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Manipulation/ContactRelationship/ContactRelationship_TypeOne/Bagged_peanuts/head_color_fram_3_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/Bagged_peanuts/head_color_fram_3_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Bagged peanuts"
+    ],
+    "reference_object_description_en": [
+      "Bagged peanuts"
+    ],
+    "reference_object_description_cn": [
+      "袋装花生"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      false
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "P`f01o>1OO1001Q_j25h`UM=C6K5K7I6J2N3M:F4L3M3N2M3N3L7I8H4M2M2N1dEUMa8l2ZG[Mc8i2WGZMh8i2RG[Mm8k2kFXMS9k2iFWMX9Q3]FQMc9U41000O1O1O0100000000000000O100000000000000000000000000O1000000O10001O1O1N1000O100O00100000000000001O001O001O1O1O1O001O1O1O1O001O1O001O010NkN`FlL`9k2lFRMT9d2WG[Mi8Z2dGeM[8R2RHjMn7j1bHRN^7h1kHUNU7\\1]I`Nd6^1`I`N`6\\1gI^N\\6`1c3L4L4LeBeNY=T1iBmN[=o0fBoN_=m0<L4J6L4KdAF\\>5]?Kono3"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/Green_can/hand_left_color_fram_3_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/Green_can/hand_left_color_fram_3_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Green can"
+    ],
+    "reference_object_description_en": [
+      "Green can"
+    ],
+    "reference_object_description_cn": [
+      "绿色的易拉罐"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      false
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "o\\59e>4L4M<D4L3N2M4L3M4L4L4M2M4L4M2M3N2M4M2M4L3N3L4M1N5L4K9H2N1N101N101N101O0O2O001O0O2O001N101O0O101O1O1O0O2O001O001O001O1O001O001O00001O001O001O00001O010O00010OWMhEj0Y:VNjEI<f1k9\\NoEH`0g1a9^NTFEb0i1]9]NbG`1a8\\NcGb1P;M2N3N2M4L3N2M3N1N3M4L3M2N3L4L5K4L`ef7"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "^6m01R2R;o0O001O001O001O001O_MZEh0f:VO`Eg0_:XOcEg0]:WOQF>n9AUF=k9BYF<f9C]F;c9E`F9_9FdF8\\9GgF8X9GmF5S9JPG5o8KSG3m8LWG2h8M[G1e8N^G1b8N`G0`8OdGO]8OgGM\\8OgGO\\8NgG0[8LhG2\\8IhG4[8HhG5\\8GgG6e;L`Vj04[hUO0QC8h<LQC>h<FSC`0h<ESC`0i<n0L5L4L5K3M4L5K5K4M3L5K3M4M2M3M4M4K4M2N3M1N2O00N101O1O001O001O001O1O00010O001O1O010N2O01000O10O01O1O1O100O001O100O100O1O100O1O100O2O0O1O1O100O2N1O1O1O2N101N1O2N1O2M3N3L3M4L6J5K3M4L3M3M3N2M4L3M4L4K5L5K5L5K8H7J\\`]6"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/Pink_suitcase/COCO_train2014_000000007643_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/Pink_suitcase/COCO_train2014_000000007643_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Pink suitcase"
+    ],
+    "reference_object_description_en": [
+      "Pink suitcase"
+    ],
+    "reference_object_description_cn": [
+      "粉色行李箱"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          427,
+          640
+        ],
+        "counts": "dPS39o<<E9G=E4YOQOhDb1T:RNlEN1Q3`9k0F<E8Ge0]O9G7J4K5L3N2M4M2L4N2M3N3M2M3O0O2N1O101N2N2N2TJjHa5W7]JkHb5U7]JlHb5V7\\JkHd5U7\\JlHb5U7^JkHb5W7\\JiHd5`7N01J^JbHc5^75O11O00000O2O000000001N10001O000O2O00001O0O101O00001O0000001O000O2O00001O0O1000001N10001N1000001N10000O100O2O00000O10000O100000000000001]KkGn3V8oKoGm3T8nKRHo3o7nKTHQ4c801O0O2O0000000000000O100O010O01O1N2N1O2O1O1N2N2K5O1000000O10000O1000O010000O1000O0100O1O10O01O1000001O0O1mM\\K_Kd4`4`K\\Ka4c4dKWK^4g4fKTK]4f4SKmId0Y1\\4c4QLWKR4e4TLWKn3e4WLXKk3d4fLlJ]3n4d2H7J6F:L4J7K4M3O2L3O1N2N3L3M4K4M4M3L4L4K5L5J5H8H9@lgc2"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          427,
+          640
+        ],
+        "counts": "hlh1i0V<h0YNYObE`1Q:V1E8I;F9H5J9F6L5J6K4L4M2M3M5K3N3L4L4K3N3M2N2M3N2N2N1O3N1N6K3LOQJhHo5W72N30O2O1N4M4K2O2NO001H70100001N1000001O0000001O0O101O00001O00001O001O001O001O001O0000001O0M30000O2N1000O1001O]OmJoHT5o6eJhH2:Y5n6dJjH29Z5l6dJkH29Z5k6fJkH19Z5k6dJmH37Y5Q7jJmHV5R7lJmHT5R7QKjHP5R7VKkHj4]3iJ1n5L]JLd50fJG\\5gNiIdN1i0W1`1P5POnIaN10J4N5d1P2f4UOQMb0o2]O\\M8e2DhM3Y2InM3R2I]NnNZKh0Y68lNAU1;WO[Oj0b0ZO]Of0`0@]Oa0?C@=>Y6M4N1N2O2M2O2M2NYgn12gXQN0O1M2SCKe<6XCJN0^<5fC1NM[<4fCN0NY<6gCKMLO100Z<OfC;3IN3X<NgC13NN3X<NhC11NO4W<LjC290l;NlC280e;KSD6N90E2Mb;[1]DfN_:0ZF^1VObN6Ok98eFY1ZO^N68e91iFb1@^Nd92fFg1DYNe9ObF_2\\9bM_Fe2Z9PMcF<1h2\\9f0MULdFl3S9TLPGU4g8<L5G[KdGh4Z8ZKeGi4U89K6F;D;K4L5L3J7M3L3M3M4M2N2M3N2N2O1M3O1O1L4M4K:F4N1M4N1O1O1O1N2N3M2O2M2N3M3M2N3M2O2N2M2O2N1O1O2N1N2O2N101N1O1O2N2N1O2O0O2N1O101N1O101N1O2O0O100O2N102M2O1N100O2O0O2O0O101N101O1N101N101O2N1N2O1O001O00001N1000001O000O10000000O10O2O001O1N3N1O1O2N1O2N001N101O001O00001O000O101O00000000000000000O100000000000O1000000O00100O1O1O1N1O2WOkNZEW1e:nNTEU1k:f0M3K5L5J5L4J6iNPMPHR3k7TMnGS3n7RMmGR3o7RMlGS3Q8PMkGU3o7QMiGV3P8V1K5L4L4M3K6I6K5J6K6J5K6J5L5K5G8I8F9F;K5H8H;gMiF]N2o0l95YFeN0`01@W8"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_apple_closest_to_the_white_bottle_on_the_second_shelf_of_the_refrigerator/head_color_fram_9_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_apple_closest_to_the_white_bottle_on_the_second_shelf_of_the_refrigerator/head_color_fram_9_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The apple closest to the white bottle on the second shelf of the refrigerator"
+    ],
+    "reference_object_description_en": [
+      "The apple closest to the white bottle on the second shelf of the refrigerator"
+    ],
+    "reference_object_description_cn": [
+      "离冰箱第二层白色瓶子最近的苹果"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "a]^55j>3N3L5QBFP=>eBJZ=n001O001O0O2O000000001O00O100000001N101N1O2N2M4H9F:G\\Q_3"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "]bm43a>`0G9J4K6L2M3O1N1O2O0O2O0O101O0O100000000O10000000O1000001N100O2N2N2N3L4M3K6K6K8_O_AMfV;?ZjDEP<g0eCCU<e0`CB^<b1M2O1B>M3000000000001O00O10000O100O1N2C?Bn0YO7\\Oe0AcjS3"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_fourth_bottle_from_the_right_on_the_first_step/1050_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_fourth_bottle_from_the_right_on_the_first_step/1050_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The fourth bottle from the right on the first step"
+    ],
+    "reference_object_description_en": [
+      "The fourth bottle from the right on the first step"
+    ],
+    "reference_object_description_cn": [
+      "第一台阶从右往左数第四个瓶子"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          512,
+          768
+        ],
+        "counts": "clo43i>Z1YATOd:C[El0`0_O=i1IkMc8f2^GEB\\NR8l6M2M2O2N1O1O1O1O2N1O1O1O1O1O1O1O1O1N2L4H8QOjGPJZ8o5l0O100O10000O100000001O00000001N100000001O00000000001O1O9iFeIW8U7L6K2N1O1O1O0^J[H_O2P1d7UO[HhM7MI1Oj17VN91@N;0I0N69NEf0i7Z1WISN_O`0k:1TE_OBK]>`0P1M3M4K4LXYm5"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          512,
+          768
+        ],
+        "counts": "Plo3130d065NVO5c9MnG1WOU1_O[OK9W9@nG6mN^OKd3W9QM\\G`4_8d1M2M4N1O1O1O1N3N1O1N200O1O1O1O2N1O1O1O1O1N2O1M3eMWHTLT8b3YHjKX8T4`HkJk7T5a1O100O10000000000000O10000000001O00000000001O0fFjJfN8f8o4gGhJB^1`8U6I<E2M2N2N1O1N2O1N2ZKdGYNT2M]6MbHUOCh0f1_Ok64[IN_MEW^m0OVQSO0c@:NLf1O\\NV11lN7I[92VGi1Jh1g7P4L3M2N3M2M3N3N1O100O1O1O1O100O1O1O1O1O1O1O1O1M4fNdGPJH2:0d8l5Q1O1O1000000001N100001O00000000000O100001O000001O000000O101O1SFQJg9R7RO9G3N0O1O1N101O1O1O1O2N1XIcHROEd47SKc7m0mJ\\2i5]M`J^2c5_McJKTMMGh0h8]OeJ@WMH\\O5_:a0j4M2M4M5K6HeXh4"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_largest_orange/COCO_train2014_000000009185_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_largest_orange/COCO_train2014_000000009185_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The largest orange"
+    ],
+    "reference_object_description_en": [
+      "The largest orange"
+    ],
+    "reference_object_description_cn": [
+      "最大的橘子"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          428,
+          640
+        ],
+        "counts": "odk08k<>E=D=D<F8H6I7H6J8J5J6K5J7K3L5K4M2M3M3M3N2M3N2M3N1O2N1O0100000000O10000000000O1000000000000O1000000000000O100000000000000000000O100000000000000000000001O0000000000001O0000001O001O00001O001O00001O00001O001O0000001O01O01O00001O001O001O1O001O001O1O001O1O1O1N2O1O1O1O1O1O1O1O1O1O1O2N1O1O2N1O1O2N2N2N2N1O3M1O101N1O1O1O1O00O1O1O1O100O1O1000O01O100O100O1O100O100O100O1O100O100O100O1000000O1O10000O101O000O1O10000O01000O100O10000O100000000O100O1000000O100O1O100O1O100O1O1O1O1O1O1O1O1O1O1N2O1O2N2N1N3M4M3L4L3N3K4M3N3M2L5K5L4L4M3K6K4L5J6K5J8I7H8I:D`0ZObbn3"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          428,
+          640
+        ],
+        "counts": "bo=1X=7K1O2N1O1O1O00100O1O1O001O100O1O010O1O1O1O1O010O1O100O1O100O100O10000O1O100O1O1O100O1O100O100O101N10001N100O101O0O10001O000O2O000000000O101O00000O101O0000000O2O00001O001O0O101O1O001O001O1O001O001N2O00000010O0001O1O1O001O1O1O101N1O1O100O1O100O00100O2N100O101N2N2N101N1O100O101N2N2N2O1N2O0O100O010O01O010O1O010O1O100O100O010O101N100O100O100O2O0O2N2O0O2O0O3N1N1O1O2M3L5J5J7I7I7I;B=EnfT1F_YkN9G4L3M2N2N3M2O1N2N2N3L3N2N2N2N2M4M2N2N2M3M4L3M3I8E:M3O1O2N1O101N1O2N1O101N1O101N1O2O0O1O2O0O2O1N101N100O2N101N10001N101O0O2O000O2O001N101O1N101O1N101O1O1O1O1O1O1O001O1O001O1O1N200O1O1O1O1O1O002N001O2N001O0001O0000000001O01L3L4I8I6L4M4L3N3M2K6L3O101M2N3M2O2N2M2O2N2N1M4N2M3N2M2O2N2N2O1N2N3L3N2N2N2N2N2N2N2N3L4M2N2O2M2N3M2N3N2M2N4L2N3M3M4L3M5L`RQ2"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_pillow_caught_in_the_middle_on_the_left_side_of_the_bed/000000001194_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_pillow_caught_in_the_middle_on_the_left_side_of_the_bed/000000001194_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The pillow caught in the middle on the left side of the bed"
+    ],
+    "reference_object_description_en": [
+      "The pillow caught in the middle on the left side of the bed"
+    ],
+    "reference_object_description_cn": [
+      "床左边被夹在中间的枕头"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          568,
+          640
+        ],
+        "counts": "U^a33da02O001N2O2M2O1O1O1N3N2N2N1O2O010002M1O2L5L4M1N2N3MbSS7"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          568,
+          640
+        ],
+        "counts": "RjZ31fa02N2N1O100O1O100O101N100O1O1O2N101N1O1O100001O101M3NSOG]@7b?L^@2b?2[@Me?7X@Hh?9W@Gi?<T@Dl?a0o_O^OR`0e0k_O[OU`0g0h_OZOX`0h0g_OWOY`0k0f_OTOZ`0n0f_OPOZ`0S146J1O1O000000000000000000000001O000O100000000O10000O1O010000000000000000O1000000O1000000O10000000000O0100000O100000O100000O1000000000O102N5K5K3M4L2M2XOQ_Oe0Ta0M3L3N2M5JWde5"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_robot_gripper_directly_below_the_perspective/hand_right_color_fram_3_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_robot_gripper_directly_below_the_perspective/hand_right_color_fram_3_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The robot gripper directly below the perspective"
+    ],
+    "reference_object_description_en": [
+      "The robot gripper directly below the perspective"
+    ],
+    "reference_object_description_cn": [
+      "视角正下方的机器人夹爪"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      1
+    ],
+    "precise_count": [
+      true
+    ]
+  },
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+    ],
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+      {
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+          640
+        ],
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+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_robot_gripper_directly_below_the_viewing_angle/hand_right_color_fram_2_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_robot_gripper_directly_below_the_viewing_angle/hand_right_color_fram_2_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The robot gripper directly below the viewing angle"
+    ],
+    "reference_object_description_en": [
+      "The robot gripper directly below the viewing angle"
+    ],
+    "reference_object_description_cn": [
+      "视角正下方的机器人夹爪"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      1
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
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+          640
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+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_second_microphone_from_the_right/COCO_train2014_000000013797_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_second_microphone_from_the_right/COCO_train2014_000000013797_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The second microphone from the right"
+    ],
+    "reference_object_description_en": [
+      "The second microphone from the right"
+    ],
+    "reference_object_description_cn": [
+      "从右往左数第二个话筒"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
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+          427,
+          640
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+      }
+    ],
+    "masklet_contact_target": [
+      {
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+          427,
+          640
+        ],
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+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_second_potato_from_the_top_down/hand_right_color_fram_4_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_second_potato_from_the_top_down/hand_right_color_fram_4_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The second potato from the top down"
+    ],
+    "reference_object_description_en": [
+      "The second potato from the top down"
+    ],
+    "reference_object_description_cn": [
+      "从上往下第二个土豆"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "eXb1<`>7J5L5K5L6I4J6M3K4M3M4M1O2N001O00O101O0O10000001O000O101N101O010O1O10O010000O100O2O0O10001O00010O010O010O01OXGWNZ4i1bK`NX4`1fKnNo3P1PLVOm3i0oK_On3?QLIi35WL0g3NXL6g3GYL<g3AZLc0d3YO^Li0b3PObLT1^3dNgL_1^3XNcLk1_3oMbLS2_3iMaL[2a3]McLd2k72N3M2N2N2O2M2O2M101O1N2O001O100O001O0000000010O0O101O1O1N2O1O2M3N1O1O2M3N2N1N3GWDUMl;g29M3M2O2N2N2N3M2O2M3M2N3M3M2N3M2O2M3M5K5K8GkVk5"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_second_slice_of_bread_from_the_top_in_the_right_column_of_breads/COCO_train2014_000000014014_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_second_slice_of_bread_from_the_top_in_the_right_column_of_breads/COCO_train2014_000000014014_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The second slice of bread from the top in the right column of breads"
+    ],
+    "reference_object_description_en": [
+      "The second slice of bread from the top in the right column of breads"
+    ],
+    "reference_object_description_cn": [
+      "右边一列面包从上往下数第二个面包片"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ],
+    "masklet_contact_target": [
+      {
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+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_second_tallest_vase/COCO_train2014_000000009127_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_second_tallest_vase/COCO_train2014_000000009127_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The second tallest vase"
+    ],
+    "reference_object_description_en": [
+      "The second tallest vase"
+    ],
+    "reference_object_description_cn": [
+      "第二高的花瓶"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          427,
+          640
+        ],
+        "counts": "Q`S45U=5K2N2N2N3N2_O]OUDe0i;^OUDi0c;YO\\Dj0a;XO]Dl0_;UO`Dn0];o0\\E]Nb7CXH[2FZNT2_Ok23WK_3k1cLi27UKZ3l1cLl24XK[3h1dLn23XK]3f1bLP32YK^3e1bLQ30XKb3d1`LR30UKe3h1\\LR3g4kL[KS3h4jLYKV3h4iLYKV3i4gLXKX3n4cLSK\\3Q5jKQJLo0Y4S5gKSJMk0[4T5cKVJ0f0\\4W5aKVJ0e0^4P6aKPJ_4^7O2O00001N10001O000O101O00001O00000O2O0000001O0001O000000000000O1000000000000001O000000000000000O10001O0O1000000O10001O0O1000000O2O0aN_KTJa4k5bKRJ_4S5bKVJ1g0]4Q5fKTJ0i0\\4P5hKSJOl0Y4o4kKQJOo0W4m4eLQK\\3m4gLRKZ3i4kLUKV3h4mLWKT3h4nLWKS3f4PMXKQ3h4PMVKR3g4QMWKP3h4RMVKP3g4TMVKm2h4VMUKm2h4XMSKj2k4\\MmJi2l0hJo2S8oLPHm2S8RMoGj2T8TMoGg2U8XMkGf2X8XMjGd2Z8ZMgGc2]8UMTGFa0;@V2Q9_MkG7YOU2R:iMPFb0Id0[:hNoE>Oc0U:nNmE>1;Z:UOfE`017\\:XOeE?23P;MSEIU;5R1N2O2M3Mld^2"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          427,
+          640
+        ],
+        "counts": "bfU25Q=7hFFXL<`83QK`0c4CYKi0[4[O]KR1\\4PO^KZ1\\4hN`Ka1Y4`NeKj1R4XNiKR2Q4oMmKU2o3mMnKX2n3jMoKZ2o3gMmK^2Q4cMmKg2j3ZMSLj2j3XMSLm2j3TMTLU3d3mLYLY3`0bK?V1nN^3;bKe0Q1nNb36aKk0n0mNd35`Kl0o0kNg34]Ko0m0jNk33ZKR1m0hNm32XKU1l0gNR4NTKZ1l0dNU4NRK\\1k0cNX4KPKa1i0bN\\4HmJe1i0`Na4AjJo1h0\\Ne4YOjJY2d0[NU6d1lIZNU6f1nIUNU6j1oImMW6Q2b201N101O0O2O0O2O001N100O2O0O2O0O101N100O2O0O101O0O10001O0O10000000001O00000000000000000001O000000001O00001O00001O0000001N10001O00001O0O10001O000O10001O0O10000O10001N10000O100O10000TGQN[6Q2YIaN`6_1]IeNa6\\1ZIlNc6T1[IoNc6R1[IROb6P1[ISOd6m0ZIVOd6k0[IWOd6i0ZI[Oc6g0[I[Od6e0[I]Oc6d0\\I^Oc6c0\\I^Ob6c0\\IAa6a0^IAg4YNbKW2FB_4bNgKn1HB[4gNjKi1IBX4jNnKe1HCU4nNPLa1ICS4PORL_1IBQ4TOTL\\1IDm3TOWL\\1ICg3ZO]LU1JEb3[OaLU1IB]3CgLo0HAW3JlLl0G^OU35hLf3T3\\3H9J9E8H8H8AQ1TOiQ[1EbmdNKVE9b:G]D4m08a:2[E1`:9XEIg:9VEJh:9SEJl:\\1M2N2O1O1kMgMUI\\2i6kMQIV2n6lMmHX2S7kMcH\\2\\7gM`HZ2`7iM\\HY2d7kMWHV2h7nMTHR2m7QNoGo1Q8TNkGn1U8VNeGk1\\8b100O10000000000O1000000O101O0O102N1N2O2N2M2O001O0O2O000O100000000O01ZLSHn1m7nMXHQ2h7lM[HS2f7jM]HV2c7hM_HW2c7gM^HY2b7fM_HY2b7fM_HX2c7gM^HV2f7hM\\Ho1l7PNUHo1l7PNUHo1m7PNTHn1m7QNTHn1m7QNUHm1l7RNVHm1k7RNUHn1k7QNWH`1oNTNl8;VH\\1SOWNh8<WHZ1UOWNf8=WHZ1\\8dNeGZ1_8cNcGY1c8bN_G]1Y:M3_N^DU1o;K8WOkCO_Xd1"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_silver-gray_suitcase_on_the_left_side_of_the_picture/COCO_train2014_000000005689_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_silver-gray_suitcase_on_the_left_side_of_the_picture/COCO_train2014_000000005689_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The silver-gray suitcase on the left side of the picture"
+    ],
+    "reference_object_description_en": [
+      "The silver-gray suitcase on the left side of the picture"
+    ],
+    "reference_object_description_cn": [
+      "图片左边银灰色行李箱"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          375,
+          500
+        ],
+        "counts": "j`0b0;_OG2066N<K]8W3[O9H2aH]Lf6j3fHaL1IV7c4E4N1N100O100O10000O10O100000000O1000O1000O100O100000000O0101O00000000000000000000O1eMYI_M0S2g6=`I@a6=gIiNn6R1gIZN]6a1o1M3N2O2N000010O02N101N10000000O1O1O03N0O01001NO2O10000004Kh0]NbE7Rl20o^M4eDG62a:?\\E4P:k0O00001N010000000000O10000000O1000000000O1001O00000000hNPFh0S:SOiF2Z9IiENcm2P1_RMQO00X:_1K00000010O001O1O010O2N1O2N3M3M8mNVE00g0R;K?Bboo3"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          375,
+          500
+        ],
+        "counts": "c3Y1^:001OO100O1O1O001O1000O010000O100000000O10000000000000O100000O100000000000000000000O1000001N?ROPE4NKoR11eWOO]E0N12064\\:b0\\E_Oc2MiM5g6i0YK7TNlNd5n0mKnNoMW2T6kNmKc1RN[M_5S1_Li1a3UN_Ln1_3RNaLn1_3RN`LP2_3PN`LQ2`3oM`LR2_3mMaLU2^3kMbLU2]3lMbL_OUNP2Y5aNbL^OUNR2Z5_NaL]OSNX2\\5[NaL\\OSNY2]5[N`LZOSN]2]5YN_LZOTN^2]5XN_LV2a3jM_LU2b3jM_LV2`3kM`LU2`3kM`LU2`3kM_LV2a3jM_LV2b3iM^LV2Q2lL`Mn0>W2Q2oL^Mj0a0W2P2QM^Mi0a0V2Q2SMdM==5RN^1m3aNULVOg05[O4o1a0nM^1m3e0TLTM42k0i0oN]1n3k0TL[MO^3l3WOVL[1j3hNSLX1m3hNSLX1l3mKbLi1CkM6:Lb3j3^L]Mb0DTOSO05k3g3_L]Md0a0Y2R2SM]Mg0>V2U2SM]Mh0OnNSOW3a3RM^Mi0<U2U2SM_Mi0;S2W2TM^Mi0;S2W2SM_Mj0:S2W2SM_Mi0;T2V2SM_Mi0;T2V2SM_Mj0:S2V2TM`Mi0:T2U2SMaMi0:T2U2SMaMi0:T2U2SMaMi09U2V2RMaMi09V2U2QMbMi09V2U2QMbMi09W2T2PMcMi0BmNGZ3T3QMbMh0CnNE[3U3oLcMg0DoND\\3U3mLdMg08]2T2kLeMh07^2S2jLfMh08^2Q2jLgMh09_2n1jLiMf09a2m1iLjMf09b2m1gLkMf08e2k1eLmMf07h2j1bLoMf07j2h1`LRNe0^OSOHi3g2_LSN`0bNXO>1K19i3h2^LSN1BJWOOKN;k3n2\\LTN0_O4ROI043GMm3[3[LVOW5h0lJgLT1=_4l2VLgLkM4P6T3^2O103LhGmLn7R3oGaNU1\\OP3Q2jKhNo0[OX3l1gKT1[4U30O1N1O2N2N2O1N2N1O2N2N4L5K4L1O1O000010O00000O2O00001O001O1O1O1O0O2O1O2M1O2O1O1N3M4L3L4L6H>YMjIPOj60oGD`:ORcd3"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_suitcase_under_the_person_wearing_a_plaid_shirt/COCO_train2014_000000006253_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_suitcase_under_the_person_wearing_a_plaid_shirt/COCO_train2014_000000006253_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The suitcase under the person wearing a plaid shirt"
+    ],
+    "reference_object_description_en": [
+      "The suitcase under the person wearing a plaid shirt"
+    ],
+    "reference_object_description_cn": [
+      "穿格子衣服的人手下的行李箱"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "j`V45h>3M3N2fNNhBKe0:T<e0WClN<a0R<o1H8K402M200O100O1O1O1K5N2N2O1N111N1O1O001O1O2OdLhDP3W;PMkDo2U;QMlDn2S;RMnDn2R;SMnDl2Q;UMoDk2Q;UMoDk2Q;TMPEl2P;TMPEk2Q;UMoDk2Q;UMPEj2P;UMQEl2n:SMSEm2m:SMREn2n:QMSEo2n:PMREP3n:nLTER3l:lLVET3k:iLXEV3Z;O003M2N1N2O0000001O0000001O`NZM]E4n0b2m8]NSGc1]8UMeFe1P1V1d7B\\H>_7FbH:]7]OmHc0S7SOXIl0i6ZNaGlN34Q2f2\\6hM`GCh2f2l5YMcJi2i81N2O1O1N2O1L4O1M3O1O1O100O00100O10000L4F:\\OQLfE0<Q4Y9oK^F2N<:b3j8YLkFe04SOMQ4f8gM[Gc19RM[8]1ZGT1k0]Mj7^1fGZNIK4m1Q1VN\\7d1aH3o8ROmE@_1\\1f8ROlGl0W8jNSHT1m:N3M2N3M2L4N3L3M4O0O1O2N100O2O0O101O1O2LTm[3"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "Yg^2>W>>@?A?B=E:H9B=F:B>L4M3N2O1O1O100O10000O100000000O0100000000000000001O000O1000000000O100000000000O1000001\\NcKdH\\4[7fKdHZ4]7cKeH]4o80000000O11O00000000O1001O1O00MdKbE\\4^:dKbE\\4^:dKbE\\4_:cKaE]4`:100001O000000001O0000000000001O0000JfKfEZ4X:iKgEW4X:iKjEV4U:gKoEY4\\:0PNiKXIV4i800000001O000000001O0O2O000O2M3K4N3M3K5C=@`0H9[OV1\\NbU\\1Le\\cN4Z>g0F7K7E6L4M2N2N2O1M3O1J6O1N2O1O1O100O100O10000O100000000O1O1O1O001O1O1O1O2OO01O1O2N001O1O100O100O10000O10000000O10001O0O102N0O2O001O02OO01O`MkCU2U<;1O2O0O2N1O00001O001O001O1O001O1N10010O1O00001O000000000000001O1N2O1N2N1N3L4M2CoBfNW=W1:N3M3L4D>G;EnXP2"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_tallest_orange/COCO_train2014_000000012902_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_tallest_orange/COCO_train2014_000000012902_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The tallest orange"
+    ],
+    "reference_object_description_en": [
+      "The tallest orange"
+    ],
+    "reference_object_description_cn": [
+      "最高的橘子"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          500,
+          332
+        ],
+        "counts": "^lj02o>f0H6K4M4M2O2O001O001O0010O01O1O001O1O1O1O001O1N2O1O1O1O001O1O1O1O1O1O1O2N2N1O2N1O2N2N1O2N2N2N2N2N2N3M4L3M2N1O000000000000001O0000O10000000000O1000000000000O10000O10000O10000O10000O100O100O100O1O100O1O100O1O100O1O1O1O100O1O1O1N2O1O1O1N2N2O1N2N2N2M5L5J6J7I7G<B\\hW2"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          500,
+          332
+        ],
+        "counts": "[1o05T2W;V1N2O0O100O101O0O1000000O10000000O010000000000O1000000000000000000001O0O100000001O0000001O0O10001O00001O00001O00001O001O001O001O001O1O001N101O1O0O2O1O1O1O1O001O1O1N2O1O1O1O1O1O1M3O2M3M2N3M2N3L4M3M3L4K4M4K6J6K5I8H;Df0VOmg:2TXE>D;F4M2N2O2N1O101O0O101N100O2O1N101N101N2N2O1N2N2O1N2N2O1N2N2N3M2N3M3M3M3N1M2O1O1O1O1O2O00000O1000O1001O00000000000001O00000O10001O0000001O00001O001O001O001O001O1O001O1N101O1O1N2O1O1N2O1N2O1N3M2N2N3L3N3L4L4L5K5K5I:Fji\\1"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_third_pomegranate_from_the_top_on_the_left_side/hand_right_color_fram_5_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_third_pomegranate_from_the_top_on_the_left_side/hand_right_color_fram_5_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The third pomegranate from the top on the left side"
+    ],
+    "reference_object_description_en": [
+      "The third pomegranate from the top on the left side"
+    ],
+    "reference_object_description_cn": [
+      "左侧从上往下数第三个石榴"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "iQh48X>KiAf0j=<N2O10O010000O10000O100000001O01O001O00100O001O2N1N3M3L4L4L7Fe_T4"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "Uff4=P>e0H7L4M2WNlNfEU1e9BWF?f9EYF<d9F\\F;c9E]F;c9D^F=`9D_F=a9C_F=a9B`F>`9B`F>`9B`F>`9B`F=b9B^F>b9B_F=a9C_F=a9C_F<b9D^F<b9E]F;c9E^F:b9G]F8d9I[F7e9I\\F6e9I[F6f9KZF3h9KZF3h9J\\F3e9L]F1f9L^F0f9M]F0f9L_FOg9L]FNi9M_FKh9N]eS4"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_tomato_closest_to_the_camera/head_color_fram_6_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_tomato_closest_to_the_camera/head_color_fram_6_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The tomato closest to the camera"
+    ],
+    "reference_object_description_en": [
+      "The tomato closest to the camera"
+    ],
+    "reference_object_description_cn": [
+      "离相机最近的西红柿"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      1
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "U`V5?Y>=F8J6J6K4L3M4L2O2N2N1N3N1O2N1O2N2N101N101O0O101N10001O00001O000000000001O000lNlC[OV<b0oC[OP<e0RDZOn;YOeCZ1?\\Ol;f0VDWOk;^OdCW1c0ZOi;i0XDUOi;BcCU1d0XOk;k0VDSOk;m0UDROm;m0SDROn;n0RDQOo;J\\Co0f0TOP<OZCk0f0UOR<N[Ck0c0VOS<L^Cm0?VOT<L_Cm0=UOV<N_Ck0j=N2N2N2M1O1N20000N2O2K5I_UU3"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "`ih55h>5M3M2N2O1O1O1O00001O00000jN]OoCc0P<AmC?R<CmC=R<FlC9U<IiC7W<KgC5Y<LfC4Z<NdC3Z<OeC1[<OeC3Y<NfC5W<KiC7U<IkC9S<GmC9S<GmC9S<HlC9S<GmC9S<GmC9R<HnC8R<HnC8Q<IPD6o;KQD6m;KSD5l;LUD3j;NVD2i;OWD1i;OWD1h;0YD0f;0ZD0f;0ZD1d;0[D2d;N\\D3c;L^D5a;K_D6`;J`D7_;I`D9_;GaD:^;EcD<\\;DdD<];CcD>[;CdD>\\;BdD?[;BdD>\\;BdD?Z;BfD>Y;DfD=Y;CgD=X;DhD<X;DhD=V;EhD<W;EiD;W;EiD<U;FjD:U;GkD:T;FkD;T;FlD:T;FlD;R;FnD:R;FnD:Q;HmD:R;FnD:R;FnD;Q;FnD:R;FnD:R;FnD;Q;FmD;R;FnD:R;FnD\\OG2Z;b0oD\\OG2Z;b0oD\\OH2W;d0PEYOJ3V;d0QEXOJ3U;e0QEVOL6Q;e0TESOL8P;f0QETO06n:h1QEWNo:l1nDTNR;n1lDRNS;Q2kDPNT;n20001N10001O000O1000O1O001M3M3M2N3M3O1000O010000O010O1000000000002N2N6K2M1O001O1O001O01O01O01O001O001O00001O000000000O1000O010000O2O000001O1O2N1O2N1O000000000000O1O2O0O010O2N100000000001O1O010O001O1O001O010O001O000000000000000001O00000O11O00000000O1000001O01O0000000001O000O100000000000000000]NQD5P<GUD7k;G^DkNB:0=P<=dDPOAb0k;=hDlNBc0g;;SDROP1`0P;8lC\\O[1;l8"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_tomato_closest_to_the_camera/head_color_fram_7_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_tomato_closest_to_the_camera/head_color_fram_7_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The tomato closest to the camera"
+    ],
+    "reference_object_description_en": [
+      "The tomato closest to the camera"
+    ],
+    "reference_object_description_cn": [
+      "离镜头最近的西红柿"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      1
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "PZe4>]><E7K5J6K4L3M4L3M3N3M2N2M3N2N2O1M3O1N1O2N100O2N100O100000000000000000^OoCUNQ<i1RDVNn;i1TDVNl;j1UDUNl;j1TDVNl;j1UDUNk;j1VDVNj;j1VDVNk;i1VDVNj;j1VDVNk;h1VDWNk;i1UDWNl;h1TDXNm;g1SDXNn;h1RDVNQ<h1f0N1O1O1N2O1O1O1O2M2O1O3M2M5K6IXhg3"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "aVU56i>2N1`CNR:2mE0R:0mE2Q:0nE0R:0mE2Q:OoE1Q:OoE2P:OoE1P:0PF0P:1nE0Q:1oEOQ:1oEOP:2oENR:2nENQ:3oEMP:4PFLn96RFJk99TFGk9:VFFh9<XFDg9=YFCf9>ZFBf9=ZFEd9<\\FDd9<\\FEc9:^FG`9:_FI_97aFJ^95bFM]93bF0[91dF0\\9OcF4\\9LbF6]9JdF6[9KeF5Z9KgF5X9LhF4X9KhF6W9JjF6U9KlF4R9NnF2Q9OoF1P90PGOP92PGNo83QGMn84RGLm86RGJm87RGJl89RGHn88RGHm8:QGGo89PGIo87QGIo87QGJm87RGKm85SGKl86TGKk85UGLi8\\OeENa1g0j8[OfEM`1i0h8ZOiEM_1j0g8YOkEM\\1k0i8XOkEM[1m0h8WOmELZ1o0h8UOnEMV18eNJW:0oENT17jNIR:3QFLR19lNHP:3RFLQ19nNHo93RFLP1:oNFo94SFLo0:oNFo94SFMm09ROFn93TFNk0:SOEn93TFNj0;TODm94UFMi0<TODn93VFLh0<UOEm92WFNe0<WODl93YFLd0<XOEk93ZFKc09\\OIg93[FJa09_OJd93^FI?9_OLd92^FJ>7ALc94^FL;4DLc94]F09OHMb93[F6D\\O8>7Ma94ZFj0GVO>La94XFh18TN_94YFg1:UN]94WFh1<UN]93VFi1=TN\\94UFi1`0SN[94SFk1b0PN\\94RFl1b0QN[94RFm1b0oM\\93RFo1b0nM\\9n2dFRM[9o2eFPM\\9Q3bFPM^9Q3aFoL^9R3bFnL^9R3bFnL^9S3`FnL`9R3`FnL`9S3_FmLb9S3]FmLd9R3\\FnLi9n2VFQMY:b2fE^MZ:c2eE]M[:e2bE\\M_:f2^EZMb:g2\\EYMe:g2[EYMe:a30000000O1000000000000O101SO[E\\Mh:b2m0M3N2M2O1O1O001O1O1O100O1O1O1O1N2O1N101M3O1N2O1N101N2O1O0O2O000O10000O10001N102M101N2O001O002N00M3O10O01L4O1N2N2O1000O100O0100000000000000O010000000O100000001N10000O01O001O100O10O1000O10O1000000O1000O10O1000O1000O10O100000O1000O1000000O10000000000O01000000000O1000000O10000000O10OERNfCn1f<0O1000O010000O10O01O11O0O1000005J2WNjBf1\\7"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/basket/COCO_train2014_000000000790_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/basket/COCO_train2014_000000000790_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "basket"
+    ],
+    "reference_object_description_en": [
+      "basket"
+    ],
+    "reference_object_description_cn": [
+      "篮子"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          422,
+          640
+        ],
+        "counts": "TbZ36P=8I5K6J1O1O000ZO[O]DN5g0X;NaD4Z;o0L3LhNPEc0l:ZO`Ea0]:^OjE>S:CVF7f9J]F6`9JbF6\\9JgF6V9JlF7R9FRG;m8BWG=i8_O[Gb0d8]O]Gc0b8]O`Gc0_8]OaGd0^8\\ObGd0^8\\ObGe0]8\\ObGd0^8\\OcGc0]8]OcGd0]8\\ObGd0^8^O`Gb0a8^O^Gb0b8@\\G`0e8ROjE?c0ILg0j9FoEI0f0R:f12N3M1\\NeE;`:SOnEl0W;O001O0O101N1O2N2L5XO`hW4"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          422,
+          640
+        ],
+        "counts": "hlo23m<8K5M3M2N3M2N1O2N2O1N101N101N2O0O101N1O2O001O000O101gNROXFn0g9SO[Fk0e9UO]Fj0b9UO`Fj0`9WOcE@k0X1c9WObEBl0V1l9nNXEKl0W1n9lNWEMk0V1o9kNXE0h0T1T;0010ObNlNcEOR1T1Z9oN`E32Kl0S1b9_O\\F`0d9A\\F?f9_OZF`0h9XO\\EJl0n0h9_OXF`0i9AVF>j9BVF?j9@WF?i9BWF=j9BVF>j9BWF=j9BVF>k9AVF>j9BVF>k9ZOWENn0h0k9YOXEOn0g0j9BVF>j9BVF>j9AWF?j9[OVELP1i0m9WOUENo0k0W;0000000000000000000O100O1O1N2N2N200O01000000O010000O10O10O1O1N1L5000O10001N101O0O2O0O101N101N101N1O2O1N2N2O1N2M3N2N3L4Iebe3"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/biscuit/COCO_train2014_000000011774_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/biscuit/COCO_train2014_000000011774_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "biscuit"
+    ],
+    "reference_object_description_en": [
+      "biscuit"
+    ],
+    "reference_object_description_cn": [
+      "饼干"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      1
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "i^a22n>2L2O2N10001N10000O10001N10000000001O0000000000000000000001O0000001O0000001O1O0O2O001O1O3LUoT6"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "_lZ21k>6M2N2N20O0000O100O2O00O010000O100000O010000O0101N1000O02O0O2N1O2N2N2N`X;4\\gD2N2O000O100000000O1000000000000O1000000000O100000001N101O1N102M2NYQe5"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/book/COCO_train2014_000000013770_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/book/COCO_train2014_000000013770_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "book"
+    ],
+    "reference_object_description_en": [
+      "book"
+    ],
+    "reference_object_description_cn": [
+      "书"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          565,
+          640
+        ],
+        "counts": "d]Q91[a0:H7H9I6H8I7H8J6J6I8H7I7H8G9K5I7K6E:J6F:K5L4G:J5E;K5L4D<I7H8J6F9K01N6K6J6J6H8K5H8I8G8I7K5H9K4H8L5E:J6F:K5I7J7J5E;I8G8J6H8J6G9K6G8F;IPoj0"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          565,
+          640
+        ],
+        "counts": "\\_W86Ua0<_O?J7@?J6D<J7E:B>K5J6K6G8I7H8D<L4gLQKfIU5W6PKYI^5f6cJoHi5o6XJkHn5S7UJgHP6X7QJcHT6[7oI_HV6`7lIoGd6P8^IcGo6[8V1N2O1O1O1O2O0O1O100O100O2O0000000000O100L4I7F;I6J6G9I8F9K5J6J6G:F9F:J7J5J6I7H9J5F:L4I8H7D<K5L5B=J6G:H7J6G9Eh_OQOa`0c0`GCe05[O2g0B\\Of0d85H8I8H7I7K5G9J6H8K5K6H7K5I7J6C=J6I7L4J6F;I6J6G9G9L4G9K5H8H8H8H8K5M3M4J5N2M3N2O2M2N2N2O1N3N1O1O1O1O1O1O1O1O2N00100OO1M4K4D<H9L3I8I7J6F:I7I7C=F:N2J6J7H7J7E:iK\\Cb2NoLX==mB`2OPM\\<"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/book/COCO_train2014_000000014764_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/book/COCO_train2014_000000014764_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "book"
+    ],
+    "reference_object_description_en": [
+      "book"
+    ],
+    "reference_object_description_cn": [
+      "书"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "n_X55j>3M2O2M2O1N2O1N2N2O0O2O1O1N101N3N1O3L3N1N3M2O0O2O1O001N2O1N2O1O1O1N2O1O1O1O1O1N2O1O1O1O1O1O1O1O2N1O1O1O100O1O002N1O1O1O1O1O1O001O1O1O1O1O1O1O2N1O1N2O1O1O1O1O2N1O1O1O1O1O1O1O100O1O2N1O1O1O100O1O1O1O1O1O001O001O0000001O0000001O0000001O0000000000001O0000001O000000001O0000001O001O001O9G1OO1O2O0O10O02N100O1O100O2N1O2O0O2N2O1N2N101N2O1N1O2O0O2O1N2N2O0O2O1N2N101N2N101N2N1O2O1N2O1N2N2O1N2N2N101N2N2O0O2N2N2N2O0O2O1N2N2O1N2N101N2N2N2O1N2O1N2N2O1N2N2O1N1O2N2O0O2N2N2O0O2N2O0O2N2O0O2N2N1O2N2N2O1N2MZT`0"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "lmY33l>1N3M2N2M3N2M3N2N2N2N2N2N2O1N2O1N2N2N2O0O2M3O0O2M3O1N2N2N2O1M3O1M3N2N2N2N2N2N2N2N2N2N3N1N3M2M3N2M3O1N2N2N2N2N2O1M3N2N2M3N2N2O1N2N2M3N2N2N2N2N2N2N2N2N2N2N2N2N2N2N2M3N2O1N1O2O1O1O1000000fIaJS3_5jL`KZ2`4fMlKn1T4QNiLT1V3lNXMf0h2ZOfM8Z2HkM3U2MnM0R20oM0P20QNOo11QNOo11QNOo11QN0n1OSN1m1OSN1m1OSN1m1OSN2l1NTN2l1NTN2l1NTN2l1NTN3k1MUN3k1MUN3k1MUN3k1MUN4j1LVN4j1LVN4j1LVN5i1KWN5i1KWN5i1KWN5i1KWN5i1KWN6h1JXN6h1JXN6h1JXN6h1JXN7g1IYN7g1IYN7f1JZN6g1IXN9g1GYN9g1GYN9g1GYN9h1FXN;g1EYN;g1EYN;g1EYN;g1EYN<f1DZN<f1DZN<f1DYN=g1CYN=g1CYN>f1BZN>f1BZN>f1BZN>e1C[N>e1A[N?e1A[N?e1A[N?e1A[N`0d1@\\N`0d1@\\N`0d1@\\Na0c1_O]Na0c1_O]Na0c1_O]Na0c1_O\\Nc0c1]O]Nc0c1]O]Nc0c1]O]Nd0b1\\O^Nd0b1\\O^Nd0b1\\O^Nd0b1\\O]Nf0b1ZO^Nf0b1ZO^Nf0b1ZO^Nf0b1ZO^Ng0a1YO_Ng0a1YO_Ng0a1YO_Ng0a1YO_Ng0`1ZO`Ng0`1XO`Nh0`1XO`Nh0`1XO`Nh0_1ZO`Ng0_1YOaNg0_1YOaNg0_1YOaNg0`1XO`Nh0`1XO`Ni0_1WOaNi0_1WOaNi0_1WOaNi0_1WOaNi0_1WOaNj0^1VObNj0^1VOcNi0]1WOcNi0]1XObNi0]1WOcNi0]1WOcNi0]1WOcNi0]1WObNk0]1UOcNk0\\1VOdNj0\\1VOdNj0\\1VOdNj0[1WOdNk0[1TOfNl0Z1TOfNl0Z1TOfNl0[1SOeNn0Z1ROfNn0Z1ROfNn0Z1ROfNo0X1ROhNn0X1ROhNn0X1ROhNn0X1ROhNo0W1QOiNo0W1POjNP1V1POjNP1V1POjNP1V1QOjNo0U1QOkNo0U1POlNP1T1POlNP1T1POlNP1T1POlNQ1S1oNmNQ1S1oNmNQ1S1oNmNQ1S1oNmNQ1S1oNmNR1S1mNnNR1R1nNnNR1R1nNnNS1Q1mNoNS1R1lNnNU1Q1kNoNU1Q1kNoNU1Q1kNoNU1Q1kNoNU1Q1kNoNV1P1jNPOV1P1jNPOV1P1jNPOV1o0kNQOU1o0kNQOU1o0kNQOV1l0lNTOT1h0POXOP1e0SO[Om0`0XO@h07AI?3EM;OI18JK75D0<0_O5a0K\\O8d0ITO>m0AnNd0R1\\OiNi0W1XOeNj0\\1VO`Nn0`1ROZNT1f1lNVNY1i1gNRN_1m1aNnMf1P2[NiMm1U2SNgMV2T2jMfM^2X2cMdMf2V2[McMl2\\2TM\\MfKI^7h2j4M4L4L4L5K3M3M3M7I5K4L3M4L4L3M6J2N3M2M5L5Kk`h1"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/bottle/COCO_train2014_000000006465_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/bottle/COCO_train2014_000000006465_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bottle"
+    ],
+    "reference_object_description_en": [
+      "bottle"
+    ],
+    "reference_object_description_cn": [
+      "瓶子"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "TZP67c>7^OLPB:k=`0G9G9VOk0L3[NgM_F]2_9gM]F[2a9iMYF[2g9iMlE`2T:V10000000001O0000O1000000O100O1O10000O1O1O1N21O0000001O00000000N2O1F:J6J6L4G9L4L4K5L4I7K5AVC]NU=Z1kBfN^=X16N2O1O1N2O1O1O1O1O1O2N4K4L7GibY2"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "le[59V>e0^M_O^EG\\OX1Q;ZOfD^O:o1l:b1N2O1O2M200O100O100O100000000O1000001O000000000000000000000000000001O00000O1O2E:M3@a0K4I7D=SOl0M4L4L5J8ZOPR`05[n_O3I7E;K5CoNbBY1Y=9L5I6K6H7F;I6J6J7K4N2O1O1O1O1O2N1O1O2N1N3M2N2O2M2O1O1N3M2M3L4K6M2O101O00001O001O00001O000000000000000000N2N2M3O1N2M3M3L4M3K5K5M3L4I7J6M3K5M3L4N2M3K5iMmC\\1Y<^NoC[1Q=F9I6K6I:Ghl]1"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/box/COCO_train2014_000000010784_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/box/COCO_train2014_000000010784_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "box"
+    ],
+    "reference_object_description_en": [
+      "box"
+    ],
+    "reference_object_description_cn": [
+      "盒子"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          423,
+          640
+        ],
+        "counts": "QW`3:l<2O0O01000000O101O00000000000001O000000000000000000001O00000001O0000000O1000001O000000000O2O1JaZT4"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          423,
+          640
+        ],
+        "counts": "Wj_3130l<9M2[OMTD2m;NSD2m;NSD2m;NSD2m;ORD1n;ORD1n;ORD1n;ORD1n;ORD1n;ORD1n;OQD2o;NRD1n;ORD1n;ORD1n;ORD1n;ORD1n;ORD1n;ORD1n;ORD1n;OSD0m;0SD0m;0SD0m;0SD0m;0SD0m;0SD1l;OTD1l;OTD1l;OTD1l;0SD0m;0TDOl;1TDNm;2SDFV<9<00000000001O00000001O00000ObmS4"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/colored_bell_pepper/hand_left_color_fram_2_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/colored_bell_pepper/hand_left_color_fram_2_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "colored bell pepper"
+    ],
+    "reference_object_description_en": [
+      "colored bell pepper"
+    ],
+    "reference_object_description_cn": [
+      "番茄"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "cdc57d>7I>E3M4M3L4M2M4M1O1O1O1000O010O010O100O100O10O0100O1O2O0O100O010O100O100O2O0O2N101N3N1N3N1N;F3L2N3M_mc1HjR\\N00000000000000000QkW1"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "a`o48\\>?I6L3N3L3N2N2N2O0O2O0O1O010O010O010O0100O10O010O01O100O100O100O2O1N2O1N2O1N2O2M2N3N2M1[OgAb0\\>^OgA;a=E_C1XPe02X][O`0E5K4M9G4M2N3M2N100O1O1O001O0O2N101O1O001O010O0100O100O100O100O1O100O100O2O0O101N101N2O0O2O2M3N2M3M3N4K4L5K7E`dW2"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/cup/000000000448_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/cup/000000000448_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "cup"
+    ],
+    "reference_object_description_en": [
+      "cup"
+    ],
+    "reference_object_description_cn": [
+      "杯子"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      1
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          427,
+          640
+        ],
+        "counts": "hRZ13o<OSC9e<;J4N3N1O2O0O101N100O101O00000O100000000000000000000000O10000O1O100O2N1O1O2N1O2O1N2N4I_Q^6"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          427,
+          640
+        ],
+        "counts": "ZeT15S=6M2M2O1N2N2O1M201N15L3L2O2M00100O001O001O10O01O001O000000001O000000000000O100000O10O1O100O1000O0100O100O001N101M2M3K501O010O0100O2O0O2N2M8I2NSVX6"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/donut/COCO_train2014_000000000438_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/donut/COCO_train2014_000000000438_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "donut"
+    ],
+    "reference_object_description_en": [
+      "donut"
+    ],
+    "reference_object_description_cn": [
+      "甜甜圈"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "hP_24g>:`EFm5`0lIHn5?WI[OSM`0c97VI;g6IUI:h6IVI9h6IUI9i6JUI8h6JWI7g6LVI7h6KVI6h6MVI5g6NVI4h6OVI3h6OWI1h62UI0i63TINl63RINl66QILl67SIIl69RIHm69SIHk69TIHk69UIGj69VIIh67YIIf67ZIJe66[ILc64]IMb63^INa62`IN^63bIO\\61eIO[60eI1[6NfI2Y6NhI2X6MhI4X6KiI5V6KjI7T6JlI6S6JmI7R6IoI7P6IPJ8P6HPJ8o5GSJ9m5GRJ:m5FTJ:l5EUJ;j5FVJ:i5FXJ:h5DZJ<e5D\\J<d5_OaJa0_5_O`Jb0_5]OcJc0]5[OeJe0[5[OeJd0\\5UOkJk0T5UOlJl0T5SOmJm0S5SOmJm0S5ROnJn0Q5SOnJn0R5ROnJn0Q5ROPKn0P5ROPKn0P5ROPKn0P5ROPKn0o4SOPKm0Q5SOoJm0Q5ROPKn0o4SOQKm0o4SOPKn0P5ROPKn0P5ROPKn0P5ROPKm0Q5SOoJm0Q5SOoJm0Q5SOoJm0Q5SOoJm0Q5TOnJk0S5UOmJk0S5UOmJk0S5UOmJk0S5VOlJj0T5VOkJj0V5VOjJj0V5VOjJj0V5VOjJj0V5VOjJi0W5WOiJi0W5WOiJi0W5WOiJh0Y5VOhJj0X5VOhJj0X5VOhJj0Y5UOgJj0Z5VOfJj0Z5VOfJj0[5UOeJj0\\5UOeJk0[5UOeJk0\\5TOdJk0]5UOcJk0]5UOcJk0^5SOcJm0]5SOcJl0^5TObJl0^5TObJl0_5SO`Jn0`5RO`Jm0a5TO^Jl0b5TO^Jl0c5SO^Jl0b5TO^Jk0c5UO]Jk0c5UO]Jk0d5TO\\Jl0d5TO\\Jk0f5UOYJk0g5UOYJk0g5UOYJj0i5VOVJj0j5VOVJj0k5UOUJj0m5UOSJk0m5UOSJj0o5VOQJi0P6VOPJj0Q6UOoIj0S6UOmIk0T6UOkIk0U6UOkIj0W6UOiIk0X6TOiIj0X6VOhIj0Y6UOgIk0Z6TOfIk0\\6TOdIl0^6ROcIl0`6QOaIo0`6oNbIo0a6lNbIT1_6iNdIU1`6fNcIX1a6bNcI]1Q:N2N1O2M3N2N1N3M3N3L3M3M4L4L3M5JT_`4"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/donut/COCO_train2014_000000014759_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/donut/COCO_train2014_000000014759_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "donut"
+    ],
+    "reference_object_description_en": [
+      "donut"
+    ],
+    "reference_object_description_cn": [
+      "甜甜圈"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          426,
+          640
+        ],
+        "counts": "nYX21W=5L2N2K5M4I7Ef0_Oe0^O5J5L4K:G4K4L3M2M5L2M4M4L4L3M3N1M4L3M4M2O1O1N2O1O1O1N2O1N2O1O1N2O1N2O1N2O1O1O1O100O100O2O0N2O1N2N200O1O0O2O1O1O10000001O00000000O1O100O1O100O100O1O100O10000O100O100O100O1O100O10000O100N2O1O100O2O00000O100O10000O1000000O1000000000000O10O100000O10001N10000O1000000O100000000O1000000000000000000000O2O01O01O0O2O1O001O00000010O01O00001O001O001O001O0000000000000000001O00000000001O00001O1O00001O00001N10001O001O001O1O2N2N2N1O1O1O001O1O1O001O001O001O001O01O01O001O001O001O1O002N1N4M1O1O2N1O1O001O1O001O001O002N2N1O1O001N1O2N101M2O2N2N2M3M2O2N2N2N3M2N2N1O2M2O2M2O2M3M2O2M4K4J7M3K6K3L5M2N2N2L4I7K5L4ZOUDGQ<5e0K9CljQ2"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          426,
+          640
+        ],
+        "counts": "n5h24[M0NOc03Q1^7U1]H[M0g01l0a7o3O2N10000O0O200O100O100O10000O1000O1000000000N2O1O100O1000000001N100000000000O10000O1O100O101N10001N10001N1000000O10001N1O100O1000000001OO10000001O0001O01O00000000O10000O1001O002N2N1O1O0000001O00000000001O00001O0001O00O2O000O1000001N2O3M1N2O1O1O001N101O1O0O100O10O10O100O102N1N2N101N1O2O000O101N2N2O3L3N0O2O1N1O2O1N1O2O0O2O001N1010O10HYGkKg8S4]GkKc8T4;N1O1O3K4N1I8E;M4M1N2O1N2O1ChEeM[:Z2;01N2O1N5K2N4K4L2N2N4J6K4_OVD[OP<c0>M101O1O00ZC^Of<`03O2M3N2M4J\\[X22cdgM3L4L5L4M3M3M2M3CUOXDl0d;`0M3L3M4N1N3O0O1O2N1O2N1O2O1N1O2O0O2N1O2M3N2N2N2N3M2N2N2O1N3N1N3M101N2O0O2O0O2O2M2N2N2N2N1O2N1O2M2M4O0O2O00001O00001N102M6I3M2O2O1N101O00100O2N1O2M4M2K4M4M1O3N1O001O100O2O003L8H0000001O0O2O1O000O2O1N2O001O1O001O01O1O001O000000O010000O10O10O01000O2O0O2O7H2N101N1O1O0010O0O101O0010O1O100O2N2O1N3N2M1O2OO10O100O00010O01000O10000O100O2O0O10000O10001N100O2O00001O0O101O00001O001N101N2O0O101N1O100O101O0O100O1O100O101N10009F3N2N1O2M2O1O1N101N101N:F2O1N3M3N1O10O010OoLnEl2P:SMSFl2l9TMVFj2V:11N2M2M4M4K3L6J6I7J9^N[D21?R<]ORDOM9b4"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/doughnut/107957_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/doughnut/107957_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "doughnut"
+    ],
+    "reference_object_description_en": [
+      "doughnut"
+    ],
+    "reference_object_description_cn": [
+      "甜甜圈"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      1
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          612,
+          612
+        ],
+        "counts": "dlS8:hb03L4J6K4N2M3N2N3N1O1O2O0N3N1O2N2N2O2M3M2O2M3N2M3N3M1O1O0000001O0O100000000000O10001O0O100O1O100N3N100O1O2N100O2N1O1O100O2N1O2N1O1O2N101N2N2N2N2M3N2M3M4M3L4L4L4KW_i1"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          612,
+          612
+        ],
+        "counts": "ejT75nb05K4L4M2M4M2M2O1O1N2O001O001N10001O1O001O0O2O0O2O001O0010O01O01O00010O00001O0001O01O0000001O00000O100000000O10000O100O1000001O0O2O0O2N2N2O2M3M3M3M2M4L4LXe=:[ZB7J5M2N3N100O1O2O0O101O0O10001N101N101O1O001O1N2O1O1O2N1N3N2N1O2N1O1O00001O00000001O000O101N1O1O2M2O2N1O2M2O2N1O2N2N2N2M3N2N2N2M4M2N2N3L4M3L4L`VR1"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/egg/head_color_fram_7_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/egg/head_color_fram_7_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "egg"
+    ],
+    "reference_object_description_en": [
+      "egg"
+    ],
+    "reference_object_description_cn": [
+      "鸡蛋"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "lTT69d>5L3N2N2O001N100001O000O2O1N2N2O0O3LWnn2"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "^af52k>3YA3X>1eA7T>=M1O2O0OXORB`0n=:N1000000O10000000000000ROUBg0k=YOUBf0l=YOUBg0k=XOVBg0m=VOTBj0P>01O0O2O1I7N2N3N1O101N5J\\W4OfhK5J;F2N2O000000000001N101N3M3MY\\h2"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/knife/frame_0000038713_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/knife/frame_0000038713_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "knife"
+    ],
+    "reference_object_description_en": [
+      "knife"
+    ],
+    "reference_object_description_cn": [
+      "刀"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      1
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "h\\^14h75K4fIFl4<SKFj4=SKFi4=TKFi4>SKFj4<QKJn46PKKQ56lJKU55iJLX54gJLY56eJJ\\56bJJ_58\\JJS5YOTKn1m4TNRKj1o4YNlJg1V5ZNdJH1l1]5?3L3M4M3M3M4L3N2N2N2N3L3N2M4L3M3M4L3N2M4L3M3M3M4Lcdh1"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "okW17g75J4M3M3M3N2M2O2L4N1N3M2O1N3N1N3N1O1N2O1N3N1O1O1O1O001O01O1M2M4M4O0000001O001N101N1O1WOaI1`6MbI1_6ObIO`60aIMa63_IKd64]IHf68b0O10O010O0RJGU49iKKV45gKMY43dK1[40_K5b4K\\K6d4JZK9e4GXK<i4DRKa0m4_OnJg0Q5YOmJi0T5VOiJm0W5TOfJn0[5QObJR1^5nN`JT1a5lN[JX1d5b01O1O001N101O001O0O2N1O2N2M2O2M2M4M3L3N3N1N3L3M3M4M2N3L4M3M3M]l`1"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/persimmon/COCO_train2014_000000010196_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/persimmon/COCO_train2014_000000010196_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "persimmon"
+    ],
+    "reference_object_description_en": [
+      "persimmon"
+    ],
+    "reference_object_description_cn": [
+      "柿子"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      false
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          443,
+          640
+        ],
+        "counts": "dc`5<R=b0G8J5G9H8G7M4L4L4L3M4M2M3N3M2M3N2N2N2N1O2N2N101N001O00010O2N2O1N100O\\OnEaMR:_2nEbMP:_2QF`Mo9U310O10O10O10O1000O10O1000O0100000O1000000O100000001O00000000001O00000000000010O000000010O01O010O10O01O01O01000O0010OO2O1O001O1N1L5M3N2O1O1O1N2N2N2N2N2N3M2N2N3M2N3M3M4L2M4L4K5L5K4L5K6I8E?]O_U[1"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          443,
+          640
+        ],
+        "counts": "R[V5<W=<H8I6J7I5L4L4L3N3L4M3M2N2M3N2N2N2O0O2N2N2N1O2O1N2O0O2N2N1O2O0O2N101N2O0O101N101N10001N1000000O2O00000O100O1O1O100O1O010O100O01000O010O10O10O01000O10O100O10000O100O10000O100O101O0O100O100O2O0O100O100O101N1O2O0O2N101N101N1O2O0O2O0O2N2O0O2O0O3M1O2O1N2O0O2N2O1N2N2O1M3N2N3M2N2N4K4L5K4L6J5J^KZOYL>h3I[LLb3>h47G8K5K6K4L5L3L7J5K6I6K3L3N2N2N2M3N2N4L8H3N2M2N2N101N1O100O100000O100000000O10000000000000000O1000000000000000000001O0000000000001O00001O001O00001O00001O00001O0000001O000000000000000000O10000O10000O100O10000O101N2N2O1NM"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/tomato/head_color_fram_3_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/tomato/head_color_fram_3_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "tomato"
+    ],
+    "reference_object_description_en": [
+      "tomato"
+    ],
+    "reference_object_description_cn": [
+      "番茄"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      false
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "WWQ4g0U>7K2N2O2N1O1O100O1O01000000000000000001O001O001O000O2O1O1O002M2O2N2M5Jhli4"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "^]_3=_>8H6L3M3M3N1N2O1O1O101N10000000000O1000000O10O101O001O1O1N3N2N1M3I7M4[Omja0O[U^O4aA20NR>h0K200O1O1O1O1O10000O100000O100000001O00000O10001O001O1O1O2M3N2N2N2M6B`A0a>MoRX4"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeThree/Apple_host222222The_leftmost_display_screen/COCO_train2014_000000035094_mask_rle.json

@@ -0,0 +1,50 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeThree/Apple_host222222The_leftmost_display_screen/COCO_train2014_000000035094_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeThree"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Apple host222222The leftmost display screen"
+    ],
+    "reference_object_description_en": [
+      "Apple host",
+      "The leftmost display screen"
+    ],
+    "reference_object_description_cn": [
+      "苹果主机",
+      "最左边显示屏"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      false
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "[Tb01W=1jB8c0K_Oc0l9A\\FMKMLV11hNOl0;7^9f2XF^Mf9o3O100O1000000001O00000000000000000000001O000O10000000000000000O10001O000000000000000000000000000000000O100000000000000000000000000000000000001O00000O10001O000000000000000O1000000000000000000000001O001O00000000000O10000000000000000000000000000000000O10000000000O1000001O0000000000000000000000000000000000000000000O2O000000000000000O1000000000001O0O100000000O1000000O1O2N1_N`EVM2j01SOc:k2gEUMCe0n:g1SEkMk01W:9nDB<OHN63S=Mhc]5e0onaJGT=\\1F9H7N1O2O1O1O1O001N2O1O010N101O1O1O001O1O001O1O1O0010O00010O000O2O001O00YF"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "W9Q13e0R<U10000001OO10000001OO20OO10O10001OO01000001OO11O01O00O1000001O001O100O1O3KZ1[N>^OQBNU>JkZ^5:XWaJ0Q<V2WOdM[DO0i2d:^1L3M3000001O0O10000000010O000000001O0O100000001O00001O000000001O00000000001O0000O11O00000O11O000000000001O0O100000000001O01O0000000000O10O2O0000000000O10O10000000001O10O0000O100000001O00000000000000001O000O10001O000000001OO11O000000001O0000000000000000001O00000000000000000000O11O0000000000000000000000O1001O1O0000O100O1O13M00000000O1000O2O0010O000O10000000000O1O1O1FVF\\Kl9]4?I7H8gNZEaMLH20R;U2b1TNYCo0]U`0"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeThree/Blue_throw_pillow222222Beige_pillow_with_letters/1159294_mask_rle.json

@@ -0,0 +1,50 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeThree/Blue_throw_pillow222222Beige_pillow_with_letters/1159294_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeThree"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Blue throw pillow222222Beige pillow with letters"
+    ],
+    "reference_object_description_en": [
+      "Blue throw pillow",
+      "Beige pillow with letters"
+    ],
+    "reference_object_description_cn": [
+      "蓝色抱枕",
+      "米色有字母的抱枕"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          1024,
+          685
+        ],
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+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          1024,
+          685
+        ],
+        "counts": "`aW`04io04M2N2N2N1O2L3N3N2N10100O100O1O100O10001O0O100000000000001O00000000000000001O0000O1DWQO^Oln0a0:O100O101O000001O001O000000O10000000000000ZSO_Omi0a0QVOBni0>QVOCoi0=PVOEoi0;QVOFni0;PVOFPj0:oUOHQj07oUOIQj07nUOJRj06nUOKRj05lUOMSj04lUOLTj04kUONSj04lUOLSj02dSO_OW2`0Uj02dSO\\OX2b0Tj04lUOMSj02nUONRj03mUOMSj0LTVO5ki0IVVO8ii0HXVO9gi0FZVO:gi0[OcVOe0\\l00O2O000000000O101O0000O10O10O1O100O100O100O10000O1O00100O1O100O100O1O10000O100O10000O100O10001O0O1000000000000O2O001O1O001O0O2O001O0000oo71PPH0\\\\O"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeThree/Coke222222ketchup/head_color_fram_7_mask_rle.json

@@ -0,0 +1,50 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeThree/Coke222222ketchup/head_color_fram_7_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeThree"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Coke222222ketchup"
+    ],
+    "reference_object_description_en": [
+      "Coke",
+      "ketchup"
+    ],
+    "reference_object_description_cn": [
+      "可乐",
+      "番茄酱"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "SSn1:d>7I6K4mAVOj=k0RB[Oj=W1bB@j;b0RDCj;m1M5K1O6J8H1O2N3M2N1O1O001O00000000000001TMoDg1R;S1mEULQO2m9g3oFaLQ9]3mFRMh8l2VGXMY9W2fFlMY9S2fFoMY9P2hFPNY9o1fFSNZ9j1hFWNX9h1hFYNX9d1iF]NY9^1jFbNW9X1mFiNT9U1mFkNT9T1kFmNV9Q1kFnNW9Q1iFoNX9P1gFQO[9l0eFUO\\9j0dFVO^9g0`F\\Oa9c0]F_Oe9>[FCg9;PFOS:LlE6W:FiE;_:]O`Ed0`:[OaEe0`:YO`Eh0a:VO`Ej0b:RO`En0e:kN]EU1V<10000001N101N2O2M3N3L8H1O2M3E;N3LbYY3^O``fLNTN6k1ITN9k1HSN9Y8100YOg0L4G9cBeNQ=i1M3G8L4N2N3L9G4K5G8M2O2N2M2O1O100O100O10000000000000000000000000O100O1N2L4QOo0J6L4J601O1O1O2M2N2N3L8C;J:XOb0Lj[S2"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "`=^1]=6L4D;H8L4O1N2O1O1O1O1G9M3O1O1O10000000O01O10O01O0100N20O01000O0100O010O10O010O10O000001O01O1O001N2O01O01O1N100010O10O1O1O1000O0100O10O01000O10O1O01CYM`Dg2_;]M_Dc2`;_M^Da2b;aM]D^2d;bM\\D]2d;eM[DZ2c;iM\\DW2c;jM^DV2a;kM^DU2b;lM^DS2a;oM_Do1b;RN]Dn1c;f0100N2O1O2O1O1O10O01O100O1O010O100O1fNPDCP<f10010O1O101N2O1N2N101O0000O1UN\\D:c;E_D:b;D_D<a;D_D<b;B_D>b;A_D>b;A^D?c;A]D?c;@]D`0d;_O]D`0d;_O\\Da0e;_OZDb0f;]OZDc0g;]OYDb0i;\\OXDEF:R<1XDc0h;]OXDc0i;\\OXDc0i;\\OWDd0i;\\OXDd0i;VO\\Di0e;VO\\Di0f;UOZDk0g;TOZDk0i;ROXDk0o;POQDP1P=N200O10O1O01O10O1O010O01O01O1O01O000F[BZOf=d0^BYO^=N^Be0o=6001N10O1O200O001O010O100O1O10O10O10O100O1O1O101N1N3N2]OjA6d>InYQ30UfnL3Nd0\\O6K4A>K5L4La0@3L;E3M3N4KlMYDZ1^;W1L6I;G2K9IjLbEP2X:QNjEQ2R:oMPFU2j9kM\\FR2a9WMUFO`0Q3R9oL`FJT1a0jNX1_9]N^H^2`7aMdH^2Z7aMiH^2V7`MmH`2R7^MRIb2T3TMVN7jNd2P3TMWN6lNe2l2VMXN2POg2_9O010O1O1O010O001O1O2M3N2M2O1N2O0O10000O0001O001O00000000001O0000000000000000000000000000001O0O1000000O10000O01O1O1O1N1O2L4K5O1O1O1N2N2O10000O100_OmBTOT=j0nBVOR=g0RCWOP=d0VCXOl<f0h0O1L5L4K6JmPh1"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeThree/Electric_kettle222222bottle/COCO_train2014_000000003293_mask_rle.json

@@ -0,0 +1,50 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeThree/Electric_kettle222222bottle/COCO_train2014_000000003293_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeThree"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Electric kettle222222bottle"
+    ],
+    "reference_object_description_en": [
+      "Electric kettle",
+      "bottle"
+    ],
+    "reference_object_description_cn": [
+      "热水壶",
+      "瓶子"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          640,
+          512
+        ],
+        "counts": "^a`5h0Vc03O001O0O100000000O2O000001N10001O001O0Ko\\O[ORc0d07L3N2M3L3Mg^<=o`C1O00000000000000000002NgoY3"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          640,
+          512
+        ],
+        "counts": "ZZP54kc03N4L2M2O1O00001O0O@c\\O?]c0Bc\\O>\\c0Cd\\O<[c050000001O00000001O0O100000000001O000000000000000000000O10000000000O10000_Od\\O>_c000O2O0N3N1M5K[^a02\\a^O;N101O000001O1F_\\O1VcU3"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeThree/Fried_eggs222222bottle/COCO_train2014_000000013720_mask_rle.json

@@ -0,0 +1,50 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeThree/Fried_eggs222222bottle/COCO_train2014_000000013720_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeThree"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Fried eggs222222bottle"
+    ],
+    "reference_object_description_en": [
+      "Fried eggs",
+      "bottle"
+    ],
+    "reference_object_description_cn": [
+      "煎鸡蛋",
+      "瓶子"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "UPc14j>3N1N3M2O1O2N1N2O2N1O1O1O2N1O1O2N1O1O2N001O1O0O2O1O1O1N200O1O1O1O2N1N3N100O1O101N100O101N100O10000O2O0O1I700O2O000000001O000010O01O001O001O1O1O000000000000O100000000001O01O0001O00000000000000000001O00000001O0000O2O0000001O000001O01O01O000001O01O000000010O000001O000010O0001O00000010O001O0O2O002N2N4L2N1O00000000000001O00000000001O00000O10000O101N101O1N101O1O0O100000000O1000000000000000000000O1000000000O10001O000O2O1O1O3M1N101O0O2O0O2O2N0O1O2O000O101N101O0O100O101O0O2O1N2N2O1N2N2N2O1O1N2N1O2N2N2N1N3N2N2O2M2O2L3N[dY1k0SZfNk0F:YOf0UN^McFT3V9`1D<N2M3N1O1O001O001O001O000O2N101O0O101O00001O00001O001O000000001O0000001O000000010O01O00000001N10000O101O0O1000000000000000000O1000001O00000000O10O100000000O1000000O10000O10O1000O10000O010000O0100000O1O1O1O1N2O1O1O1O1O1N2N2N2N2N3M3L4J9Ca0_O=A;H8F:K6G8G9I7B>A`0I6N2N2L5M2DQBER>7a^d0"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "SSS42l>4L4N101O0O2O0O1FDoA<P>EoA=o=DQB<o=EoA<Q>DoA<P>EPB;P>EPB;P>EPB;h=@ZB5M;i=AZB5K:k=CYBf0g=YOYBg0h=ZOWBe0i=\\OWBc0j=\\OWBc0j=]OUBc0l=]OSBc0m=^OSBa0n=8001O1O1O1O1O1O001O100O1O010000O1000O010O2OO0100O10O010000O10O010000O100O010001O0bN2hCOa;g0`DYOV;Q1jDnNP:X2QFhMX9]ORF]3f0WMk8Y3VGgLh7Z4YHfKU7k4lHUKo6o4QIQKm6Q5TIoJi6S5XImJe6U5[IkJd6V5]IiJb6X5^IhJa6Y5`IfJ^6\\5bIdJ]6]5dIaJ\\6`5dI`J[6a5fI]J[6c5eI]JZ6d5gI[JX6f5hIZJW6g5jIXJV6h5jIXJU6i5mIUJR6l5oISJQ6n5PJPJo5Q6RJoIl5R6TJnIi5U6WJkId5Z6\\JgIP5OQJ[6o0fIe4;ZJP6R1dIa4a0ZJm5T1cI_4]7aKcH^4^7bKbH]4_7cKaH]4_7cKaH]4`7cK`H\\4`7dK`H[4a7eK`HZ4a7eK_H[4a7eK_H[4a7fK^HZ4b7fK^HZ4b7fK_HY4b7fK^HZ4b7gK]HY4c7gK^HX4b7hK^HX4c7gK]HY4c7gK^HX4b7iK]HW4c7iK]HW4d7hK\\HX4d7hK]HW4c7jK\\HV4d7jK]HU4d7jK\\HV4d7kK[HU4e7kK\\HT4d7lK\\HT4d7mK\\HR4e7mK[HS4e7mK[HS4e7mK\\HR4e7nKZHR4f7nKZHR4f7nK[HQ4e7PLZHP4g7oKZHP4f7PLZHP4f7PL[Ho3e7RLZHo3f7PL[Ho3e7QL[Ho3e7QL[Ho3f7QLZHn3f7RLZHn3f7RLZHn3g7RLYHm3g7SLYHm3g7SLZHm3f7SLYHm3g7SLYHm3g7SLZHl3g7SLYHm3g7TLYHl3g7SLYHm3g7SLZHl3f7ULYHk3`0RKT6R1]Ik3>UKT6P1^Il3<UKV6o0_Il39VKY6n0]IR4DjJNN7:h6m0`I]4CiJl6j0aIW5V6jJkIW5R6kJmIU5P6nJQJR5e5WK[Jj4Y5bKgJ^4j4PLVKQ4T4^I]KS3`0_3d3RM]Ln2T3aMkLa2g2kMZMU2X2XNhMj1m1`NSNa1T1VOlNl0l0ZOUOh001O`71O00100O00010O001O010O00100O0010O01O0010O01O01O01O010O0010O01O010O001O010O0010O01O00010O0010O01O010O001O010O010O001O01O01O010O0001O0000001O00001O0O10001O00001O00001O0010O01O1N3N2N2N1N3N1N2N4Jc]W1"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeThree/Green_bag222222The_robotic_arm_on_the_right/head_color_fram_2_mask_rle.json

@@ -0,0 +1,50 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeThree/Green_bag222222The_robotic_arm_on_the_right/head_color_fram_2_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeThree"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Green bag222222The robotic arm on the right"
+    ],
+    "reference_object_description_en": [
+      "Green bag",
+      "The robotic arm on the right"
+    ],
+    "reference_object_description_cn": [
+      "绿色包包",
+      "右边的机械臂"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      false
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
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+          640
+        ],
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+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeThree/Onion222222Chopping_board/frame_0000058391_mask_rle.json

@@ -0,0 +1,50 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeThree/Onion222222Chopping_board/frame_0000058391_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeThree"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Onion222222Chopping board"
+    ],
+    "reference_object_description_en": [
+      "Onion",
+      "Chopping board"
+    ],
+    "reference_object_description_cn": [
+      "洋葱",
+      "砧板"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      false
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          256,
+          456
+        ],
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+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "Tbn1=d712M0FaH8b714M05K6YHD[7`05L3D^H7[71dHG]7:dHDZ7?eHA]73gH2Z7OeH0\\70dHO^70aHLN2_77cHJ^71eH2c700ORTa0b0Vk^O:E9J5M3M3N2N2O1N2OhNgJJY52mJLR5NUK2k4IZK6h4F[K:V6O100O001O010O0000010O01@JTI6j6MoHL06Q77mHJh6J[I=MIg6MZIg0d6ZO\\If0W2[Oi11oKd0U2Bh1JTLd0P2Gj1EWLLN?k17]1YOSM5HIOb0f1;^1WOUM21;W1`0c1TOTM02=;[1^2YNWML0b06]1c2UNhMa0A]1c2VNlM>VOf1l2nMmM=TOg1o2lMkMS3W2lLiMR3Z2lLgMQ3]2mLdMR3^2mLbMQ3a2oL_Mm2f2QM[Mh2m2UMUMd2X4eMnJn0j5POXJP1i5lNZJS1Z600N2ZO[INh62c000000001O002BbH6d7000000000000000fNHlJ8Q5MmJ3Q50nJ0Q51oJOQ53mJMR58jJHV5`0bJ@^5a0aJ_O_5a0aJ_O^5c0aJ]O_5c0aJ]O_5c0aJ]Ol4JnJi06]Ok4LnJg07]Oj4NkJ5G4e0Ii4OiJg0=[Oj4NhJh0>ZOj4NfJj0`0WOk40cJj0b0VOk40cJj0a0WOl4ObJj0c0WOk4ObJi09VOG1_50aJi06ZOIM`50`Jj1`5VN`Jj1`5VN`Ji1a5WN_Ji1a5;0O100O1O1O100O1O1N2O2N1N4M4JM"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeThree/Robot_gripper222222bouquet/head_color_fram_4_mask_rle.json

@@ -0,0 +1,50 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeThree/Robot_gripper222222bouquet/head_color_fram_4_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeThree"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Robot gripper222222bouquet"
+    ],
+    "reference_object_description_en": [
+      "Robot gripper",
+      "bouquet"
+    ],
+    "reference_object_description_cn": [
+      "机器人夹爪",
+      "花束"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "kdf57\\=2eC4Q<7iCMR<:iCHN_Oa;k0_DHJFa;f0bDFJHa;h0_DAOJ_;h0_D@0J`;j0\\D]O2K`;k0[D[O4L`;g1_DYN`;i1^DYNa;g1_DZN_;e2O1N1O2O1N3M2O7H3N2M2O1O1O001O001O0QLmKQMS4m2QLQMo3m2ULRMj3m2XLRMh3m2ZLbI@[3U4R3eLlLZ3S3iLkLW3U3jLjLV3U3lLjLV3T3kLkLV3T3kLkLV3T3kLkLV3T3jLlLV3T3kLkLV3T3jLlLV3T3jLlLV3T3jLlLW3S3iLmL<PMT1S6`NmL<QMS1S6`NlL=RMR1R6aNmL<RMR1R6aNlL=TM@J;W6GlL<VMAG;X6GkL=XM_OG:X6IiL>YM_OF9Y6IiL=YMAG7Y6HiL?WMCI2Z6JfL`0XMDLMW6NgL?XMEKMV6OhL=XMGLJV60iL<WMILGV64hL:WMKNCT67kL7UMN3[OP6?lL3SM2U7JlKORM6S7J^M6c2H_M7b2G`M7b2G`M8a2FaM8b2DaM:e2\\OaMb0`8N2N3Lifa2"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeThree/The_spoon_in_the_bowl222222A_plate_with_liquid/1159279_mask_rle.json

@@ -0,0 +1,50 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeThree/The_spoon_in_the_bowl222222A_plate_with_liquid/1159279_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeThree"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The spoon in the bowl222222A plate with liquid"
+    ],
+    "reference_object_description_en": [
+      "The spoon in the bowl",
+      "A plate with liquid"
+    ],
+    "reference_object_description_cn": [
+      "在碗中的勺子",
+      "有液体的盘子"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
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+      }
+    ],
+    "masklet_contact_target": [
+      {
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+          768,
+          1024
+        ],
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+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeThree/The_vase_closest_to_the_clock222222Red_and_white_striped_throw_pillow/COCO_train2014_000000014138_mask_rle.json

@@ -0,0 +1,50 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeThree/The_vase_closest_to_the_clock222222Red_and_white_striped_throw_pillow/COCO_train2014_000000014138_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeThree"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The vase closest to the clock222222Red and white striped throw pillow"
+    ],
+    "reference_object_description_en": [
+      "The vase closest to the clock",
+      "Red and white striped throw pillow"
+    ],
+    "reference_object_description_cn": [
+      "离钟表最近的花瓶",
+      "红白色条纹抱枕"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          425,
+          640
+        ],
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+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          425,
+          640
+        ],
+        "counts": "afj25T=2M2O2N3M2M4M1O2O1M2O2N3M2N2N5K2N2N1O000O1000O100gNWDQ1i;oN\\Dm0d;SO_Dj0a;VOcDe0_;ZOdDc0];[OfDc0S<L3N3L3M4MfQb32Un]L4L3000000000001O00000000000001O004LZPV1"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeThree/The_yellow_potato_chips_in_the_bag222222The_red_snack_in_the_bottom_left_corner_of_the_snack_cabinet/head_color_fram_4_mask_rle.json

@@ -0,0 +1,50 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeThree/The_yellow_potato_chips_in_the_bag222222The_red_snack_in_the_bottom_left_corner_of_the_snack_cabinet/head_color_fram_4_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeThree"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The yellow potato chips in the bag222222The red snack in the bottom left corner of the snack cabinet"
+    ],
+    "reference_object_description_en": [
+      "The yellow potato chips in the bag",
+      "The red snack in the bottom left corner of the snack cabinet"
+    ],
+    "reference_object_description_cn": [
+      "袋子中的黄色薯片",
+      "零食柜子左下角的红色零食"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "iW[3<b>4M3POo0L4M2O2M2N2O2N1O001O1N100O2N01O1K34M2O1N2N1O2O1O0O2N1N3N1M3O010000N3H7M4J6O1N2N3M2M4J6M4J=E3N1M4L4L5Dhe\\2KdZcM6K4M2N101N1O2N1O1M3D<N2N2O1O101N101N101N100000000001O1O001O2N1O1O1O2N1N1O10OO2E;M3O100O2O0O2N3M3KeRQ2LamnM10OSn0"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeThree/bottle222222box/COCO_train2014_000000010784_mask_rle.json

@@ -0,0 +1,50 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeThree/bottle222222box/COCO_train2014_000000010784_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeThree"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bottle222222box"
+    ],
+    "reference_object_description_en": [
+      "bottle",
+      "box"
+    ],
+    "reference_object_description_cn": [
+      "瓶子",
+      "箱子"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
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+          423,
+          640
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+      }
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+          640
+        ],
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+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeThree/box222222radio/frame_0000059900_mask_rle.json

@@ -0,0 +1,50 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeThree/box222222radio/frame_0000059900_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeThree"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "box222222radio"
+    ],
+    "reference_object_description_en": [
+      "box",
+      "radio"
+    ],
+    "reference_object_description_cn": [
+      "盒子",
+      "收音机"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
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+          256,
+          456
+        ],
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+      }
+    ],
+    "masklet_contact_target": [
+      {
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+          256,
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+        ],
+        "counts": "11l[g16jkXN5L4L3Ma0_O7H5G8L4M3M4J5XJkMb5\\2M2O]ObJdN^5P2O0N3N101N2N1O2N2N2O2NlNXKQOg4n0]KPOb4i0fKWOX4i0jKXOS4h0oKYOn3f0ULZOi3f0YLZOf3f0[LZOd3j0YLUOf3m0ZLSOe3n0[LROd3o0\\LPOd3P1\\LQOb3R1]LmNc3U1\\LjNd3W1\\LhNd3Z1[LeNe3f1QLYNo3h1QLWNo3j1SLRNn3n1ULnMl3X2QLbMR4d2b02N2M3N3K3O2M2O1N102N001O00[N`LjN`3R1kLfNV3X1RMbNo2\\1k1O1N3N1O2M3M2N3N1O1N3N1O2M2O2O0O2N100O2O0OYJ^OS4`0gKKU44jK3R4HPL>l3ASLc0m3]OhJHR1m0U4BiKa0V4^OjKf0T4XOjKl0U4SOjKo0W4oNeKV1[4kNaKW1`4ROQKS1Q5nNiJT1Y5i03L2N2M4M3K7K4J6J5K7I4L4J6IjR;G^mD9I6[O@bIg0[6`001N10000O5L010O01Oc0]O1N2KUIQOn6n03O3M9F5L3LWY="
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeThree/cup222222vase/head_color_fram_3_mask_rle.json

@@ -0,0 +1,50 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeThree/cup222222vase/head_color_fram_3_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeThree"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "cup222222vase"
+    ],
+    "reference_object_description_en": [
+      "cup",
+      "vase"
+    ],
+    "reference_object_description_cn": [
+      "杯子",
+      "花瓶"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "gek1827S>?K3N2SBSOd=W1M3L3N2N2N2O0O3N1O1O1N1010O01O0O2N2O1N2M2O3M3N1O1N2O1O1O00001O000000000000000000000O1000O100O100OXD^MT;b2iDcMU;\\2kDfMT;Y2lDiMS;V2nDkMQ;U2oDkMQ;T2oDmMR;R2nDnMR;Q2oDoMR;P2nDPNS;o1mDQNT;n1lDRNU;m1jDTNW;k1iDTNZ;j1eDWN_;d1bD[Na;c1^D^Nc;a1SDUNL>R<\\1PDlNQ<T1mCmNU<m13N2M9]M]C1000Q2U=E2N2O100O2[OdBC^=:fBB]=K`BO]>MgAO^lQ3NWbnL6L2N2Je0^O4N2M2O1N100010O01O10O2N3N1N000O10O10001O0001O001N2O0O10000O2N2N2GoA^OU>a0<H2N2MoYc2"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "X3U6j82N2O1N1O2O0O1000000O10O100O1O1O2M2HZGQJk8n55N2N2M3N2N3L4N4L:F1O2M3N2N2M3N3M4L;E;]LgDi2h;000O10O10O01O10O010O0100O10@lLfD100031Q3T;d000O11O002N1ON2O10O0`LkDW3U;:O1O0100O10O0O2O01000O010O10O010O1O1000O101NSMoDn1P;R1N2O1O1O1O2N1O2N2N2M101O00000000001O00POcE]M]:`2fE_M[:[2kEeMU:Z1cE`N>6P:T1gEjN62S:R1iEmN31T:P1kEoN01V:k0PFSOJ1W:j0RFTOF2Y:i0RFSOG3X:i0RFnNL9R:g0TFoNYOA>i0U:e0VFWOB4Y::`FBWO4Y:9bFBUO5Y:8cFDSO4Z:7eFDQO4[:7fFDoN5[:5hFFmN5[:4iFGlN4\\:3jFIjN4\\:2kFJiN4\\:1mFKfN4]:0nFLeN3^:1nFKdN4_:0mFLdN3`:1lFLdN3`:1mFKcN4`:0nFMaN3a:0nFMaN3b:OmFNaN3c:NlFOaN2d:OkFOaN2d:OkFOaN2d:OkF0`N0f:0kFO^N2g:OkFO^N2g:OkF0]N1h:OkF0[N3j:MlF0YN3k:MlF0XN4l:LlF0XN4l:LlF0WN5m:KlF0VN5o:KlFj0T9VOlFj0T9VOmFh0T9XOmFf0T9ZOlFa0Y9_OgFa0Y9_OgFGSN<W;MeF`0\\9@cF`0^9@bF>a9A^F>e9@[F`0g9_OYF`0R:POTD3k1b0UNCo==QBBo=h00O0001O010O0100O10O100OFRBCo=7QBD14o=8VBGk=8WBFi=:YBDg==>0O01000O001O010O01O1O100O2O0N3JmYZ3OWfeL2D=M2N2L5M3N1O1O1O1NWOVB`0i==M3N2N1O100O1OYOaBO_=0aB0_=i000O1O1O101NIfBjNZ=V1fBjNZ=V1fBjNZ=V1fBjNY=_10000O1000O100O102\\NdBa1a=K2O4L2N7I0O2O1M3N2O1FiAIW>5kAKV>2mALT>1`0NY`Y2"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeThree/dishcloth222222spoon/head_color_fram_10_mask_rle.json

@@ -0,0 +1,50 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeThree/dishcloth222222spoon/head_color_fram_10_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeThree"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "dishcloth222222spoon"
+    ],
+    "reference_object_description_en": [
+      "dishcloth",
+      "spoon"
+    ],
+    "reference_object_description_cn": [
+      "洗碗布",
+      "勺子"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      false
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "^ne79e>4M2N6K1O4K2O100O0010O2N010O2N1O010O10O0010O1O1O01000O10kIBiMKRJ=Q8MPN2o11PNOk15VNKf1:YNFe1<ZNDe1=\\NBc1`0\\NAc1`0]N_Oc1b0]N]Oc1d0]N[Oc1e0]N[Oc1e0]N[Oc1f0\\NZOd1g0[NYOe1g0[NYOe1h0ZNXOf1k0WNUOi1m0UNTOk1k0UNUOk1l0TNTOl1l0TNTOl1m0TNROl1n0UNPOl1Q1TNmNm1S1TNkNl1V1o500000000000000001O00000000001OO1001OO1001OO2O0000001O00001O0001OO1001OO10001O001O1O1O2N3M3L3N0O2N3M2M4L5KQT3"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "Pdo7d0[>2N3M2N4M3M1O1O1O0010O001O2N2O1N1O1O2N5K0000000000001O00UG@V3a0hLBW3=dLI\\36bLM^32aL0_3O`L4_3K`L7_3IaL7_3I`L9_3GaL9_3G`L:`3F`L;^3FaL;_3EaL;_3EaL;_3EaL;_3EaL;_3EaL;^3FbL:^3FbL:^3FbL:^3FbL:^3FbL9_3G`L:`3F_L;a3E^L<b3D\\L=e3CZL>g3AXL?i3AWL?j3@ULa0k3_OTLa0m3_OSLa0m3_ORLa0o3_OPLb0Q4]OoKb0R4^OmKa0U4_OkKa0U4_OjKa0W4_OhKb0X4^OhKb0X4^OgKc0Y4]OgKb0Z4^OeKc0[4]OdKd0\\4\\OdKc0]4]ObKd0^4\\O`Kf0`4ZOVKP1k4oNSKS1m4mNQKU1o4jNQKW1P5hNPKX1Q5fNoJ[1R5cNnJ^1U5\\NnJd1W90O10O100O100O1O1O1O1ORF"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeThree/hot_dog222222wine_glass/COCO_train2014_000000020702_mask_rle.json

@@ -0,0 +1,50 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeThree/hot_dog222222wine_glass/COCO_train2014_000000020702_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeThree"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "hot dog222222wine glass"
+    ],
+    "reference_object_description_en": [
+      "hot dog",
+      "wine glass"
+    ],
+    "reference_object_description_cn": [
+      "热狗",
+      "酒杯"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          640,
+          480
+        ],
+        "counts": "Qh^1R1jb0?B8I5L4K5L3M3M3M3M2M4N1N2O1O100O100000O10O100O100M3M2N3N1N2O2M2O2N100O1M^Lh_Oc3W`0300O1O100O0100O100O1O2N100O2O1O002N1O3M1O1O001O000000000O10O10O01001N2O1N2O1N2O1N3N2M4L3M3L4K5L4L5L3M5J5K6H7J7I]fU1BRZjN3M3N2N0O2N2D_OW]Oc0eb0>01N10000O100001O1Oa0_O2N001O1O0O2O001N3N4JmdZ4"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          640,
+          480
+        ],
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+      }
+    ]
+  }
+}