.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11394/frame_12.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11394/frame_13.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11394/frame_14.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11394/frame_15.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11394/frame_16.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11394/frame_17.png",
+            "rt_frames_success/rtx_frames_success_3/49_bridge#episode_11394/frame_18.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_1169",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs now a suitable time to carry out <grasp the red object>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_1169/frame_0.png",
+            "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_1169/frame_1.png",
+            "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_1169/frame_2.png",
+            "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_1169/frame_3.png",
+            "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_1169/frame_4.png",
+            "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_1169/frame_5.png",
+            "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_1169/frame_6.png",
+            "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_1169/frame_7.png",
+            "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_1169/frame_8.png",
+            "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_1169/frame_9.png",
+            "rt_frames_success/rtx_frames_success_0/19_ucsd_pick_and_place_dataset_converted_externally_to_rlds#episode_1169/frame_10.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4855",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nCan <grab the blue object> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4855/frame_0.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4855/frame_1.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4855/frame_2.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4855/frame_3.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4855/frame_4.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4855/frame_5.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4855/frame_6.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4855/frame_7.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4855/frame_8.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4855/frame_9.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4855/frame_10.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4855/frame_11.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4855/frame_12.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4855/frame_13.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4855/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17980",
+        "task": "Discriminative_Affordance_(Positive)_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 it feasible to begin <grab the toast> immediately?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17980/frame_0.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17980/frame_1.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17980/frame_2.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17980/frame_3.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17980/frame_4.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17980/frame_5.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17980/frame_6.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17980/frame_7.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17980/frame_8.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17980/frame_9.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17980/frame_10.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17980/frame_11.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17980/frame_12.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17980/frame_13.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17980/frame_14.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17980/frame_15.png",
+            "rt_frames_success/rtx_frames_success_44/62_robo_set#episode_17980/frame_16.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2710",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nCan <grab the mug> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2710/frame_0.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2710/frame_1.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2710/frame_2.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2710/frame_3.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2710/frame_4.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2710/frame_5.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2710/frame_6.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2710/frame_7.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2710/frame_8.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_2710/frame_9.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_25/55_dobbe#episode_508",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image>\nIs now a suitable time to carry out <grip the drawer handle>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_508/frame_0.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_508/frame_1.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_508/frame_2.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_508/frame_3.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_508/frame_4.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_12/49_bridge#episode_2386",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <pick up the pan containing the red cube> something that can be accomplished right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_2386/frame_0.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_2386/frame_1.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_2386/frame_2.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_2386/frame_3.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_2386/frame_4.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_2386/frame_5.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_2386/frame_6.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_2386/frame_7.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_2386/frame_8.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_2386/frame_9.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_2386/frame_10.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_2386/frame_11.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_2386/frame_12.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_2386/frame_13.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_2386/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_5/49_bridge#episode_14230",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan <release the spoon> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14230/frame_0.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14230/frame_1.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14230/frame_2.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14230/frame_3.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14230/frame_4.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14230/frame_5.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14230/frame_6.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14230/frame_7.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14230/frame_8.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14230/frame_9.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14230/frame_10.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14230/frame_11.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14230/frame_12.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14230/frame_13.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14230/frame_14.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14230/frame_15.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14230/frame_16.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14230/frame_17.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14230/frame_18.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14230/frame_19.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14230/frame_20.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14230/frame_21.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14230/frame_22.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14230/frame_23.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14230/frame_24.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14230/frame_25.png",
+            "rt_frames_success/rtx_frames_success_5/49_bridge#episode_14230/frame_26.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_31/57_fmb#episode_5210",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan <insert the hexagonal object into the hexagonal slot> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5210/frame_0.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5210/frame_1.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5210/frame_2.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5210/frame_3.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5210/frame_4.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5210/frame_5.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5210/frame_6.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5210/frame_7.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5210/frame_8.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5210/frame_9.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5210/frame_10.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5210/frame_11.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5210/frame_12.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5210/frame_13.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5210/frame_14.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5210/frame_15.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5210/frame_16.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5210/frame_17.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5210/frame_18.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5210/frame_19.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5210/frame_20.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5210/frame_21.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4100",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs it feasible to begin <grasp the drawer handle> immediately?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4100/frame_0.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4100/frame_1.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4100/frame_2.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4100/frame_3.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4100/frame_4.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4100/frame_5.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4100/frame_6.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4100/frame_7.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4100/frame_8.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4100/frame_9.png",
+            "rt_frames_success/rtx_frames_success_24/55_dobbe#episode_4100/frame_10.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13459",
+        "task": "Discriminative_Affordance_(Positive)_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 bottle towards the desired location on the table> something that can be accomplished right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13459/frame_0.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13459/frame_1.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13459/frame_2.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13459/frame_3.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13459/frame_4.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13459/frame_5.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13459/frame_6.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13459/frame_7.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13459/frame_8.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13459/frame_9.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13459/frame_10.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13459/frame_11.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13459/frame_12.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13459/frame_13.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13459/frame_14.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13459/frame_15.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13459/frame_16.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13459/frame_17.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13459/frame_18.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13459/frame_19.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13459/frame_20.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13459/frame_21.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13459/frame_22.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13459/frame_23.png",
+            "rt_frames_success/rtx_frames_success_39/62_robo_set#episode_13459/frame_24.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14830",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image>\nCan you proceed with <grab the oven> given the current conditions?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14830/frame_0.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14830/frame_1.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14830/frame_2.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14830/frame_3.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14830/frame_4.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14830/frame_5.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14830/frame_6.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14830/frame_7.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_14830/frame_8.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3062",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs it feasible to begin <grasp the banana> immediately?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3062/frame_0.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3062/frame_1.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3062/frame_2.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3062/frame_3.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3062/frame_4.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3062/frame_5.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3062/frame_6.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3062/frame_7.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3062/frame_8.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3062/frame_9.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3062/frame_10.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3062/frame_11.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3062/frame_12.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3062/frame_13.png",
+            "rt_frames_success/rtx_frames_success_46/62_robo_set#episode_3062/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_96",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan you proceed with <lift the gray bowl> given the current conditions?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_96/frame_0.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_96/frame_1.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_96/frame_2.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_96/frame_3.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_96/frame_4.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_96/frame_5.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_96/frame_6.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_96/frame_7.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_96/frame_8.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_96/frame_9.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_96/frame_10.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_96/frame_11.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_96/frame_12.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_96/frame_13.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_96/frame_14.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_96/frame_15.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_96/frame_16.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_96/frame_17.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_96/frame_18.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_96/frame_19.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_96/frame_20.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3053",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs it feasible to begin <flip the switch down> immediately?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3053/frame_0.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3053/frame_1.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3053/frame_2.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3053/frame_3.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3053/frame_4.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3053/frame_5.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3053/frame_6.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3053/frame_7.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3053/frame_8.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3053/frame_9.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3053/frame_10.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3053/frame_11.png",
+            "rt_frames_success/rtx_frames_success_23/55_dobbe#episode_3053/frame_12.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12956",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nCan <drag the strainer forward> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12956/frame_0.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12956/frame_1.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12956/frame_2.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12956/frame_3.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12956/frame_4.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12956/frame_5.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12956/frame_6.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12956/frame_7.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12956/frame_8.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12956/frame_9.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12956/frame_10.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12956/frame_11.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12694",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <pull the ketchup bottle backward> something that can be accomplished right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12694/frame_0.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12694/frame_1.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12694/frame_2.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12694/frame_3.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12694/frame_4.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12694/frame_5.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12694/frame_6.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12694/frame_7.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12694/frame_8.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12664",
+        "task": "Discriminative_Affordance_(Positive)_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>\nIs it feasible to begin <lift the butter> immediately?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12664/frame_0.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12664/frame_1.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12664/frame_2.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12664/frame_3.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12664/frame_4.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12664/frame_5.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12664/frame_6.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12664/frame_7.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12664/frame_8.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12664/frame_9.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12664/frame_10.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12664/frame_11.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12664/frame_12.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12664/frame_13.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12664/frame_14.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12664/frame_15.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12664/frame_16.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12664/frame_17.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12664/frame_18.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12664/frame_19.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12664/frame_20.png",
+            "rt_frames_success/rtx_frames_success_38/62_robo_set#episode_12664/frame_21.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15410",
+        "task": "Discriminative_Affordance_(Positive)_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>\nIs it feasible to begin <pull the drawer open> immediately?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15410/frame_0.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15410/frame_1.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15410/frame_2.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15410/frame_3.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15410/frame_4.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15410/frame_5.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15410/frame_6.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15410/frame_7.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15410/frame_8.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15410/frame_9.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15410/frame_10.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15410/frame_11.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15410/frame_12.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15410/frame_13.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15410/frame_14.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15410/frame_15.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15410/frame_16.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15410/frame_17.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15410/frame_18.png",
+            "rt_frames_success/rtx_frames_success_41/62_robo_set#episode_15410/frame_19.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_32/57_fmb#episode_5916",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan <pick up the purple block> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5916/frame_0.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5916/frame_1.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5916/frame_2.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5916/frame_3.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5916/frame_4.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5916/frame_5.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5916/frame_6.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5916/frame_7.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5916/frame_8.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5916/frame_9.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5916/frame_10.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5916/frame_11.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5916/frame_12.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5916/frame_13.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5916/frame_14.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5916/frame_15.png",
+            "rt_frames_success/rtx_frames_success_32/57_fmb#episode_5916/frame_16.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_31/57_fmb#episode_5075",
+        "task": "Discriminative_Affordance_(Positive)_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>\nIs now a suitable time to carry out <insert the double-square object into the designated slot>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5075/frame_0.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5075/frame_1.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5075/frame_2.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5075/frame_3.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5075/frame_4.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5075/frame_5.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5075/frame_6.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5075/frame_7.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5075/frame_8.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5075/frame_9.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5075/frame_10.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5075/frame_11.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5075/frame_12.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5075/frame_13.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5075/frame_14.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5075/frame_15.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5075/frame_16.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_367",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan <place the red cube on top of the green cube> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_367/frame_0.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_367/frame_1.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_367/frame_2.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_367/frame_3.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_367/frame_4.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_367/frame_5.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_367/frame_6.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_367/frame_7.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_367/frame_8.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_367/frame_9.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_367/frame_10.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_367/frame_11.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_367/frame_12.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_367/frame_13.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_367/frame_14.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_367/frame_15.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_367/frame_16.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_367/frame_17.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_367/frame_18.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_367/frame_19.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_367/frame_20.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_367/frame_21.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_367/frame_22.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_367/frame_23.png",
+            "rt_frames_success/rtx_frames_success_35/60_plex_robosuite#episode_367/frame_24.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7368",
+        "task": "Discriminative_Affordance_(Positive)_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>\nIs it feasible to begin <move the banana towards the table> immediately?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7368/frame_0.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7368/frame_1.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7368/frame_2.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7368/frame_3.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7368/frame_4.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7368/frame_5.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7368/frame_6.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7368/frame_7.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7368/frame_8.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7368/frame_9.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7368/frame_10.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7368/frame_11.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7368/frame_12.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7368/frame_13.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7368/frame_14.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7368/frame_15.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7368/frame_16.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7368/frame_17.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7368/frame_18.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7368/frame_19.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_7368/frame_20.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_910",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs it feasible to begin <grab the bread> immediately?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_910/frame_0.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_910/frame_1.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_910/frame_2.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_910/frame_3.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_910/frame_4.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_910/frame_5.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_910/frame_6.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_910/frame_7.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_910/frame_8.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_910/frame_9.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_910/frame_10.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_910/frame_11.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_910/frame_12.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_910/frame_13.png",
+            "rt_frames_success/rtx_frames_success_2/27_jaco_play#episode_910/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_16/49_bridge#episode_7355",
+        "task": "Discriminative_Affordance_(Positive)_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>\nIs <retract from the microwave> something that can be accomplished right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7355/frame_0.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7355/frame_1.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7355/frame_2.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7355/frame_3.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7355/frame_4.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7355/frame_5.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7355/frame_6.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7355/frame_7.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7355/frame_8.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7355/frame_9.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7355/frame_10.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7355/frame_11.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7355/frame_12.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7355/frame_13.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7355/frame_14.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7355/frame_15.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7355/frame_16.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7355/frame_17.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_7355/frame_18.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_13/49_bridge#episode_3185",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs it feasible to begin <grasp the violet cloth> immediately?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3185/frame_0.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3185/frame_1.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3185/frame_2.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3185/frame_3.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3185/frame_4.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3185/frame_5.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3185/frame_6.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3185/frame_7.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3185/frame_8.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3185/frame_9.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_30/57_fmb#episode_4102",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan <insert the green object into the slot> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4102/frame_0.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4102/frame_1.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4102/frame_2.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4102/frame_3.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4102/frame_4.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4102/frame_5.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4102/frame_6.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4102/frame_7.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4102/frame_8.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4102/frame_9.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4102/frame_10.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4102/frame_11.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4102/frame_12.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4102/frame_13.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4102/frame_14.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4102/frame_15.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4102/frame_16.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4102/frame_17.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4102/frame_18.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4102/frame_19.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4102/frame_20.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4102/frame_21.png",
+            "rt_frames_success/rtx_frames_success_30/57_fmb#episode_4102/frame_22.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6441",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <close the oven lid> something that can be accomplished right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6441/frame_0.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6441/frame_1.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6441/frame_2.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6441/frame_3.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6441/frame_4.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6441/frame_5.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6441/frame_6.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6441/frame_7.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6441/frame_8.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6441/frame_9.png",
+            "rt_frames_success/rtx_frames_success_50/62_robo_set#episode_6441/frame_10.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11475",
+        "task": "Discriminative_Affordance_(Positive)_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>\nIs <lift the sponge> something that can be accomplished right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11475/frame_0.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11475/frame_1.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11475/frame_2.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11475/frame_3.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11475/frame_4.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11475/frame_5.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11475/frame_6.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11475/frame_7.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11475/frame_8.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11475/frame_9.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11475/frame_10.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11475/frame_11.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11475/frame_12.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11475/frame_13.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11475/frame_14.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11475/frame_15.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11475/frame_16.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11475/frame_17.png",
+            "rt_frames_success/rtx_frames_success_37/62_robo_set#episode_11475/frame_18.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_42/62_robo_set#episode_1625",
+        "task": "Discriminative_Affordance_(Positive)_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 <release the drawer handle> something that can be accomplished right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_1625/frame_0.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_1625/frame_1.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_1625/frame_2.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_1625/frame_3.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_1625/frame_4.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_1625/frame_5.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_1625/frame_6.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_1625/frame_7.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_1625/frame_8.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_1625/frame_9.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_1625/frame_10.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_1625/frame_11.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_1625/frame_12.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_1625/frame_13.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_1625/frame_14.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_1625/frame_15.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_1625/frame_16.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_1625/frame_17.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_1625/frame_18.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_1625/frame_19.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_1625/frame_20.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_1625/frame_21.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_1625/frame_22.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_1625/frame_23.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_1625/frame_24.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_1625/frame_25.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_1625/frame_26.png",
+            "rt_frames_success/rtx_frames_success_42/62_robo_set#episode_1625/frame_27.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_12/49_bridge#episode_24316",
+        "task": "Discriminative_Affordance_(Positive)_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 <lift the mushroom> something that can be accomplished right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24316/frame_0.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24316/frame_1.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24316/frame_2.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24316/frame_3.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24316/frame_4.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24316/frame_5.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24316/frame_6.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24316/frame_7.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24316/frame_8.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24316/frame_9.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24316/frame_10.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24316/frame_11.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24316/frame_12.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24316/frame_13.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24316/frame_14.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24316/frame_15.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_16/49_bridge#episode_6579",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan <lift the lid> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6579/frame_0.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6579/frame_1.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6579/frame_2.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6579/frame_3.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6579/frame_4.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6579/frame_5.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6579/frame_6.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6579/frame_7.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6579/frame_8.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6579/frame_9.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6579/frame_10.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6579/frame_11.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6579/frame_12.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6579/frame_13.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6579/frame_14.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6579/frame_15.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6579/frame_16.png",
+            "rt_frames_success/rtx_frames_success_16/49_bridge#episode_6579/frame_17.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_45/62_robo_set#episode_235",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan <release the banana> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "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"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_4/49_bridge#episode_12595",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 3,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs it feasible to begin <move the bottle towards the fence> immediately?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12595/frame_0.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12595/frame_1.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12595/frame_2.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12595/frame_3.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12595/frame_4.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12595/frame_5.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12595/frame_6.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12595/frame_7.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12595/frame_8.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12595/frame_9.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12595/frame_10.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12595/frame_11.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12595/frame_12.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12595/frame_13.png",
+            "rt_frames_success/rtx_frames_success_4/49_bridge#episode_12595/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_23",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs now a suitable time to carry out <lift the white plate>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_23/frame_0.png",
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_23/frame_1.png",
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_23/frame_2.png",
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_23/frame_3.png",
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_23/frame_4.png",
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_23/frame_5.png",
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_23/frame_6.png",
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_23/frame_7.png",
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_23/frame_8.png",
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_23/frame_9.png",
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_23/frame_10.png",
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_23/frame_11.png",
+            "rt_frames_success/rtx_frames_success_0/11_utokyo_xarm_pick_and_place_converted_externally_to_rlds#episode_23/frame_12.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_51/62_robo_set#episode_794",
+        "task": "Discriminative_Affordance_(Positive)_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 now a suitable time to carry out <place the butter on the board>?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_794/frame_0.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_794/frame_1.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_794/frame_2.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_794/frame_3.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_794/frame_4.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_794/frame_5.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_794/frame_6.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_794/frame_7.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_794/frame_8.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_794/frame_9.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_794/frame_10.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_794/frame_11.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_794/frame_12.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_794/frame_13.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_794/frame_14.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_794/frame_15.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_794/frame_16.png",
+            "rt_frames_success/rtx_frames_success_51/62_robo_set#episode_794/frame_17.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4685",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image>\nCan <grab the drawer handle> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4685/frame_0.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4685/frame_1.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4685/frame_2.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4685/frame_3.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4685/frame_4.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4685/frame_5.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4685/frame_6.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4685/frame_7.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_31/57_fmb#episode_5228",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 2,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image> <image>\nIs <move the oval object towards the designated slot> something that can be accomplished right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5228/frame_0.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5228/frame_1.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5228/frame_2.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5228/frame_3.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5228/frame_4.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5228/frame_5.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5228/frame_6.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5228/frame_7.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5228/frame_8.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5228/frame_9.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5228/frame_10.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5228/frame_11.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5228/frame_12.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5228/frame_13.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5228/frame_14.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_31/57_fmb#episode_5010",
+        "task": "Discriminative_Affordance_(Positive)_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 <insert the double-square object into the slot> something that can be accomplished right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5010/frame_0.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5010/frame_1.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5010/frame_2.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5010/frame_3.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5010/frame_4.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5010/frame_5.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5010/frame_6.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5010/frame_7.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5010/frame_8.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5010/frame_9.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5010/frame_10.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5010/frame_11.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5010/frame_12.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5010/frame_13.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5010/frame_14.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5010/frame_15.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5010/frame_16.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5010/frame_17.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5010/frame_18.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5010/frame_19.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5010/frame_20.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5010/frame_21.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5010/frame_22.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5010/frame_23.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5010/frame_24.png",
+            "rt_frames_success/rtx_frames_success_31/57_fmb#episode_5010/frame_25.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_45/62_robo_set#episode_198",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan <move the ketchup bottle towards the bowl> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_198/frame_0.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_198/frame_1.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_198/frame_2.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_198/frame_3.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_198/frame_4.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_198/frame_5.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_198/frame_6.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_198/frame_7.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_198/frame_8.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_198/frame_9.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_198/frame_10.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_198/frame_11.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_198/frame_12.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_198/frame_13.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_198/frame_14.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_198/frame_15.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_198/frame_16.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_198/frame_17.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_198/frame_18.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_198/frame_19.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_198/frame_20.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_198/frame_21.png",
+            "rt_frames_success/rtx_frames_success_45/62_robo_set#episode_198/frame_22.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_12/49_bridge#episode_24022",
+        "task": "Discriminative_Affordance_(Positive)_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>\nCan <lift the broccoli> be initiated at this moment?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24022/frame_0.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24022/frame_1.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24022/frame_2.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24022/frame_3.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24022/frame_4.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24022/frame_5.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24022/frame_6.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24022/frame_7.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24022/frame_8.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24022/frame_9.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24022/frame_10.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24022/frame_11.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24022/frame_12.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24022/frame_13.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24022/frame_14.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24022/frame_15.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24022/frame_16.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24022/frame_17.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24022/frame_18.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24022/frame_19.png",
+            "rt_frames_success/rtx_frames_success_12/49_bridge#episode_24022/frame_20.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_13/49_bridge#episode_3472",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image> <image> <image>\nCan you proceed with <grasp the spoon> given the current conditions?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3472/frame_0.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3472/frame_1.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3472/frame_2.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3472/frame_3.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3472/frame_4.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3472/frame_5.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3472/frame_6.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3472/frame_7.png",
+            "rt_frames_success/rtx_frames_success_13/49_bridge#episode_3472/frame_8.png"
+        ]
+    },
+    {
+        "id": "/mnt/hpfs/baaiei/jyShi/rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4974",
+        "task": "Discriminative_Affordance_(Positive)_Task",
+        "selected_step": 1,
+        "conversations": [
+            {
+                "from": "human",
+                "value": "<image> <image> <image> <image> <image> <image> <image>\nIs <grab the drawer handle> something that can be accomplished right now?"
+            },
+            {
+                "from": "gpt",
+                "value": "yes"
+            }
+        ],
+        "image": [
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4974/frame_0.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4974/frame_1.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4974/frame_2.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4974/frame_3.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4974/frame_4.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4974/frame_5.png",
+            "rt_frames_success/rtx_frames_success_25/55_dobbe#episode_4974/frame_6.png"
+        ]
+    }
+]
\ No newline at end of file