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+    ],
+    "task_description_en": [
+      "From a human perspective, place the potted plant directly behind the computer."
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+      "从人的视角看，把盆栽放在电脑的正后方"
+    ],
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+      "The potted plant on the desktop"
+    ],
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+      "From a human's perspective, the area directly behind the computer"
+    ],
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+      "从人的视角看，电脑的正后方区域"
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+      true
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+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          720,
+          1280
+        ],
+        "counts": "TdY:i3bb08J5B=K5L5L3N2M3M2O2N2N1N2O2N1O2N3M2O0O10000O100000000000000001O00001O001O1O1O1O1O2NO1O1O100O1O1O100O10000O1000000000000O1000000000000O10000O1000000O10000000000000000000000000000O100O100000000O10000O100O100000000O1000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000001O00001O000000001O0000000000000000000000000000000000001O0000001O0000001O0000000000000000000000000000000000000000000000000000000lK^_OZ2b`0j1000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000O1O1O10000O10000O1000000001O0000001O001O1O1O1O1O1O2N4L4L2N3M=B3K6Kl0TO4K6GPmf9"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/From_a_human_perspective__place_the_tweezers_on_the_left_side_of_the_tablet/AR_BiLIVmKxvOs_6_8910_55_mask_rle.json b/Manipulation/PlacementRegion/From_a_human_perspective__place_the_tweezers_on_the_left_side_of_the_tablet/AR_BiLIVmKxvOs_6_8910_55_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8768c0cc660013d1cafbd6e5c39a87672c247eb
--- /dev/null
+++ b/Manipulation/PlacementRegion/From_a_human_perspective__place_the_tweezers_on_the_left_side_of_the_tablet/AR_BiLIVmKxvOs_6_8910_55_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/From_a_human_perspective__place_the_tweezers_on_the_left_side_of_the_tablet/AR_BiLIVmKxvOs_6_8910_55_image.jpg"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "From a human perspective, place the tweezers on the left side of the tablet."
+    ],
+    "task_description_en": [
+      "From a human perspective, place the tweezers on the left side of the tablet."
+    ],
+    "task_description_cn": [
+      "从人的视角看把镊子放在平板左侧"
+    ],
+    "reference_object_description_en": [
+      "The tweezers on the desktop"
+    ],
+    "reference_object_description_cn": [
+      "桌面上的镊子"
+    ],
+    "placement_region_description_en": [
+      "The left area of the tablet from a human perspective"
+    ],
+    "placement_region_description_cn": [
+      "从人的视角看平板的左侧区域"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          720,
+          1280
+        ],
+        "counts": "kc03]f000O[S20afa:6nU\\E2M2O2N100O001O1O010O1O010O010O001000O0010O10O1O010O0010O010O010O010O10O01O010O010O0010O10O1O01000O10O01O0100O01O10O010O01O10O0010O10O0100O010O010O1O010O001O010O010O10O0100O10O010O01O010O10O01O010O010O010O010O1O010O010O100O010O010O10O10O0100O010000O0100O0@^ZO4be0K_ZO4be0K_ZO5`e0KaZO4`e0K`ZO5`e0KaZO5_e0KaZO4_e0LbZO4^e0KbZO5^e0KcZO5]e0KcZO4^e0LaZO5^e0LbZO3_e0LbZO3^e0NaZO3_e0LbZO4]e0LdZO3]e0LcZO4^e0LbZO4]e0LcZO5]e0KcZO4^e0KbZO6]e0JdZO5]e0KcZO4^e0LaZO5^e0KcZO4^e0LbZO3_e0LaZO5_e0KaZO4`e0KaZO5_e0JaZO6`e0HbZO8je001O100O010O1O001O100O2NWia="
+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          720,
+          1280
+        ],
+        "counts": "kc03]f000O[S20\\_m0a3dYPO:H6K4L4L4M3L3N2N2N3M2N1O2O1N2N1O2O1N101N101O0O2O001N1@a0K4M4M2N2N3N1N2O1O1O1O1O1O100O1O100O1O100O10000O10000O100000000000000O1001O000000000000001O00001O001O00001O1O001O1O001O1O1O1O1O2N1O00001O00000000001O0000001O0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000001O0000000000000000001O0000001O00001O000000000000001O00001O0000000000000000000000000000001O0000000000000000000000001O0000001O00001O00000000000000001O0000001O000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000001O000000000000000000001O000000001O000000000000000000000000000000000000001O000000000000000000000000000000001O00000000001O0000001O001O00000000001O0000001O00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000001O00000000001O00001O00001O001O001O001O1O001O1O1O1O1O1O1N3N1N3M3M3M4L6J6J2M4M2N3L3N3L3M4L4K6J7GS`X8"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/From_the_camera_s_perspective_Put_the_plate_on_top_of_the_first_stool/000050_mask_rle.json b/Manipulation/PlacementRegion/From_the_camera_s_perspective_Put_the_plate_on_top_of_the_first_stool/000050_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..15d16cf076a8f27c8750ab9bbd3bd2d611fa73e3
--- /dev/null
+++ b/Manipulation/PlacementRegion/From_the_camera_s_perspective_Put_the_plate_on_top_of_the_first_stool/000050_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/From_the_camera_s_perspective_Put_the_plate_on_top_of_the_first_stool/000050_image.jpg"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "From the camera's perspective，Put the plate on top of the first stool."
+    ],
+    "task_description_en": [
+      "From the camera's perspective，Put the plate on top of the first stool."
+    ],
+    "task_description_cn": [
+      "从相机视角，把盘子放在第一个凳子上面"
+    ],
+    "reference_object_description_en": [
+      "plate"
+    ],
+    "reference_object_description_cn": [
+      "盘子"
+    ],
+    "placement_region_description_en": [
+      "From the camera's perspective, the upper area of the first stool"
+    ],
+    "placement_region_description_cn": [
+      "从相机视角，第一个凳子的上面区域"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          343,
+          512
+        ],
+        "counts": "`fd27^:4L4M2O1N2N101N2N101O0O2OEYFFg90XF020e9O[FO21b90^FN11a91`FK14^90mF0S90nFOR90oF1o8ORG1n8ORG1o8LSG4i90O000WOMnF3R9NnF1Q90oF1o80QG0n81RGOm83RGMm85RGKn86_FG?2R9<mFDS9=lFCT9=lFCT9=lFCT9=lFCT9=kFDU9;lFET9;lFET9:mFFS9:mFFS99nFGS97mFJS96mFJS95nFKR94nFMR93nFLS94mFLT94kFLU94jFMV94iFLW93hFNZ91eF0[90cF2]9NaF3a9L^F5b9K^F5b9K]F5e9LYF4g9NVF3k9;1O2O1N2N1O2N2N2N4J[Pn1"
+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          343,
+          512
+        ],
+        "counts": "Wad12e:0NO^E1b:3OM_E0`:5O001O1N011O0O2N100O100001O1O6J4LY:5bE2gEIn9;nEFQ:<mEER:<nEDQ:a000002NO1O1O01N13N0O100O1O10O10O100O0O2000O101O0O101O000O10000O10000O2O000O100O100O10000O01O11N2O0O2O0O2O0O2N2O0O2O0O2Olfm01RYRO1ONdej17kRUN"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/From_the_camera_s_perspective__the_kettle_is_placed_in_front_of_the_glass_jar/frame_0000032844_mask_rle.json b/Manipulation/PlacementRegion/From_the_camera_s_perspective__the_kettle_is_placed_in_front_of_the_glass_jar/frame_0000032844_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f5ce17a7c2639329c5f9408e9b77403fdb70c3d
--- /dev/null
+++ b/Manipulation/PlacementRegion/From_the_camera_s_perspective__the_kettle_is_placed_in_front_of_the_glass_jar/frame_0000032844_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/From_the_camera_s_perspective__the_kettle_is_placed_in_front_of_the_glass_jar/frame_0000032844_image.jpg"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "From the camera's perspective, the kettle is placed in front of the glass jar."
+    ],
+    "task_description_en": [
+      "From the camera's perspective, the kettle is placed in front of the glass jar."
+    ],
+    "task_description_cn": [
+      "从相机视角看，水壶放到玻璃罐的前面"
+    ],
+    "reference_object_description_en": [
+      "kettle"
+    ],
+    "reference_object_description_cn": [
+      "水壶"
+    ],
+    "placement_region_description_en": [
+      "From the camera's perspective, the front of the glass jar"
+    ],
+    "placement_region_description_cn": [
+      "从相机视角看，玻璃罐的前面"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "f2X1h61O0O3N1O3M1O1O100O3M001O1O010O1000100N2O5K0O011N3N0O010O00010O01O001O1O001O001O001O001O001O0O2O001N2O001N2N101N2O1N2O1N2N2N3M2O2M2N3M3M5K6I5Jhko2"
+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "^Td27h72hHN_63`IO_62_I0_61VI<h6DWI?g6>O1O1O1O2N1O1O1O1O1O1O2N1O1O1O1O1O2N2N2N3L5K4L4M8G7J9QKhL00a4c3J5J2N1N2M3N2O1O100O1000000000000000000000000000000000000000000000000000000O1O1O1000N21O000001O001O01O000000000000000000000000000001O001O1O2N1O1O001O1O4L00O100001O001O1^LnKT3k4Da1_N"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/From_the_camera_s_perspective__the_traffic_cone_is_placed_in_the_area_between_the_boy_and_the_girl/000000000063_mask_rle.json b/Manipulation/PlacementRegion/From_the_camera_s_perspective__the_traffic_cone_is_placed_in_the_area_between_the_boy_and_the_girl/000000000063_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..319f0e5ec2fa041db3a5f89b45804dc35ca55068
--- /dev/null
+++ b/Manipulation/PlacementRegion/From_the_camera_s_perspective__the_traffic_cone_is_placed_in_the_area_between_the_boy_and_the_girl/000000000063_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/From_the_camera_s_perspective__the_traffic_cone_is_placed_in_the_area_between_the_boy_and_the_girl/000000000063_image.jpg"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "From the camera's perspective, the traffic cone is placed in the area between the boy and the girl."
+    ],
+    "task_description_en": [
+      "From the camera's perspective, the traffic cone is placed in the area between the boy and the girl."
+    ],
+    "task_description_cn": [
+      "从相机视角看，交通追锥放到男生与女生之间的区域"
+    ],
+    "reference_object_description_en": [
+      "The traffic cone in front of the man"
+    ],
+    "reference_object_description_cn": [
+      "男人前面的交通锥"
+    ],
+    "placement_region_description_en": [
+      "he area between the boy and the girl from the camera's perspective"
+    ],
+    "placement_region_description_cn": [
+      "从相机视角看，男生与女生之间的区域"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "Ukb27e>5K4L4L4M3O1000000001O3M3M3M3M4L3M4KhW`6"
+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "mZ`3b0[>6K3N2M3N1O101N2N2N101N100O2cBfNR=Z1nBgNP=[1mBhNQ=Z1mBhNQ=f1N1N2OO0100O10O0100O100O1O010O100O10O01000O01O100O10O0100O1O0101O001O0O2O1O001N101O0O;F4L2N2M3N2QO[B?f=_O\\B?f=^O]Ba0d=]O]Bb0e=[O]Bd0P>O1O1O1O1O2N100O1O003N2M3M3N1NaZc4"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/From_the_camera_s_perspective_place_the_desk_lamp_to_the_left_of_the_vase/000839_mask_rle.json b/Manipulation/PlacementRegion/From_the_camera_s_perspective_place_the_desk_lamp_to_the_left_of_the_vase/000839_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..752beb43b539679873fa33cf975d0da1cb0e7ae3
--- /dev/null
+++ b/Manipulation/PlacementRegion/From_the_camera_s_perspective_place_the_desk_lamp_to_the_left_of_the_vase/000839_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/From_the_camera_s_perspective_place_the_desk_lamp_to_the_left_of_the_vase/000839_image.jpg"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "From the camera's perspective, place the desk lamp to the left of the vase."
+    ],
+    "task_description_en": [
+      "From the camera's perspective, place the desk lamp to the left of the vase."
+    ],
+    "task_description_cn": [
+      "从相机视角，把台灯放在花瓶的左侧"
+    ],
+    "reference_object_description_en": [
+      "desk lamp"
+    ],
+    "reference_object_description_cn": [
+      "台灯"
+    ],
+    "placement_region_description_en": [
+      "From the camera's perspective, the left side of the vase"
+    ],
+    "placement_region_description_cn": [
+      "从相机视角，花瓶的左侧"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "\\]i07U:8J6L4O1O1000000`GVOV7j0gGXOi0O`7i0fGD>Ek7g0fGL7^OS8h0dG:\\8o00001O000000eNfG<Z8CgG<Z8DfG20YOZ8e0gGBLK:MS8f0iHYOW7g0iHXOX7g0[101O1O5K5J7IgnU4"
+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "Vcb26\\:7J3N1N2N101O000O100000003M2N1O001N101O000O2O00000O2O00000O10000000001N011O000O10001O0000001N101O001O1O1O1O001N2O1O1O1O1O1O001O1O0O2O00001O000000000O10O100O1O1O10000O1000O10O1000000000000000000000O1000000O100000000000000O10000000000O1000000000000000O100000000O2O000O10001N100O1O2O0O2O1N2O1N2O0O2O1N101N2O0O2O0O2O1N1O2N101N1O2N1O2N1O2M4L3Lcnn0"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/From_the_camera_s_perspective_place_the_mouse_on_the_right_side_of_the_computer/AR_DZenfiAzE_o_0_180_25_mask_rle.json b/Manipulation/PlacementRegion/From_the_camera_s_perspective_place_the_mouse_on_the_right_side_of_the_computer/AR_DZenfiAzE_o_0_180_25_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..028b301b0bc3ef71bb23eb2e66398f35b988deee
--- /dev/null
+++ b/Manipulation/PlacementRegion/From_the_camera_s_perspective_place_the_mouse_on_the_right_side_of_the_computer/AR_DZenfiAzE_o_0_180_25_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/From_the_camera_s_perspective_place_the_mouse_on_the_right_side_of_the_computer/AR_DZenfiAzE_o_0_180_25_image.jpg"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "From the camera's perspective, place the mouse on the right side of the computer"
+    ],
+    "task_description_en": [
+      "From the camera's perspective, place the mouse on the right side of the computer"
+    ],
+    "task_description_cn": [
+      "从相机视角看把鼠标放在电脑的右侧"
+    ],
+    "reference_object_description_en": [
+      "The mouse on the desktop"
+    ],
+    "reference_object_description_cn": [
+      "桌面上的鼠标"
+    ],
+    "placement_region_description_en": [
+      "The area to the right of the computer from the camera's perspective"
+    ],
+    "placement_region_description_cn": [
+      "从相机视角看电脑右侧的区域"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          720,
+          1280
+        ],
+        "counts": "`XP14Zf04L3O1N3M2N2N2O1N2N2N1O1O101N1O1O1O100O1O101N1O100O100O100O1O1O100O100O100O100O100O100O10000O100O10000O1000000000O01000000000O100000O0100000000O10000O2O00000O10001O00001O001N10001O0O2O1O001O1N2O001O1N2O1O1O1N2O1N2O2M2N3M2N3M3Lbe`h0JeZ_WO010O1O1k\\O"
+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          720,
+          1280
+        ],
+        "counts": "X_U>;Qf07G9I6J6L4L3M3N2M3N2M3N2M2O2N1O2K5L3M3N3M2O1N3N1O1O1O1O101N1O100O100O100O1000000O1000000000000000000000010O000010O001O001O010O001O1O1O00O2N1O1O1O100O1O100O100O100O1000000O10000000000000000000000000000000000000000000000000000000000000000O10000000000O1000000O100000000O100000000O1000000O10000000000000000000000000000000000000O100000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000001O000000001O00001O00000000000000000001O0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000001O0000001O0000001O0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000O100000000O10000O10000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000001O00000000001O000O101O00001O001O001O001N2O1O000O100O101N100O100O2N100O1OLXMc\\Og2\\c0YMe\\Of2\\c0ZMe\\Oe2Zc0\\Mf\\Oc2Zc0^Mg\\O`25"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/From_the_camera_s_perspective_place_the_scissors_to_the_right_of_the_kettle/frame_0000002724_mask_rle.json b/Manipulation/PlacementRegion/From_the_camera_s_perspective_place_the_scissors_to_the_right_of_the_kettle/frame_0000002724_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..76f2f2d053ea1811b816d3525dc320b8ff23c277
--- /dev/null
+++ b/Manipulation/PlacementRegion/From_the_camera_s_perspective_place_the_scissors_to_the_right_of_the_kettle/frame_0000002724_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/From_the_camera_s_perspective_place_the_scissors_to_the_right_of_the_kettle/frame_0000002724_image.jpg"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "From the camera's perspective, place the scissors to the right of the kettle."
+    ],
+    "task_description_en": [
+      "From the camera's perspective, place the scissors to the right of the kettle."
+    ],
+    "task_description_cn": [
+      "从相机视角看，把剪刀放到水壶的右侧"
+    ],
+    "reference_object_description_en": [
+      "scissors"
+    ],
+    "reference_object_description_cn": [
+      "剪刀"
+    ],
+    "placement_region_description_en": [
+      "From the camera's perspective, the right side of the kettle"
+    ],
+    "placement_region_description_cn": [
+      "从相机视角看，水壶的右侧"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "W\\g11o71O001O010O00010O001O010O00010O001O01O01O01O01O00100O1O1O1O1O1N4M2N2M2O1O001O00000000O101N1N3K5N101O1N2N2N^S]1"
+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "PSW21kd50WSK0m_O0no50RPJ10O0001O000000000001OPh00PXO00000Uk16ZRN0dL3Y30fL1Y34aLN]39]LGc3<YLEf3>XLCg3>XLBg3`0YL_Og3b0QLEo3>lKDT4>jKBV4e0bK\\O]4T20000000000O10000000000000000O10000000000000000000O010O100O10O0100O10O10O10000O10O100O10O0100O10000000O010000000O0100000000O10O1000000O1000000000001N2N2M4Lg0YO7H<EcN"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/From_the_camera_s_perspective_place_the_white_cup_directly_in_front_of_the_chair_that_is_facing_the_lens/AR_IoYo9NRjACQ_66_0_65_mask_rle.json b/Manipulation/PlacementRegion/From_the_camera_s_perspective_place_the_white_cup_directly_in_front_of_the_chair_that_is_facing_the_lens/AR_IoYo9NRjACQ_66_0_65_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e4d265823bd217e5c0627c6f45c354ee7cacc33
--- /dev/null
+++ b/Manipulation/PlacementRegion/From_the_camera_s_perspective_place_the_white_cup_directly_in_front_of_the_chair_that_is_facing_the_lens/AR_IoYo9NRjACQ_66_0_65_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/From_the_camera_s_perspective_place_the_white_cup_directly_in_front_of_the_chair_that_is_facing_the_lens/AR_IoYo9NRjACQ_66_0_65_image.jpg"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "From the camera's perspective, place the white cup directly in front of the chair that is facing the lens"
+    ],
+    "task_description_en": [
+      "From the camera's perspective, place the white cup directly in front of the chair that is facing the lens"
+    ],
+    "task_description_cn": [
+      "从相机视角看把白色的杯子放在正对镜头椅子的正前方"
+    ],
+    "reference_object_description_en": [
+      "white cup"
+    ],
+    "reference_object_description_cn": [
+      "白色的杯子"
+    ],
+    "placement_region_description_en": [
+      "The area directly in front of the chair facing the camera from the camera's perspective"
+    ],
+    "placement_region_description_cn": [
+      "从相机视角看正对镜头椅子的正前方区域"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          720,
+          1280
+        ],
+        "counts": "cjRb04oe0>N100O2O00000000000VZO\\Ohe0d0XZO\\Ohe0d0XZO\\Oge0e0YZO\\Ofe0g00001O00M[ZO[Oee0e0[ZO[Oee0e0[ZO[Oee0e0[ZO[Oee0e0[ZO[Oee0e0[ZOZOfe0f0ZZOZOfe0f0ZZOZOfe0f0ZZOZOfe0f0201O001N2M^_S3ASalL0O1_\\T6"
+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          720,
+          1280
+        ],
+        "counts": "Wf>?me06K5M2M3N2M3L3M4N1N3N1O2N1O1O1O2N1O9G4M2M8H4L3M2O2M2N101N2O001N101O0000001O1N101O1N101N101O00001O00000000000O100O100O100000000O100O10000O100000000000000000000000000000O100O100O10000000000O100O1O100000000000O10O01000O010O1O1O1O100O1O1O10000000000000000O10000O100O010O0100O0100O1000000O100O100O100O001O0100O100O01000O10O010O10000O02OO0100O100000000O11OO10O2OO0100O1000000000O1O10O01O10O001000O1O100O100000O010O1O100O1O100O1O1O1O100O100O1O100O100O100O100O100O2O0O100000001O0O10001O0O2O1N101N2O1N2O1N2O2M2N2N3L3M4L4IQePf0"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/From_the_camera_s_perspective_the_plastic_bag_in_hand_is_placed_to_the_right_of_the_milk_powder_can/frame_0000003924_mask_rle.json b/Manipulation/PlacementRegion/From_the_camera_s_perspective_the_plastic_bag_in_hand_is_placed_to_the_right_of_the_milk_powder_can/frame_0000003924_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..186dc62df01bf91f5c77ef33a68120267b89cf6d
--- /dev/null
+++ b/Manipulation/PlacementRegion/From_the_camera_s_perspective_the_plastic_bag_in_hand_is_placed_to_the_right_of_the_milk_powder_can/frame_0000003924_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/From_the_camera_s_perspective_the_plastic_bag_in_hand_is_placed_to_the_right_of_the_milk_powder_can/frame_0000003924_image.jpg"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "From the camera's perspective, the plastic bag in hand is placed to the right of the milk powder can."
+    ],
+    "task_description_en": [
+      "From the camera's perspective, the plastic bag in hand is placed to the right of the milk powder can."
+    ],
+    "task_description_cn": [
+      "从相机视角看，手中的塑料袋放到奶粉罐的右侧"
+    ],
+    "reference_object_description_en": [
+      "The plastic bag in hand"
+    ],
+    "reference_object_description_cn": [
+      "手中的塑料袋"
+    ],
+    "placement_region_description_en": [
+      "From the camera's perspective, the right side of the milk powder can"
+    ],
+    "placement_region_description_cn": [
+      "从相机视角看，奶粉罐的右侧"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      false
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "fd^1166LK[7b0O1O1O010O1O1O000001N100EiHLX71lHJKO_70iH0H0j70UH1`7OjH2nP1OdVO1M3O1O1N200O1O1O001O1O1L4O1N101L400O001M3N2O1N2O1N2M3N2E;O001000000O100000000000000001O001O1O1O1O1O1O003M3M7H7J\\OTOXJh0f5[OeINc0d0h5B\\J:d5FcJ3]5NcJ1a5KaILo04`54bJI_5:`IF]7;dHD\\7<dHD[75cH1a78`HB^7=aHC_7?000100OEbHN1O\\b[1"
+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "P`a21]bi09TeVO7K4L4N1O2N1O1K5O1O1O1O0100O001O101N1O1N3N2M3K[N\\OWLa0k3@Z22O1M"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/From_the_camera_s_perspective_the_plate_is_placed_inside_the_sink/frame_0000011698_mask_rle.json b/Manipulation/PlacementRegion/From_the_camera_s_perspective_the_plate_is_placed_inside_the_sink/frame_0000011698_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..32247ce2f2b6226a58b9ccfe2836e8170f751005
--- /dev/null
+++ b/Manipulation/PlacementRegion/From_the_camera_s_perspective_the_plate_is_placed_inside_the_sink/frame_0000011698_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/From_the_camera_s_perspective_the_plate_is_placed_inside_the_sink/frame_0000011698_image.jpg"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "From the camera's perspective, the plate is placed inside the sink."
+    ],
+    "task_description_en": [
+      "From the camera's perspective, the plate is placed inside the sink."
+    ],
+    "task_description_cn": [
+      "从相机视角看，盘子放在洗碗池里面"
+    ],
+    "reference_object_description_en": [
+      "plate"
+    ],
+    "reference_object_description_cn": [
+      "盘子"
+    ],
+    "placement_region_description_en": [
+      "From the camera's perspective, the inside of the sink"
+    ],
+    "placement_region_description_cn": [
+      "从相机视角看，洗碗池的里面"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "aUa22k76K3N2N2O1M3N2N2O2N4L3M1O001O00001O010O010O100O001O1O1O1O1O001O1O2O1N1O1O1O2O3L010O0010O01000[NgIa1X65O\\NiI_1X6aNhI_1W6501O010O0010ON3O00010O00010O000100O2N1O1O100O1O1O1O1O1O001lNaId0d6YO\\If0h6XOXIf0l653QOQIf0S723UOjHe0Y7[OgHb0\\7^OeH?\\7BdH:`7FbH4b7K]Y80lfG1O1O101l7"
+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "[eb19e74M3M2M5L3N4K7I3M4L4M1N2O1N2N2N2O1N102M101N2O1N2O2M2O1O1O2M101O001N10000001O00001O001O0QN_J_1b5?001O1O1O0O2O001O1N2O1N2O1N102N1N2O1N2O1O2M2O1O2N1O2N001N2O0O100O2N1O2M201N2N3N1O2M3M4LoaR1Aa^mN000og5"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/From_the_camera_s_perspective_the_toaster_is_placed_on_top_of_the_microwave/frame_0000006868_mask_rle.json b/Manipulation/PlacementRegion/From_the_camera_s_perspective_the_toaster_is_placed_on_top_of_the_microwave/frame_0000006868_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9f0d62ea083d89f2b72a876376f7e7dc4c7c3b0
--- /dev/null
+++ b/Manipulation/PlacementRegion/From_the_camera_s_perspective_the_toaster_is_placed_on_top_of_the_microwave/frame_0000006868_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/From_the_camera_s_perspective_the_toaster_is_placed_on_top_of_the_microwave/frame_0000006868_image.jpg"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "From the camera's perspective, the toaster is placed on top of the microwave."
+    ],
+    "task_description_en": [
+      "From the camera's perspective, the toaster is placed on top of the microwave."
+    ],
+    "task_description_cn": [
+      "从相机视角看，面包机放在微波炉上方"
+    ],
+    "reference_object_description_en": [
+      "toaster"
+    ],
+    "reference_object_description_cn": [
+      "面包机"
+    ],
+    "placement_region_description_en": [
+      "From the camera's perspective, above the microwave oven"
+    ],
+    "placement_region_description_cn": [
+      "从相机视角看，微波炉的上方"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "dl]1762m6f0H6K6I7M3M2J7M2M3M3M3N2N2O2M200O2N1O1O2O000O101O000000000001O00000000001O000000000000001N1O1N2M3M3O1FdJPN\\5P2:L5J6L5K4K6H8G;Bold1"
+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "X[f29e74M2N2N2O0O;F4L9F7J6J4L6J4L5K5K3M2N1O2N1O0010O01O000000000000000000000000000001O0000000000001O000000000000000000000000000000000000000000001O00001O001O1O1O2N1O1O1O1O1O1O1O2N1O2N1N3N2M4M2N3L3N3L3N1N4M1N3N2M101N2O1O2M2N2O2MTK"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/Place_the_blue_book_in_the_empty_area_of_the_wooden_stake_shelf/taskonomy_tradewinds_point_115_view_10_domain_rgb_mask_rle.json b/Manipulation/PlacementRegion/Place_the_blue_book_in_the_empty_area_of_the_wooden_stake_shelf/taskonomy_tradewinds_point_115_view_10_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..d744cedb0599a45fc6bfe0989ea4ab763a48a147
--- /dev/null
+++ b/Manipulation/PlacementRegion/Place_the_blue_book_in_the_empty_area_of_the_wooden_stake_shelf/taskonomy_tradewinds_point_115_view_10_domain_rgb_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/Place_the_blue_book_in_the_empty_area_of_the_wooden_stake_shelf/taskonomy_tradewinds_point_115_view_10_domain_rgb_image.png"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Place the blue book in the empty area of the wooden stake shelf."
+    ],
+    "task_description_en": [
+      "Place the blue book in the empty area of the wooden stake shelf."
+    ],
+    "task_description_cn": [
+      "把蓝色的书放置在木桩置物架的空白区域"
+    ],
+    "reference_object_description_en": [
+      "blue book"
+    ],
+    "reference_object_description_cn": [
+      "蓝色的书"
+    ],
+    "placement_region_description_en": [
+      "The blank area of the wooden stake shelf"
+    ],
+    "placement_region_description_cn": [
+      "木桩置物架的空白区域"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      false
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          512,
+          512
+        ],
+        "counts": "VmV21h?8M2M3N2M3O1M3O1O01000000000000001OO1000000000000O10000N2L4M3L5IfcX5"
+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          512,
+          512
+        ],
+        "counts": "PlX11l?5M101N2N10001O000001O1N110O001O001O000000001O0000000O100000000O10O1O001O0O1N201O10O101N101N2MZTo5"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/Place_the_blue_pillow_in_the_empty_area_of_the_table/taskonomy_wilseyville_point_1132_view_1_domain_rgb_mask_rle.json b/Manipulation/PlacementRegion/Place_the_blue_pillow_in_the_empty_area_of_the_table/taskonomy_wilseyville_point_1132_view_1_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..a881b4d3d834ec74786ee8044d228ce77b9d2e98
--- /dev/null
+++ b/Manipulation/PlacementRegion/Place_the_blue_pillow_in_the_empty_area_of_the_table/taskonomy_wilseyville_point_1132_view_1_domain_rgb_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/Place_the_blue_pillow_in_the_empty_area_of_the_table/taskonomy_wilseyville_point_1132_view_1_domain_rgb_image.png"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Place the blue pillow in the empty area of the table."
+    ],
+    "task_description_en": [
+      "Place the blue pillow in the empty area of the table."
+    ],
+    "task_description_cn": [
+      "把蓝色抱枕放置在桌子的空白区域"
+    ],
+    "reference_object_description_en": [
+      "blue throw pillow"
+    ],
+    "reference_object_description_cn": [
+      "蓝色抱枕"
+    ],
+    "placement_region_description_en": [
+      "The blank area of the table"
+    ],
+    "placement_region_description_cn": [
+      "桌子的空白区域"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      false
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          512,
+          512
+        ],
+        "counts": "ZiQ34l?3M4L3M2N2N4L5L6I2N1O00001OO100000000000000000000000O1000000O100000000001O3M4L4K4M3M4L3M3M3L4LfUV4"
+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          512,
+          512
+        ],
+        "counts": "kjh01m?3O5L2M3N1O0O01N0N31N10G^@4b?L_@3a?1^@Lb?4^@Lb?9KEe@:\\?50Hc@M\\?4e@K[?4g@KY?5g@KY?5g@KY?5d@IO2]?4d@0\\?0d@0\\?0c@1]?Nd@1]?Oc@1]?Oc@1]?Nd@2\\?Nc@3]?Mc@3]?Ld@3\\?Nd@2\\?Ne@0\\?0d@O\\?3c@M]?3c@M]?3d@L\\?4d@L[?5e@K[?5e@K[?5e@K[?5e@K[?5e@K^?2b@Na?O_@1b?N]@3h?O10O1000O01000O10O1001O0000O010000000000000N2L310001O001O1O1O000O2OVUm5"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/Place_the_cup_in_the_area_between_the_kettle_and_the_storage_rack/AR_5jaoXmfVgb8_0_810_65_mask_rle.json b/Manipulation/PlacementRegion/Place_the_cup_in_the_area_between_the_kettle_and_the_storage_rack/AR_5jaoXmfVgb8_0_810_65_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..61f06428d3f2f802c46bfa6ac47729811b40ffba
--- /dev/null
+++ b/Manipulation/PlacementRegion/Place_the_cup_in_the_area_between_the_kettle_and_the_storage_rack/AR_5jaoXmfVgb8_0_810_65_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/Place_the_cup_in_the_area_between_the_kettle_and_the_storage_rack/AR_5jaoXmfVgb8_0_810_65_image.jpg"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Place the cup in the area between the kettle and the storage rack."
+    ],
+    "task_description_en": [
+      "Place the cup in the area between the kettle and the storage rack."
+    ],
+    "task_description_cn": [
+      "把杯子放在烧水壶和收纳架之间的区域"
+    ],
+    "reference_object_description_en": [
+      "cup"
+    ],
+    "reference_object_description_cn": [
+      "杯子"
+    ],
+    "placement_region_description_en": [
+      "the area between the kettle and the storage rack."
+    ],
+    "placement_region_description_cn": [
+      "烧水壶和收纳架之间的区域"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          720,
+          1280
+        ],
+        "counts": "Zbc3:Sf0;G;F4K5L9Gi0WO6J1O2N1O0010O001O010O0000000000O10000000000000000000000000000000000000O2O000O100O2N1H8WOi0A?K7B\\ZOE`T[g0"
+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          720,
+          1280
+        ],
+        "counts": "\\no62^f0001N2O1N2F:K5E<M2O1N3N1N3N1O2M3N2N000O10000001O000000000O2O00000O1000001O000O101O1O001O001O001O00000O2O00000O101O00001N101O001O1O1O001O1O001N1000000O100000000O10000000001O000O10000000000000000O2O000000000000000O101O0000001O000O101O000O10001O001N101O00001O00001O002N2N2N2N2N[ok>1bPTA1O10000h`S3"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/Place_the_cup_in_the_area_between_the_kettle_and_the_storage_rack/frame_0000011104_mask_rle.json b/Manipulation/PlacementRegion/Place_the_cup_in_the_area_between_the_kettle_and_the_storage_rack/frame_0000011104_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..078cae9eff24f569724f68abd6deadfdf54118bd
--- /dev/null
+++ b/Manipulation/PlacementRegion/Place_the_cup_in_the_area_between_the_kettle_and_the_storage_rack/frame_0000011104_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/Place_the_cup_in_the_area_between_the_kettle_and_the_storage_rack/frame_0000011104_image.jpg"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Place the cup in the area between the kettle and the storage rack."
+    ],
+    "task_description_en": [
+      "Place the cup in the area between the kettle and the storage rack."
+    ],
+    "task_description_cn": [
+      "把杯子放在烧水壶和收纳架之间的区域"
+    ],
+    "reference_object_description_en": [
+      "cup"
+    ],
+    "reference_object_description_cn": [
+      "杯子"
+    ],
+    "placement_region_description_en": [
+      "the area between the kettle and the storage rack."
+    ],
+    "placement_region_description_cn": [
+      "烧水壶和收纳架之间的区域"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      false
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "[R\\13h7:I5J6L3M2M4M2N2N2O2M2O0O2O1N2O1O0O2O0O2O000O101O0000001O000000001O000000O2N1O1M3O1O2O0O101N101O001O00100O01000O100O1N2N3M2N3L4L3M6K6Fcmd1"
+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "cWk04i75M2M3L4K4N3L3N2O2H7N2O2N1C=N2O100O11O1O1O1O1O1O1O002O1N1O1O1O1O1O1O1O1O001O1O1O001O00000000001O001O001O001O00001O00001O000O1000000000001O000001O0000000000000000000O10000000O1O010O10O01O010O1O1O0O2N2N102M5@gH0^Pm1"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/Place_the_washing_machine_in_the_area_above_the_trash_can/frame_0000011273_mask_rle.json b/Manipulation/PlacementRegion/Place_the_washing_machine_in_the_area_above_the_trash_can/frame_0000011273_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..1269f6c5200baef3148dbe24b7c06eddcfd1aafb
--- /dev/null
+++ b/Manipulation/PlacementRegion/Place_the_washing_machine_in_the_area_above_the_trash_can/frame_0000011273_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/Place_the_washing_machine_in_the_area_above_the_trash_can/frame_0000011273_image.jpg"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Place the washing machine in the area above the trash can"
+    ],
+    "task_description_en": [
+      "Place the washing machine in the area above the trash can"
+    ],
+    "task_description_cn": [
+      "将洗衣机放置在垃圾桶上方的区域"
+    ],
+    "reference_object_description_en": [
+      "White washing machine"
+    ],
+    "reference_object_description_cn": [
+      "白色洗衣机"
+    ],
+    "placement_region_description_en": [
+      "Area above the silver trash can"
+    ],
+    "placement_region_description_cn": [
+      "银色垃圾桶上方区域"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      false
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "d[<3l71O2O1N2O1N2O0O2O1O1N101N2O1N101N2O1N2O1N101N2O001O0O2N2O1N101N2O0O101N101N2O1N102M2O1N2O1N10001N101N2O1O0O2O1O1N101O1M2O2O001N2N1O2N1O1O101O000O100O1O10000N2O1000000O00100O1O10000O100O1O10O010O10O0010O010O10O010O0100O010O010O1O010O10O0100O1O101N2O2M3N3L4L5L3L3N2M3M4M6I4L3N2M4L5L3L4L4M3L4L3N3L4LQ\\P2"
+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "YRd27h72O1N4L4M4K3M2N2O2M2O2M3N0O10001N1000001O00001O001O0O2O1O1O0000010O0001O00001N2N2N2O2M2O0O2O1N2N2O1N2N2N3M3M2O3L5KW]?"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/Place_the_white_flowerpot_on_the_armrest_of_the_brown_sofa/taskonomy_windhorst_point_278_view_0_domain_rgb_mask_rle.json b/Manipulation/PlacementRegion/Place_the_white_flowerpot_on_the_armrest_of_the_brown_sofa/taskonomy_windhorst_point_278_view_0_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4f8626e31e9ced7a5be88d678b6c4712efc920a
--- /dev/null
+++ b/Manipulation/PlacementRegion/Place_the_white_flowerpot_on_the_armrest_of_the_brown_sofa/taskonomy_windhorst_point_278_view_0_domain_rgb_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/Place_the_white_flowerpot_on_the_armrest_of_the_brown_sofa/taskonomy_windhorst_point_278_view_0_domain_rgb_image.png"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Place the white flowerpot on the armrest of the brown sofa."
+    ],
+    "task_description_en": [
+      "Place the white flowerpot on the armrest of the brown sofa."
+    ],
+    "task_description_cn": [
+      "把白色花盆放置在棕色沙发扶手上"
+    ],
+    "reference_object_description_en": [
+      "white flowerpot"
+    ],
+    "reference_object_description_cn": [
+      "白色花盆"
+    ],
+    "placement_region_description_en": [
+      "The area above the armrest of the brown sofa"
+    ],
+    "placement_region_description_cn": [
+      "棕色沙发扶手上方区域"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      false
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          512,
+          512
+        ],
+        "counts": "Y_U74i?8G5I7O100O1O001O10O0001O01O01O001O0001O0001O000O10000O1O010001N:Ek`9"
+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          512,
+          512
+        ],
+        "counts": "`kW62m?2N100O0100000O100O1000000000OZPo0MjoPO4K2O00O2O1O100O1NYT<"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/Put_the_black_flowerpot_on_the_top_area_of_the_piano/taskonomy_retsof_point_149_view_1_domain_rgb_mask_rle.json b/Manipulation/PlacementRegion/Put_the_black_flowerpot_on_the_top_area_of_the_piano/taskonomy_retsof_point_149_view_1_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bc1e5f792b114494735ada703f95a4def742376
--- /dev/null
+++ b/Manipulation/PlacementRegion/Put_the_black_flowerpot_on_the_top_area_of_the_piano/taskonomy_retsof_point_149_view_1_domain_rgb_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/Put_the_black_flowerpot_on_the_top_area_of_the_piano/taskonomy_retsof_point_149_view_1_domain_rgb_image.png"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Put the black flowerpot on the top area of the piano."
+    ],
+    "task_description_en": [
+      "Put the black flowerpot on the top area of the piano."
+    ],
+    "task_description_cn": [
+      "把黑色花盆放到钢琴顶部区域"
+    ],
+    "reference_object_description_en": [
+      "black flowerpot"
+    ],
+    "reference_object_description_cn": [
+      "黑色花盆"
+    ],
+    "placement_region_description_en": [
+      "The top area of the piano"
+    ],
+    "placement_region_description_cn": [
+      "钢琴顶部区域"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      false
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          512,
+          512
+        ],
+        "counts": "_VW2:1O[?<N101O000001O00O1000000000O101M2N4KbY_5"
+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          512,
+          512
+        ],
+        "counts": "`en03m?1O00001O0000000000000000000000000000000000000000000000000000O10000000000O1000O100000000000O10000000001O0000000000`ZT6"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/Put_the_blanket_in_the_carpeted_area/001376_mask_rle.json b/Manipulation/PlacementRegion/Put_the_blanket_in_the_carpeted_area/001376_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ed4ec616080caf7fa7aab2f15700c5ef7491b63
--- /dev/null
+++ b/Manipulation/PlacementRegion/Put_the_blanket_in_the_carpeted_area/001376_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/Put_the_blanket_in_the_carpeted_area/001376_image.jpg"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Put the blanket in the carpeted area."
+    ],
+    "task_description_en": [
+      "Put the blanket in the carpeted area."
+    ],
+    "task_description_cn": [
+      "把毛毯放在地毯区域"
+    ],
+    "reference_object_description_en": [
+      "blanket"
+    ],
+    "reference_object_description_cn": [
+      "毛毯"
+    ],
+    "placement_region_description_en": [
+      "Carpet area"
+    ],
+    "placement_region_description_cn": [
+      "地毯区域"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "Vg`21c:2N3M2]FJe87XGLf87WGKh88UGJi89SGIl8:QGIl8:QGIKFg8c0\\G1d81YG1f8o0001O01O01O001O100N2O2N1O1O1O1N3N1O1N2O2N3L2O1O0O10001N101O0O3UOZFc0m9O1N101O1N3LnRY2"
+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "oaU1b0R:7J4K8I4K5K4M3L:G5J5L2M10000O10000O11O8H1O1O0000O10000O1O1N2J6M3O1O1O100O10000O10000O10000O1000000000000O1O1O100O100O100O100O10000O10000O1000000O11O2QM^HONe2n8oN1O2N1O1O2N2N1O2N2N2N1O2N2N2N3M1O2N1O2N2N3M2N2N1O2N2N2NZe4LhZK2O2N100O001O100O1O100O1O100O1O100O1O100O1O100O100O1O100O1O1O100O1O100O100O100O1O100O1O100O1O100O1O100O1O100O01L3O101O01O010O1O1O100O1O100O1O100O1O100O1O100O100O1O2O0O2N2O2M4L3N0O1O100O100O1O100O1O1O100O100O100O100000000000000N2jNV100O11O0000001O001O1O001O001O001O001O001O001O001O0O2N2M2O2O0O2N1O2N2O0O2N1N3M2O1O2N2N101N1O2N1O2N1N2O2N1O2M2O2M2O2N2N1O3L3M4M3M3N3L3M3M3M3M2M5L3MmPo0"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/Put_the_book_on_the_right_side_of_the_cat/000430_mask_rle.json b/Manipulation/PlacementRegion/Put_the_book_on_the_right_side_of_the_cat/000430_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..312c7056f94d1952e813c5f69c2015080d4b70a2
--- /dev/null
+++ b/Manipulation/PlacementRegion/Put_the_book_on_the_right_side_of_the_cat/000430_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/Put_the_book_on_the_right_side_of_the_cat/000430_image.jpg"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Put the book on the right side of the cat."
+    ],
+    "task_description_en": [
+      "Put the book on the right side of the cat."
+    ],
+    "task_description_cn": [
+      "把书放在猫的右侧"
+    ],
+    "reference_object_description_en": [
+      "book"
+    ],
+    "reference_object_description_cn": [
+      "书"
+    ],
+    "placement_region_description_en": [
+      "the right side of the cat"
+    ],
+    "placement_region_description_cn": [
+      "猫的右侧"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          384,
+          512
+        ],
+        "counts": "[SY12n;1N2O001O1N101O0O2O001N101O000O10O10O1000O10O01000O010O10O1000000O101O0O2O0O101O001N101O1O0OiXU4"
+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          384,
+          512
+        ],
+        "counts": "dT]29d;5L4L4M2N2N2N2O0O2O0O2O001N100O101N100O2O1N101O00001O001O000001O010O000010O01O0001O01O00000000010O0000010O00010O00010O0010O00010O00010O00010O0010O0001O000010O000010O0010O0010O000100O001O001O1O000010O010O0010O01O01O0001O01O0000000001OO100000000000000O2O00000O101O0O101N10001N101N2N101N2N3L3N4K5IeZk1"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/Put_the_chair_on_the_table/001168_mask_rle.json b/Manipulation/PlacementRegion/Put_the_chair_on_the_table/001168_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..efd9160c3374d7c2a00bd58df990ec36b2a0073f
--- /dev/null
+++ b/Manipulation/PlacementRegion/Put_the_chair_on_the_table/001168_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/Put_the_chair_on_the_table/001168_image.jpg"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Put the chair on the table"
+    ],
+    "task_description_en": [
+      "Put the chair on the table"
+    ],
+    "task_description_cn": [
+      "把椅子放到桌子上"
+    ],
+    "reference_object_description_en": [
+      "chair"
+    ],
+    "reference_object_description_cn": [
+      "椅子"
+    ],
+    "placement_region_description_en": [
+      "on the table"
+    ],
+    "placement_region_description_cn": [
+      "桌子上面"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      false
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          968,
+          1296
+        ],
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+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          968,
+          1296
+        ],
+        "counts": "Wd[d04jm0?G4M4M3M3L4N1N3N2M3N2N2N2N2M3N2N2N2N2N101N2N2N2N2N2N2O1N2N3M2O1N2N3N1N2O2M2O2M2N3N2M2O2M3N1N1O2O0O100O2O0O100O2O0O101N10000O2O000O100O2O000O10000O2O000O10000O10001N1000000O1000000O2O0000000O1000001N1000000O2O00000O2O00001N1000001O0O10001O000O101O00001N10001O0O2O00001N100000001N1000000000000O2O0000000000001N1000001O00000000000000001O000O10000000001O0000001O0000001N1000001O00001O00001O0000001O00001O000000001N100000000000000000000000000000000001O0000000000000000000000000000000000000000001O000000000000000000000000001O000000000000001O0000000000001O00000000001O000000000000001O0000000000001O00000000001O00000000001O0000001O00001O0000001O00001O001O001O00001O0000001O00000O2O0000000O2O00000O1O2O0O100O2N100O2N1O2O0O2N1O2N2N100O2N1O2O0O2N100O2O0O2N100O101N100O2N1O1O101N1O2N101N1O1O2N101N1O1O2O0O2N101N1O2O1N2N101N2N2N2O1N2N2O1N2N101N2O0O2N2O0O2O0O2O1O1N101N2N2O1N2O1N2N2O1N2O1N3N2M2O2M3N2M3N3I9Floe4"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/Put_the_clock_on_the_stool_below/AR_IoYo9NRjACQ_16_0_35_mask_rle.json b/Manipulation/PlacementRegion/Put_the_clock_on_the_stool_below/AR_IoYo9NRjACQ_16_0_35_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcb9d37b984db3570d0af7853e582f4b1a175a18
--- /dev/null
+++ b/Manipulation/PlacementRegion/Put_the_clock_on_the_stool_below/AR_IoYo9NRjACQ_16_0_35_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/Put_the_clock_on_the_stool_below/AR_IoYo9NRjACQ_16_0_35_image.jpg"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Put the clock on the stool below"
+    ],
+    "task_description_en": [
+      "Put the clock on the stool below"
+    ],
+    "task_description_cn": [
+      "把钟表放在下方的凳子上"
+    ],
+    "reference_object_description_en": [
+      "The clock on the wall"
+    ],
+    "reference_object_description_cn": [
+      "墙上的钟表"
+    ],
+    "placement_region_description_en": [
+      "The area directly above the stool"
+    ],
+    "placement_region_description_cn": [
+      "凳子的正上方区域"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      false
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          720,
+          1280
+        ],
+        "counts": "^ZT27me0k0\\O<F7I5L5K4L4M2M4L5K4M3M2M4M2N3M2N2N3M2N2N2N2N2N2N1O2N3M2O0O2N3M2O1O1N101N2N101O0O2O1N101O001N2O001N2O001N101O001N10001N10001N10001O0000001O00001O000O10001O0000010O0000000000001O00000001O000O1000001O00001O0000001O00001N10001O0O101O00001N10001N101O001N101O0O2O0O2O1N101N2O0O2O1N2N2O1N2N2N2O1N2N2O0O2N2N2O1N2N101N3M2N2N2N3M2M3N2N3L4L5L3L4L4L4L4M3L5K4I9J>TO[ZOKbb7LlSI1O00000PShe0"
+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          720,
+          1280
+        ],
+        "counts": "Xkd44Zf04M3M2N101N1O1O1UZOBde0>ZZOFde0e0N1O001O0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000O100O1O100000`@UO[9k0eFVOZ9j0fFVOZ9j0fFVOZ9j0fFVOZ9j0V60000000000000000000000000000000000000000000000001O10O01O01O001O1O1N3^OXZO8Qf0N2N3Lokld0"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/Put_the_detergent_right_in_front_of_the_kettle/AR_5jaoXmfVgb8_0_810_65_mask_rle.json b/Manipulation/PlacementRegion/Put_the_detergent_right_in_front_of_the_kettle/AR_5jaoXmfVgb8_0_810_65_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..8466ee044f06b850d76fa1876d28efa65a28da69
--- /dev/null
+++ b/Manipulation/PlacementRegion/Put_the_detergent_right_in_front_of_the_kettle/AR_5jaoXmfVgb8_0_810_65_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/Put_the_detergent_right_in_front_of_the_kettle/AR_5jaoXmfVgb8_0_810_65_image.jpg"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Put the detergent right in front of the kettle"
+    ],
+    "task_description_en": [
+      "Put the detergent right in front of the kettle"
+    ],
+    "task_description_cn": [
+      "把清洁剂放在热水壶的正前方"
+    ],
+    "reference_object_description_en": [
+      "Cleaner on the desktop"
+    ],
+    "reference_object_description_cn": [
+      "桌面上的清洁剂"
+    ],
+    "placement_region_description_en": [
+      "The area directly in front of the kettle"
+    ],
+    "placement_region_description_cn": [
+      "热水壶的正前方区域"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          720,
+          1280
+        ],
+        "counts": "]j\\>:Pf08K5K4N1N3N1O1O1O010fNQOR]OP1ob0oNR\\O1d0Q1_c0SOa\\Ol0Uc0oNW\\O7c0k0Uc0POV\\O6d0k0Uc0_Oj\\Ob0Vc0]Oj\\Od0Uc0]Oi\\Oe0Uc0hNV\\Of02R1gc0l002M2O1O1N2O1N2O1N3M2N2N_Mk\\Ol1Tc0TNl\\OE4f1Pc0dNo\\OB?^1bb0nNR]OBMM5N3[1jb0VOS]OCJ2e0P1_b0ROn\\OH>78M\\Oa0Td0Ac\\O?gc0@\\\\O>cc0A`\\O;cc0D_\\O3ic0K[\\OOic00k\\d01nk^;"
+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          720,
+          1280
+        ],
+        "counts": "jUg5m0`e06K4L3N2N3M2N101N2N101N101O000O2O1O1O001O1O00010O00010O01O001O1O001O2N1O1OO1O1O1O1O00100O010O10O1O010O1O100000O10000000000000O1000M3M3N101N2O001O00100O010O01O00100O1O10000000000O100001O00000001O00001O1O001N2O1N2O1N2O001O00001O001O0O2O00001N2O001O1N2O1O0O2N2O2M2N3M4L4K4M3K7HSi[c0"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/Put_the_glass_bottle_in_the_empty_area_of_the_wooden_stake_shelf/taskonomy_quantico_point_172_view_1_domain_rgb_mask_rle.json b/Manipulation/PlacementRegion/Put_the_glass_bottle_in_the_empty_area_of_the_wooden_stake_shelf/taskonomy_quantico_point_172_view_1_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ab073a2b6887c1c65eafa2bacdafea81a2e22c7
--- /dev/null
+++ b/Manipulation/PlacementRegion/Put_the_glass_bottle_in_the_empty_area_of_the_wooden_stake_shelf/taskonomy_quantico_point_172_view_1_domain_rgb_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/Put_the_glass_bottle_in_the_empty_area_of_the_wooden_stake_shelf/taskonomy_quantico_point_172_view_1_domain_rgb_image.png"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Put the glass bottle in the empty area of the wooden stake shelf."
+    ],
+    "task_description_en": [
+      "Put the glass bottle in the empty area of the wooden stake shelf."
+    ],
+    "task_description_cn": [
+      "把玻璃瓶放到木桩置物架的空白区域"
+    ],
+    "reference_object_description_en": [
+      "glass bottle"
+    ],
+    "reference_object_description_cn": [
+      "玻璃瓶"
+    ],
+    "placement_region_description_en": [
+      "The blank area of the wooden stake shelf"
+    ],
+    "placement_region_description_cn": [
+      "木桩置物架的空白区域"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      false
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          512,
+          512
+        ],
+        "counts": "Q<j1U>1O2N1N2O1O1O0O2B>N2O1O10O1000001N2O2N;D4M1N2O1N2O1N2O0O2O0O2N2M2N3M3J6H8G;DRT\\7"
+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          512,
+          512
+        ],
+        "counts": "anR67g?5L2N3M3N2M2O1O1O001O1O1O1N200O10O109F2O4K100O010O2N01O0100O10O001O00010O010O010O001N101O010N1O100O1N2N2N2O0M4O1O1O1000000001N2O1O1O1N1O2N3M2O1N3M2N3MjPg0"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/Put_the_inner_pot_of_the_rice_cooker_into_the_sink/frame_0000027661_mask_rle.json b/Manipulation/PlacementRegion/Put_the_inner_pot_of_the_rice_cooker_into_the_sink/frame_0000027661_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..aaa9d67d81408214cad2c9b2f3d3163ed5bada23
--- /dev/null
+++ b/Manipulation/PlacementRegion/Put_the_inner_pot_of_the_rice_cooker_into_the_sink/frame_0000027661_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/Put_the_inner_pot_of_the_rice_cooker_into_the_sink/frame_0000027661_image.jpg"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Put the inner pot of the rice cooker into the sink."
+    ],
+    "task_description_en": [
+      "Put the inner pot of the rice cooker into the sink."
+    ],
+    "task_description_cn": [
+      "把电饭锅内胆放到洗碗池里面"
+    ],
+    "reference_object_description_en": [
+      "Inner pot of rice cooker"
+    ],
+    "reference_object_description_cn": [
+      "电饭锅内胆"
+    ],
+    "placement_region_description_en": [
+      "Inside the sink"
+    ],
+    "placement_region_description_cn": [
+      "洗碗池内部"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "V\\P2;]7>G7H6K5K4M3M4L4L7I3N1O3M2M3N2N2N3M2N1O3M101N1O2O1N1O2O0O2O1N101N101O1N101N101O0O2O0000000O2O0000001NUMkKm1U4oMQLo1o3mMWLQ2i3mMZLR2f3kM^LU2a3iMaLW2_3hMcLW2]3hMdLY2[3fMgLY2Y3fMhLZ2X3eMjLZ2W3dMkL\\2T3cMnL\\2R3cMPM\\2Z40001O1O1O2N4L1O1O1O001O001N101O1O002aNkIo0X6;O01000001N100O101N1O2N1O101O0O1O2N2N1O2N1O2M2OZOSO\\Jk0d5VO]Jg0c5\\O]Jb0b5@^J?b5B_J:c5H^JOXOJ\\67]JMj52WJJn54Q1MTTd0"
+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "ZYm19e73N9G8I3L3Mj0VO2O1O1N2O001O0O100000000O0100O100O1O1O1O1K5N2O100O100O1O1O1000000O100O1O1O1N20000000000O100O100000000000000000000000000000000O10001O000O2O0O2O1N3M3M<D^VP1"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/Put_the_kitchen_paper_towels_directly_in_front_of_the_glass_jar/AR_59_fPLXoh6A_10_0_15_mask_rle.json b/Manipulation/PlacementRegion/Put_the_kitchen_paper_towels_directly_in_front_of_the_glass_jar/AR_59_fPLXoh6A_10_0_15_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc21431f132afc0288babaab131ca95bedcb1e62
--- /dev/null
+++ b/Manipulation/PlacementRegion/Put_the_kitchen_paper_towels_directly_in_front_of_the_glass_jar/AR_59_fPLXoh6A_10_0_15_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/Put_the_kitchen_paper_towels_directly_in_front_of_the_glass_jar/AR_59_fPLXoh6A_10_0_15_image.jpg"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Put the kitchen paper towels directly in front of the glass jar"
+    ],
+    "task_description_en": [
+      "Put the kitchen paper towels directly in front of the glass jar"
+    ],
+    "task_description_cn": [
+      "把厨房纸巾放在玻璃罐的正前方"
+    ],
+    "reference_object_description_en": [
+      "The kitchen paper towels on the table"
+    ],
+    "reference_object_description_cn": [
+      "桌面上的厨房纸巾"
+    ],
+    "placement_region_description_en": [
+      "The area directly in front of the glass jar"
+    ],
+    "placement_region_description_cn": [
+      "玻璃罐的正前方区域"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          720,
+          1280
+        ],
+        "counts": "`^\\=1cd0h1`[OZNlc0Z2R\\OhMjc0Z2V\\OiMec0c2M2O100_\\OSM^c0n220O1000010O1O01O1O10O0100A_\\OmMcc0Q2]\\OjM0Lec0e1[\\O]N0230MLhc0k0^\\O[Oc0NWOLZd06S]ONdNKQf00:N]gc=0eX\\B1N101N101N101O0eNI\\\\O8bc0J^\\O7_c0K`\\O7]c0Kc\\O5[c0Me\\O4Xc0Ng\\O3Xc0Nh\\O3Vc0Nj\\O2Vc0Mj\\O5Tc0Km\\O6Qc0DV]O<jb0BX]O?fb0A[]O`0cb0_O_]Oa0`b0@\\\\O"
+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          720,
+          1280
+        ],
+        "counts": "dPZb06Wf06K4M2N2N2N2O0O2O001N1000002M3N2M2O1O1N1O2O0O2O000O2O0O100O10000O2O0000000000000000000000000000O0100O0100O010O10000O1O100O1O1O1O1O1O1M3O1000000O100O1001N2O1N101N101O00000000000000000000O100O100O1O1O1N2N2000000000000000000000O1O100O1O100O100O100000000O1O100O10000O100O100O100000000000000000000000000000000000O11O1O1O000010O0000001O001O001O1N2O1N3N2M?A2N3M3L5I`Y[5MgfdJ1N101N101N101O0eNI\\\\O8bc0J^\\O7_c0K`\\O7]c0Kc\\O5[c0Me\\O4Xc0Ng\\O3Xc0Nh\\O3Vc0Nj\\O2Vc0Mj\\O5Tc0Km\\O6Qc0DV]O<jb0BX]O?fb0A[]O`0cb0_O_]Oa0`b0@\\\\O"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/Put_the_ladder_on_the_keyboard_of_the_laptop/001519_mask_rle.json b/Manipulation/PlacementRegion/Put_the_ladder_on_the_keyboard_of_the_laptop/001519_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d13638b92b87777eb107f11c683a359d5f6ba3a
--- /dev/null
+++ b/Manipulation/PlacementRegion/Put_the_ladder_on_the_keyboard_of_the_laptop/001519_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/Put_the_ladder_on_the_keyboard_of_the_laptop/001519_image.jpg"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Put the ladder on the keyboard of the laptop"
+    ],
+    "task_description_en": [
+      "Put the ladder on the keyboard of the laptop"
+    ],
+    "task_description_cn": [
+      "把梯子放到笔记本电脑的键盘上"
+    ],
+    "reference_object_description_en": [
+      "ladder"
+    ],
+    "reference_object_description_cn": [
+      "梯子"
+    ],
+    "placement_region_description_en": [
+      "The keyboard of a laptop"
+    ],
+    "placement_region_description_cn": [
+      "笔记本电脑的键盘"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      false
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          968,
+          1296
+        ],
+        "counts": "aYT87hm0:ZOe0VOk0K4H8H8H8oNVMXVOU3fi0h0I6COaVOSLTh0JaXOY4Uh0mK_WOR4DhKoh0n4M:_Oa0H9_XOPJaf0Y6mXOgI66Pf0MQZOZ7ke0c0@`0H9B=_Oa0G9G9N1100ZOf0M3O1bN^[OmG4o0_d0j6S\\OSImc0e6\\\\OZIdc0b6`\\O^I`c0Q5m[OoJd00_c0d4\\\\OYK63^c0`4a\\O\\K23]c0_4c\\O^K03]c0P3m[OoLh0MN5\\c0[2c\\OaM4OL6]c0V2h\\OdMO0L6]c0T2j\\OfMM0L6]c0i0j[OUOP1LNOK7]c00a[OTOl0g0>OMOK8\\c0DR]O4L0K0K8\\c0DR]O4L0K0K8\\c0CS]O5K0LOJ9\\c0CT]O5I0MOJ9\\c0CT]O5I0MOJ:[c0BU]O5I0M0I9\\c0BU]O5I0M0J8[c0CV]O4I0M0I9[c0CV]O4I1LOK8Zc0DV]O4I1L0JZOkNj0_d0GW]O4I1L0N4Vc0GW]O4I1L0N4Vc0GW]O4I1L0N4Vc0GW]O4I1MON4Uc0HW]O4I1M0M4Uc0GY]O3I1L1M4Uc0HX]O2J1L1M4Uc0HX]O2J1L1M4Uc0HX]O3I0M1N3Tc0IX]O3I0M1N3Tc0IX]O3I0M1N3Tc0IX]O3J0K1O3Tc0IX]O3J0L1M3Uc0JX]O1J1L1M3Uc0JX]O2I0M1M3Uc0JX]O2I0M1N3Sc0JY]O2I0M1N3Sc0JY]O2I0N0M4Sc0JY]O2I1MON4Sc0KX]O2I0NON4Sc0KY]O1H1N0N2Sc0LY]O1H1OOM3Sc0LY]O1H2NNN4Rc0KZ]O1H2NNN4Rc0KZ]O1I1MON4Rc0K[]O0H2MON4Rc0K[]O0H2NNM5Rc0K[]O0H2NNM5Rc0K[]O0H2NOM3Rc0L[]O1G1OOM4Qc0K\\]O1G2NNN4Qc0K\\]O1G2NNN4Qc0L[]O0H2NNN4Qc0L\\]OOG3OMM5Qc0L\\]OOG3OMN5ob0L]]OOG3ONM4Pc0L]]OOG4NMN4Pc0L]]OOH3MNN4Pc0L]]OOH3MNN4Pc0L]]O0G2NNO3ob0M^]OOF3OMN4ob0M^]OOF3ONM3Pc0M^]OOF4NMN4ob0L_]OOF4NMN4ob0L_]OO_O[OnNh0W1NO3nb0M_]OO_O[OnNh0W1NO3nb0M_]OOG3MNO3nb0M_]OOG3MNO3nb0M_]O0F2NON2ob0M`]OOE4MNO2ob0M`]OOD5NMO3nb0La]OOD5NMN4ob0Jb]O0C5OML4Pc0Jb]O0B7OKM4Pc0Ka]O0B7OKN2Pc0La]O0\\OZOnNn0V1JO3ob0Kb]O1[OZOnNn0V1JO2Pc0Ka]O3ZO[OmNm0X1IO1Qc0L`]O5^NXO8`1:\\N^Ol0P10Qc0MZ]Oj4@ZKVc0T9Nh0k[OfElb0m:N001O00001OO100O1O1M3J6N2bGQ]Ob5Qc0SJd]Ob5cb0jIV^Od1\\Nl0jc0SLY\\O?e2:UOROVNY3ng0oLaZOm2ch0QMRUO`00g0il0nNQSO9Qm0^O_SO8\\m0M2MPaoi0"
+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          968,
+          1296
+        ],
+        "counts": "oojc04Sn02N2N1O2N101N101N2N1O2O1N1O2O1N101N1O2N2O0O2N1O2N1O101N1O2O1N1O2O1N1O2N1O2O1N101N2N101N2O1N1O2N1O2N101N101N1O2O001O001N110O001O10O010O01O1O010O1O001O00100O1O000010O01O10O01O01O100O0100O01000O10O1O010O0100O010O10O010O010O01O1000O00100O0100O0010O010O010O10O01000O010O0010O010O0010O0100O01O100O1O2O0O010O010O10O00010O10O10O010O10O10O10O100O10O10O010O000100O010O00100O01O100O01000O10O010O0100O0100O10O010O1O00100O010O01O01O100O010O010O10O10O100O100SUORM^j0o2]UOWMbj0X3O100O0100O100O01O00010O00100O10O02O0O0100O010O01O10O1O1O100O0100O00101N1O1000O01O10O0001000O1O010O001O00001O1O001O001O1N1000001O001O001O001O010O1O1O001O001O10O00100O2TUOhLdj0_30N101O00001O010O1O001O001O20N0100O0001O0010O0002OO01O01O0010O01O0O2O001O00001O1N3N0O2N100O2N100O2N1O1O001N3N1O1O1O1O1O2N1N3M2O1O1O2N1O1O1O1O2M101N2N2O1N200O2N1N3N1O1N3N1N2O2L3L6L3N2N2N2F9GjQa6"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/Put_the_large_glass_pot_directly_in_front_of_the_toaster/AR_OerDWZgDUmU_5_720_85_mask_rle.json b/Manipulation/PlacementRegion/Put_the_large_glass_pot_directly_in_front_of_the_toaster/AR_OerDWZgDUmU_5_720_85_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fcfc3cc0db2db57234fc027c69d59c235b93d8a
--- /dev/null
+++ b/Manipulation/PlacementRegion/Put_the_large_glass_pot_directly_in_front_of_the_toaster/AR_OerDWZgDUmU_5_720_85_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/Put_the_large_glass_pot_directly_in_front_of_the_toaster/AR_OerDWZgDUmU_5_720_85_image.jpg"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Put the large glass pot directly in front of the toaster"
+    ],
+    "task_description_en": [
+      "Put the large glass pot directly in front of the toaster"
+    ],
+    "task_description_cn": [
+      "把大的玻璃壶放在面包机的正前方"
+    ],
+    "reference_object_description_en": [
+      "The large glass pot on the first shelf of the cabinet"
+    ],
+    "reference_object_description_cn": [
+      "柜子第一层大的玻璃壶"
+    ],
+    "placement_region_description_en": [
+      "The area directly in front of the bread maker"
+    ],
+    "placement_region_description_cn": [
+      "面包机的正前方区域"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          720,
+          1280
+        ],
+        "counts": "mdU8316he0?XOg0dNbNU]OP2gb0VNP]OP2mb0WNj\\Oo1Qc0j0N2O2N10000N3O000000000000001O0000000000001O0000000000001O00000000001O000000001O000000001O00000000000001O2^LT]O;6[2dc0L4kMW\\OCKc1Pd0iNZ\\OU1hc0iN\\\\OMMIEa0Ud0I[\\OE:;^c0Ol10O101O1O0]ZODPe0?hZO2md0h01O100N2N3L5H9H[TVb0"
+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          720,
+          1280
+        ],
+        "counts": "d_Z81^f000010^f01aYO00O10QUW;>aThD10AZe0X1J3N2N2O0O2O000000001O2O0O10001O1N2N001N2O000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000O100O1O10000000000000000000000000001OO1O2N2O0O2O000000000001N2N1\\Oc[OUO_d0g0d[OVO_d0g0e[OVO^d09U[OMbe01`ZOMbe01aZOKce01a0Ll^j5"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/Put_the_largest_potted_plant_in_the_blank_area_above_the_desktop/taskonomy_quantico_point_561_view_6_domain_rgb_mask_rle.json b/Manipulation/PlacementRegion/Put_the_largest_potted_plant_in_the_blank_area_above_the_desktop/taskonomy_quantico_point_561_view_6_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ec2cae1e3ab925280a05cfce5d63af82537c31b
--- /dev/null
+++ b/Manipulation/PlacementRegion/Put_the_largest_potted_plant_in_the_blank_area_above_the_desktop/taskonomy_quantico_point_561_view_6_domain_rgb_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/Put_the_largest_potted_plant_in_the_blank_area_above_the_desktop/taskonomy_quantico_point_561_view_6_domain_rgb_image.png"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Put the largest potted plant in the blank area above the desktop"
+    ],
+    "task_description_en": [
+      "Put the largest potted plant in the blank area above the desktop"
+    ],
+    "task_description_cn": [
+      "把最大的盆栽放到桌面上方的空白区域"
+    ],
+    "reference_object_description_en": [
+      "The largest potted plant"
+    ],
+    "reference_object_description_cn": [
+      "最大的盆栽"
+    ],
+    "placement_region_description_en": [
+      "The blank area above the desktop"
+    ],
+    "placement_region_description_cn": [
+      "桌面上方的空白区域"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      false
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          512,
+          512
+        ],
+        "counts": "^jT59f?2O1O001N2O0O2O001O1O1f@]OV?h0N0001O0001O01O0001O01O0000O1O2K5QDQOh8X1PGkNP9c1hDZNT16T:i2SEYMn:Y3\\DjLd;i3O01TM`DY1^;eNfDY1[;gNeDY1Z;`NXDVO?Z2Y;^N[DWO=Z2Y;^N[DVO=\\2Y;\\N[DXO=l0L1\\;J\\DYO=a0<4l:1\\DZO<:g07a:5\\DZO=2U17S:;\\D\\O_24V9`0[D[Od2OT9d0\\3M2O2N1N1O101O0O101N101N100O2O0O10\\ej1"
+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          512,
+          512
+        ],
+        "counts": "Vl\\31m?4M1O10001O0O10001O0O101N1O1O2O000000001O01O2N10O0000000000001O00000O100O1O1N3M2O0000010O0010O101N2O2N0O0100O010000O10O010O010000O100O10O10O10O10O1000O0100OM4M3O01000000O1000O0010O01000O100O1O1O1O10N2O010O10O100O101N10000O101O0O10000O101O0O1000000O10000O1O101O00O100000O2Njd^2"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/Put_the_mirror_in_the_blank_area_of_the_desktop/taskonomy_roane_point_352_view_2_domain_rgb_mask_rle.json b/Manipulation/PlacementRegion/Put_the_mirror_in_the_blank_area_of_the_desktop/taskonomy_roane_point_352_view_2_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbc3410ed78f032b45ff382cf66c5222c8820a29
--- /dev/null
+++ b/Manipulation/PlacementRegion/Put_the_mirror_in_the_blank_area_of_the_desktop/taskonomy_roane_point_352_view_2_domain_rgb_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/Put_the_mirror_in_the_blank_area_of_the_desktop/taskonomy_roane_point_352_view_2_domain_rgb_image.png"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Put the mirror in the blank area of the desktop."
+    ],
+    "task_description_en": [
+      "Put the mirror in the blank area of the desktop."
+    ],
+    "task_description_cn": [
+      "把镜子放在桌面的空白区域"
+    ],
+    "reference_object_description_en": [
+      "mirror"
+    ],
+    "reference_object_description_cn": [
+      "镜子"
+    ],
+    "placement_region_description_en": [
+      "The blank area of the desktop"
+    ],
+    "placement_region_description_cn": [
+      "桌面的空白区域"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      false
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          512,
+          512
+        ],
+        "counts": "XR[16e?k0WO7H6K4K6JgNoAl0k=XOWBi0c=[O\\Bh0`=SO`B@Oa1[=nNoBT1m<lNUCV1f<iN_CX1^<hNcC[1W<dNmC^1n;bNUD`1g;^N^Db1];`NeDb1W;^NkDd1Q;\\NREd1k:\\NWEf1h:WN[Ej1d:SN_Em1a:PNaEQ2W<00001O0O2O00001O000O100001OYNhMfEX2Z:kMcEU2]:nM`ER2`:PN^EP2b:RN\\En1i:oMUEQ2m:QNPEn1S;QNkDo1W;RNfDm1_;SN^Dl1d;SN[Dm1i;RNTDm1o;SNPDl1S<TNjCk1Y<UNfCj1]<VN`Cj1a<XN]Cf1g<ZNWCe1l<ZNRCe1Q=[NmBe1V=\\NfBd1[=?4M3L4M2M3M6K2M4K4M3M4L2M5L5L8UOk@6e?Kll^5"
+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          512,
+          512
+        ],
+        "counts": "eUf04k?2N2O000O1O100O10000001O2N0000000000000000001N2Nn_21Q`M3N1N1001O000O1000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000001N2Noo12PPN0O2O000000000000000000000001O01O0000000000000000000000000000000000000O01000001O0O3L_ZV5"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/Put_the_mouse_directly_in_front_of_the_keyboard/000486_mask_rle.json b/Manipulation/PlacementRegion/Put_the_mouse_directly_in_front_of_the_keyboard/000486_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..202976a8cc65c4eb57e4783b351c92a41926b697
--- /dev/null
+++ b/Manipulation/PlacementRegion/Put_the_mouse_directly_in_front_of_the_keyboard/000486_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/Put_the_mouse_directly_in_front_of_the_keyboard/000486_image.jpg"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Put the mouse directly in front of the keyboard."
+    ],
+    "task_description_en": [
+      "Put the mouse directly in front of the keyboard."
+    ],
+    "task_description_cn": [
+      "把鼠标放在键盘的正前方"
+    ],
+    "reference_object_description_en": [
+      "mouse"
+    ],
+    "reference_object_description_cn": [
+      "鼠标"
+    ],
+    "placement_region_description_en": [
+      "Right in front of the keyboard"
+    ],
+    "placement_region_description_cn": [
+      "键盘的正前方"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          384,
+          512
+        ],
+        "counts": "_iT53l;2O0O2O00000000000001N2N2Nane0"
+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          384,
+          512
+        ],
+        "counts": "kX^46i;2N2O00001O010O010O010O01O01O010O010O0010O1O01O010O0001O010O0000010O01O100O010O01O10O01N101N2Nefo0"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/Put_the_onion_on_the_plate/EK_0059_P37_101_frame_0000046151_mask_rle.json b/Manipulation/PlacementRegion/Put_the_onion_on_the_plate/EK_0059_P37_101_frame_0000046151_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..c84c610932b03684d99e87a93fb1e505b4369e6c
--- /dev/null
+++ b/Manipulation/PlacementRegion/Put_the_onion_on_the_plate/EK_0059_P37_101_frame_0000046151_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/Put_the_onion_on_the_plate/EK_0059_P37_101_frame_0000046151_image.jpg"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Put the onion on the plate."
+    ],
+    "task_description_en": [
+      "Put the onion on the plate."
+    ],
+    "task_description_cn": [
+      "把洋葱放在盘子里"
+    ],
+    "reference_object_description_en": [
+      "onion"
+    ],
+    "reference_object_description_cn": [
+      "洋葱"
+    ],
+    "placement_region_description_en": [
+      "The inner area of the plate"
+    ],
+    "placement_region_description_cn": [
+      "盘子内部区域"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          1080,
+          1920
+        ],
+        "counts": "mX^i02eQ15L2M2O1O1O1O100O2N3M2M3L4K4K5K5J5J6M3K5L4K5K6K4M3M2N30000000000000000000O100000000O1000000O1000000O100000000O1000000000000000000000000000000000000000000000000O100000000000000O1000000O100O10000O100O100O100O1O100O1O1O1O1O1O1O1O1O1N2O1O1O1N2N2O1N2M3N2M3K5K5F:I7L4I7J^`^Q1"
+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          1080,
+          1920
+        ],
+        "counts": "X[nn0:^Q13M4L3M2N3M3M3M2N2N2N2N2N3M2N2N2N3M2N1O2N1O2N1O2N1O1O2N1O2N1O2N1O2N1O1O1O2N1O1O1O1O1O2N001O1O1O1O1O1O1O1O1O1O1O1O001O1O1O1O001O1O1O001O1O1O001O1O001O1O001O001O001O1O1O001O001O001O001O001O001O001O00001O001O001O00001O00001O00001O001O00001O00001O00001O00001O00001O0000001O0000001O0000001O000000001O00000000001O0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000O100000000000000O10000000000O1000000O10000O1000000O1000000O10000O10000O1000000O10000O100O10000O10000O10000O10000O100O10000O1O100O100O100O1O100O100O100O1O100O100O100O1O1O100O100O1O1O100O1O100O1O1O100O1O1O1O1O100O1O100O1O1O1O1O1O1O1O1O1O1O1O1O1N2O1O1O1O1O1O1O1O1O1O1O1N2O1N2O1O1O1N2O1N2O1N2N2N2O1N2N2O1N2N2O1N2N2N2O1N2M3N2N2M3M3M3M3IogZd0"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/Put_the_photo_album_in_the_bottom_drawer_that_opens/AR_DW3IFMnWSko_12_270_35_mask_rle.json b/Manipulation/PlacementRegion/Put_the_photo_album_in_the_bottom_drawer_that_opens/AR_DW3IFMnWSko_12_270_35_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..153cf45a1f7d13e226d2bc8ff21d3a6ca14216eb
--- /dev/null
+++ b/Manipulation/PlacementRegion/Put_the_photo_album_in_the_bottom_drawer_that_opens/AR_DW3IFMnWSko_12_270_35_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/Put_the_photo_album_in_the_bottom_drawer_that_opens/AR_DW3IFMnWSko_12_270_35_image.jpg"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Put the photo album in the bottom drawer that opens"
+    ],
+    "task_description_en": [
+      "Put the photo album in the bottom drawer that opens"
+    ],
+    "task_description_cn": [
+      "把相册放在最下层打开的抽屉里"
+    ],
+    "reference_object_description_en": [
+      "The photo album on the cabinet"
+    ],
+    "reference_object_description_cn": [
+      "柜子上的相册"
+    ],
+    "placement_region_description_en": [
+      "In the open drawer at the bottom"
+    ],
+    "placement_region_description_cn": [
+      "最下层打开的抽屉里"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      false
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          720,
+          1280
+        ],
+        "counts": "eoo93Zf07I9Fb0YZOoNQe01nZOV1nd09M3M4L4L5KPNe[OQ2Ud0oMk[OU2Qd0kMo[OZ2lc050`MT\\O\\2lc0dMT\\O\\2lc0310R]OaMka0_2U^O`Mla0`2R1`MS\\O]2mc0cMS\\O]2mc03000000000_MS\\O_2mc0aMS\\O_2mc0aMS\\O_2mc0aMS\\O_2mc021OO100001O00O100000000000000000O10000000000000000O100O100O2O1NOfMo[OY2Qd0hMn[OW2Sd030O100O100O101kMi[Oo1[d0nMe[OP2^d0SNl[ON4o0Rd0YOV\\Od0lc0WOY\\Of0ic0XO[\\ONVO`0Qf0HYPl0HooSO00001O000010O10O000000000000O10lli>1PSVA3M3M3L4N2O1O1O1OO20O0000O1N21ZZO"
+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          720,
+          1280
+        ],
+        "counts": "VRQ<6Wf05M3M2N1O2O1N1DCeZO=Ye0GeZO:Ye0HfZO8Ye0`0O100O100O100000000000000000000UBhN^6X1bIhN^6X1bIhN^6X1bIiN]6W1cIiN]6W1cIiN]6W1cIjN\\6V1eIiN[6W1fIiNY6W1gIiNY6V1hIjNX6V1hIjNX6V1hIjNX6U1iIkNW6U1iIkNW6T1jIkNW6U1iIkNW6U1b700000000O10000O100O1000000O1000000O1O100O10000000000000000O1O100O010000O1000000O100O1000O010O1O10O1000000O100O10O100O100O101O001O1O1O1O0O100O100O10000000000000000000000000000000000000000000O100O1000000O010000O1O1000O100O10000000O010O100O100000000000000O2O001N2N2N2N3LgXb0M[g]O6L2N2N2N2O0O2O0000000000000001N2N101N3L4Lc`i:Ka_VE3M3M3L4N2O1O1O1OO20O0000O1N21ZZO"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/Put_the_plastic_bag_in_your_hand_on_the_wooden_pallet/frame_0000073370_mask_rle.json b/Manipulation/PlacementRegion/Put_the_plastic_bag_in_your_hand_on_the_wooden_pallet/frame_0000073370_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..19e7d2f61b56a45bb8a9ed1072da650f2cbf76da
--- /dev/null
+++ b/Manipulation/PlacementRegion/Put_the_plastic_bag_in_your_hand_on_the_wooden_pallet/frame_0000073370_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/Put_the_plastic_bag_in_your_hand_on_the_wooden_pallet/frame_0000073370_image.jpg"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Put the plastic bag in your hand on the wooden pallet."
+    ],
+    "task_description_en": [
+      "Put the plastic bag in your hand on the wooden pallet."
+    ],
+    "task_description_cn": [
+      "把手中的塑料袋放到木质托盘上"
+    ],
+    "reference_object_description_en": [
+      "The plastic bag in hand"
+    ],
+    "reference_object_description_cn": [
+      "手中的塑料袋"
+    ],
+    "placement_region_description_en": [
+      "Wooden Pallet Area"
+    ],
+    "placement_region_description_cn": [
+      "木质托盘区域"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "lUo15j73M4M5J2N2O001N104K2O0O2O0O2N101N1O2O0O101N1O1O11OO1010O1O3M4L2N1O010O001O1O10O01O101N10O100O00IoH@P7?RIAl6`0UI_Ok6`0XI_Og6a0ZI^Of6b0<001O00001N101O00001O00001N2O001O0O2O001O1O1O2N2N1O1O1O1O001O0000O1000O11N100O10000O3N1N2O1N3M3L3N5K2N4K4N1N101M]Yg0"
+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "md^27g73O1N2O0O100O1N2M3M6K3N2N2N1O1O2N101N1O1O2O0N2O2N1O1N2N3N1O2O1N2N2O1N100O1000lNRJ6o5m00O1O1001O1O01O00001O001O000O2N1O2N101O00001N1O2N1N201O001O001O0O1O1O2G8L5N1N3M3M5Kjc>Eb\\A"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/Put_the_red_book_with_letters_printed_on_it_in_the_blank_area_of_the_dressing_table/taskonomy_roane_point_153_view_5_domain_rgb_mask_rle.json b/Manipulation/PlacementRegion/Put_the_red_book_with_letters_printed_on_it_in_the_blank_area_of_the_dressing_table/taskonomy_roane_point_153_view_5_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a18027816b593fa156670eb1dc015826abe769b
--- /dev/null
+++ b/Manipulation/PlacementRegion/Put_the_red_book_with_letters_printed_on_it_in_the_blank_area_of_the_dressing_table/taskonomy_roane_point_153_view_5_domain_rgb_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/Put_the_red_book_with_letters_printed_on_it_in_the_blank_area_of_the_dressing_table/taskonomy_roane_point_153_view_5_domain_rgb_image.png"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Put the red book with letters printed on it in the blank area of the dressing table."
+    ],
+    "task_description_en": [
+      "Put the red book with letters printed on it in the blank area of the dressing table."
+    ],
+    "task_description_cn": [
+      "把红色印有字母的书放在梳妆台面的空白区域"
+    ],
+    "reference_object_description_en": [
+      "A red book with letters printed on it"
+    ],
+    "reference_object_description_cn": [
+      "红色印有字母的书"
+    ],
+    "placement_region_description_en": [
+      "The blank area on the dressing table"
+    ],
+    "placement_region_description_cn": [
+      "梳妆台面的空白区域"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      false
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          512,
+          512
+        ],
+        "counts": "\\kf5i0o>9M2000000000001O0000000000000000000000000001O00001O2N7H9G\\Tj1"
+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          512,
+          512
+        ],
+        "counts": "al^11o?00000O1000000000000000000O1000000O10000000O0100O100O01000O1000000000000O1000O100000000000001OO10000000O2O001NfSe5"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/Put_the_scissors_on_the_dark_green_sofa/hand_left_color_fram_5_mask_rle.json b/Manipulation/PlacementRegion/Put_the_scissors_on_the_dark_green_sofa/hand_left_color_fram_5_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..c07ecb4a59aea02f0018592c535db603de88998d
--- /dev/null
+++ b/Manipulation/PlacementRegion/Put_the_scissors_on_the_dark_green_sofa/hand_left_color_fram_5_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/Put_the_scissors_on_the_dark_green_sofa/hand_left_color_fram_5_image.jpg"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Put the scissors on the dark green sofa"
+    ],
+    "task_description_en": [
+      "Put the scissors on the dark green sofa"
+    ],
+    "task_description_cn": [
+      "把剪刀放在深绿色沙发上"
+    ],
+    "reference_object_description_en": [
+      "Scissors on the table"
+    ],
+    "reference_object_description_cn": [
+      "桌子上的剪刀"
+    ],
+    "placement_region_description_en": [
+      "The area where the dark green sofa leaks out in the upper right corner of the picture"
+    ],
+    "placement_region_description_cn": [
+      "画面右上角深绿色沙发露出的区域"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "jcb66d>8K3N2O0100N2N3M3N2N2N1O1O100N`la2"
+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "cba6;]>:cN\\OZDe0e;IlC8T<3`CO_<3]COc<W10N2M3O1O100O1N200O1O1O100N2N2N2N2N2O1N2O1O1O1N2O1O1N200O1O1O1N200O1O1O1O1O1N2O1O1O1N2O1O1O1N2O1N200O1O1O1O1O10Pi:0PWE0000000000000QY30njW1"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/Put_the_spoon_on_the_right_side_of_the_plate/EK_0148_P28_14_frame_0000006431_mask_rle.json b/Manipulation/PlacementRegion/Put_the_spoon_on_the_right_side_of_the_plate/EK_0148_P28_14_frame_0000006431_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee8ac056a43a96edc28165962f2657adee82611b
--- /dev/null
+++ b/Manipulation/PlacementRegion/Put_the_spoon_on_the_right_side_of_the_plate/EK_0148_P28_14_frame_0000006431_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/Put_the_spoon_on_the_right_side_of_the_plate/EK_0148_P28_14_frame_0000006431_image.jpg"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Put the spoon on the right side of the plate."
+    ],
+    "task_description_en": [
+      "Put the spoon on the right side of the plate."
+    ],
+    "task_description_cn": [
+      "把勺子放在盘子的右边"
+    ],
+    "reference_object_description_en": [
+      "spoon"
+    ],
+    "reference_object_description_cn": [
+      "勺子"
+    ],
+    "placement_region_description_en": [
+      "The right area of the plate"
+    ],
+    "placement_region_description_cn": [
+      "盘子的右边区域"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          1080,
+          1920
+        ],
+        "counts": "Pfh47]Q18I5L3M2N3M2N2O1N2N3L3N2M2N3M3M2O2N2N1O2M2O2M2O1O1N2N1O2M200O1N11L3M3N3M1N]LeNRWOX1nh0ROjVOl0Yi0ZO`VOe0bi0@VVOa0li0ElUO;Wj0IbUO7aj0L[UO0jj04RUOIQk0;jTODYk0>cTO@`k0d0\\TOZOgk0h0UTOXOmk0k0oSOROUl0Q1gSOlN]l0V1_SOjNcl0Y1YSObNnl0_1mRObNUm0a1fRO_N]m0l21L5K4N4L3M3M3N2M3N2N3M2N3M2O2N2O1N2N2N2O1N4L2N3M3M2N3M3M4K5Lb0\\O9G8Gebag1"
+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          1080,
+          1920
+        ],
+        "counts": "g[\\X15]Q1<F7K5K4L4M2M3N3M2N2N2N2N2N101N2N101N2O0O101N101O001N101O3M3M3L3N2N2N2N2N2O1VXOhNP?Y1l@VOh>l0TA\\Of>e0VABf>`0WAW1S=kNhB_1R=bNiBe1S=]NiBi1S=YNhBn1U=SNgBQ2W=RNdBS2Y=nMeBT2[=mMaBW2]=kM_BY2_=hM_B[2`=eM]B^2b=dMZB`2d=aMZBa2f=`MVBd2h=]MVBe2j=[MSBh2l=ZMQBh2o=YMmAi2S>YMiAj2V>WM\\AW3d>jLTA]3k>dLQA`3n>bLf@h3Z?[L\\@m3d?ULT@Q4k?QLo_OS4Q`0oKg_OX4X`0iKd_OZ4\\`0hK__O\\4``0eK\\_O_4c`0bKd^OW5\\a0iJ^^O]5aa0dJg]OT6Xb0g4O2N1O100O1O1O1O100O001O1O1O1O00<D5K5K4L3N3L7I5K4L3M3M3M2N2N5K4L4L3M4L3M3M4L3M3M2N4L4L4L4L3M3M3M2N3M3M3M7I4L2N3M3M3M2N3M3M2N2N2N1O2N2O0O2N1O2N100O1O1O1O1O1O1O00100O001O001O001O001O00001O0000001O00000000000000000000000000000000000000000000000000000000000001O00000000001O00000000000001O00000000001O0001O00000010O001O00010O00000010O0000001O00001O00010O00001O01O01O001O001O001O1O001O1O1O001O1O1O1O1O1O1O2N1O2N2N2N2N2N3M3M3M5R]OTEf>Q;n@iE_>`:RAPFd>g>K7I5K4K4M3M3M4L2N2N3L5LP1PO3M3M4K6K2N4L7H<E5K4K7J6I5L6J5J5K>C5J3N3L6K5J7I5K4L4L5Kf0ZO9ZHiUOZ7aj0WJ_UOn3fj0jKbUOQ4bj0hKfUOS4_j0dKkUOV4Rl0I9F5L5K9F<E4K:F<DP1oN9FQT_;"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/Put_the_towel_on_the_table/AR_9HvbAaq670Y_19_3510_15_mask_rle.json b/Manipulation/PlacementRegion/Put_the_towel_on_the_table/AR_9HvbAaq670Y_19_3510_15_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c3a3c0d00039a388322b2022ba99d5fdd59f0d1
--- /dev/null
+++ b/Manipulation/PlacementRegion/Put_the_towel_on_the_table/AR_9HvbAaq670Y_19_3510_15_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/Put_the_towel_on_the_table/AR_9HvbAaq670Y_19_3510_15_image.jpg"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Put the towel on the table."
+    ],
+    "task_description_en": [
+      "Put the towel on the table."
+    ],
+    "task_description_cn": [
+      "把毛巾放到桌子上面"
+    ],
+    "reference_object_description_en": [
+      "towel"
+    ],
+    "reference_object_description_cn": [
+      "毛巾"
+    ],
+    "placement_region_description_en": [
+      "The area on the table"
+    ],
+    "placement_region_description_cn": [
+      "桌子上面区域"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          720,
+          1280
+        ],
+        "counts": "hema0183de0f0G:^Og0\\O;J5\\OiM`\\OO2\\2\\c0`0M4M2L4K5K5I7K5K5K5J6L4L4J6J6E;O1O100O100000000000000000000000000000000000000000001O0000000000000O100000000000000000000000000O1000O1000000000000000000O10O1000O100000O010000000000O100000O10O100000000O10O100000O100000O0100000000O0100000O10000000O10O10000000O0100000000O01000000000O100000O1000O1000000O01000O100O100O01000O100O10000O01000O10000O01000O100000000O0100000O100000O1000O100000O100000O01000000000O010O1Ck^OWK]a0f48O1M3L3K6L4L4L3G:L4K5J6I6G:D<L4K5J6I7I7K6K4K6I7Jfjo4"
+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          720,
+          1280
+        ],
+        "counts": "hiZ`02^f02N3M2N5K3M2N3M3M2N2O1N2O2N3M1N33MO3L3M1O13K2O000O0010O1O001O2N2N0SOeNe\\O[1[c0gNb\\OZ1^c0hN`\\OX1`c0mNZ\\OT1fc0nNW\\OS1ic0oNT\\OR1lc0QOn[OR1Qd0g0000000000000O100000000O10000000O10O10000000000000000O100O10000000O10O1000O10000O10O10000000000000000O1000O1000O10000O100000000000O10O1000000000000O100000O1000O100000000O10O100000000O010000000000000O1000000000O0100000000O10000000O100000O11OO1000000000O10O1000O100O1O1000O0100O1000000000000000O100000001O001N2O0O2O001N2O001O1O1O1N2O1O001O1O001N101O0000001O0O2O1O0O2O001O001O1N2O1O001O1O001O001O001O2N1O10O00O10000000000000000000001O0000001O001N101O000O2O0O101O0O101O001N101O0000001O0001O00010O10N101O001O001N101O001N101O001O001O001O0O2O00001O00001O1O001N10[ZOJPe06e001O001O1N101O001O00STa4"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/Put_the_towel_on_the_wooden_cutting_board/000000000492_mask_rle.json b/Manipulation/PlacementRegion/Put_the_towel_on_the_wooden_cutting_board/000000000492_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3facc93566d7ccaae098b17d66d116248a5c14a
--- /dev/null
+++ b/Manipulation/PlacementRegion/Put_the_towel_on_the_wooden_cutting_board/000000000492_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/Put_the_towel_on_the_wooden_cutting_board/000000000492_image.jpg"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Put the towel on the wooden cutting board"
+    ],
+    "task_description_en": [
+      "Put the towel on the wooden cutting board"
+    ],
+    "task_description_cn": [
+      "把毛巾放到木质切菜板上"
+    ],
+    "reference_object_description_en": [
+      "The towel in the child's hand"
+    ],
+    "reference_object_description_cn": [
+      "小孩子手上的毛巾"
+    ],
+    "placement_region_description_en": [
+      "Area above the wooden cutting board"
+    ],
+    "placement_region_description_cn": [
+      "木质切菜板上面区域"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          383,
+          640
+        ],
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+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/Put_the_toy_on_the_carpet/000000000155_mask_rle.json b/Manipulation/PlacementRegion/Put_the_toy_on_the_carpet/000000000155_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..a899dbba1cc33276fad7d46f3eac074ce802991c
--- /dev/null
+++ b/Manipulation/PlacementRegion/Put_the_toy_on_the_carpet/000000000155_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/Put_the_toy_on_the_carpet/000000000155_image.jpg"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Put the toy on the carpet"
+    ],
+    "task_description_en": [
+      "Put the toy on the carpet"
+    ],
+    "task_description_cn": [
+      "把玩具放到地毯上"
+    ],
+    "reference_object_description_en": [
+      "Brown toy"
+    ],
+    "reference_object_description_cn": [
+      "棕色的玩具"
+    ],
+    "placement_region_description_en": [
+      "White carpet area"
+    ],
+    "placement_region_description_cn": [
+      "白色的地毯区域"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      false
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
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+          427,
+          640
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+      }
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+      {
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+          427,
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+      }
+    ]
+  }
+}
diff --git a/Manipulation/PlacementRegion/Put_the_white_plate_right_in_front_of_the_microwave_oven/AR_Gwj3piQjES0_0_90_15_mask_rle.json b/Manipulation/PlacementRegion/Put_the_white_plate_right_in_front_of_the_microwave_oven/AR_Gwj3piQjES0_0_90_15_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..2361985c3d15a87bbbab502e23db99f617e5ec6b
--- /dev/null
+++ b/Manipulation/PlacementRegion/Put_the_white_plate_right_in_front_of_the_microwave_oven/AR_Gwj3piQjES0_0_90_15_mask_rle.json
@@ -0,0 +1,57 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/PlacementRegion/Put_the_white_plate_right_in_front_of_the_microwave_oven/AR_Gwj3piQjES0_0_90_15_image.jpg"
+  ],
+  "task_type": [
+    "PlacementRegion"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Put the white plate right in front of the microwave oven"
+    ],
+    "task_description_en": [
+      "Put the white plate right in front of the microwave oven"
+    ],
+    "task_description_cn": [
+      "把白色盘子放在微波炉的正前方"
+    ],
+    "reference_object_description_en": [
+      "The white plate in hand"
+    ],
+    "reference_object_description_cn": [
+      "手中白色的盘子"
+    ],
+    "placement_region_description_en": [
+      "The area directly in front of the microwave oven"
+    ],
+    "placement_region_description_cn": [
+      "微波炉的正前方区域"
+    ],
+    "precise_description": [
+      true
+    ],
+    "placement_feasibility": [
+      false
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          720,
+          1280
+        ],
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+      }
+    ],
+    "masklet_placement_region": [
+      {
+        "size": [
+          720,
+          1280
+        ],
+        "counts": "cS_b09Tf06K4M2N3M2N1O2N2O0O2O0O2O0000001O000000O10001O0O100001N1000001O0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000O10001O0O101N2O0O2N2N2N3M2M5K7EkT93TkF8I5M3L3N2N2O1N2N101N101O0O101O0000000000001O001O00001O01O0000001O00001O01O001O000010O0000001O00001O0000000001O001O000010O00000000001O001O00000001O001O00010O00000001O0000010O010O01O00000001O0000001O000000000000000000000000000000000001O10O0001O00000001O00000100O01O01O00001O001O100O0010O010O00O2K4M4M2N3N1N2O1O1O1O100O1O10000O10O10000O100O100O101N1O1O2N2M2N3L4H8M3K6D<L5Ji`V2"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/Bed_222222_TV/062097_mask_rle.json b/Navigation/GroundDetection/Bed_222222_TV/062097_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bb6ff63748e5174eb1fc65d8281da38fa3204b2
--- /dev/null
+++ b/Navigation/GroundDetection/Bed_222222_TV/062097_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/Bed_222222_TV/062097_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Bed 222222 TV"
+    ],
+    "scene_description_en": [
+      "Bed",
+      "TV"
+    ],
+    "scene_description_cn": [
+      "床",
+      "电视机"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          339,
+          512
+        ],
+        "counts": "Zca14^:2O1N2O0O101cFF^8;aGKZ85TGMO1j83VG0M7c8J^G2K7e8H`Gi0`8XO_Gh0`8YO_Gh0`8YOaGf0_8YObGg0]8ZOcGf0\\8[OdGe0\\8[OdGe0[8\\OdGe0\\8\\O`G\\O1X1^8]OaG[O1X1^8]OdGc0[8^OeGb0[8@cG`0]8k0O100O1O100O100O1000000O1O100O10000O100O100N2O1M3O10000001O00000000O10000O10000O10000O100O10000O10000O100O100O10000O100O1N2L4N2000000000000001O001O001O1O1O001O1O001O0000001O001N2O01O0000000000000001O001O000000000000001O001O00000000O100O10000000000001O00000000001O000000000000000000000000000000000000O10000O1000jMfHS1^8O1O0000001O00000000O100O1N200O1O1O1O1O100000UNfG]1j8N1O10O0001O00000000001O0O101O00000000001O00001O0000001O000000001O0000001O00000010O00O1010O0000O100000001O001O000000001O0000001O01O0000000001N100000001O00001O0000001O00001O0000001O0000001O00000010O000000000O1N1O2I7L4N3OO10010O000O10001O00000000001O001O1LcY:"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/Bed_222222_The_table_farthest_from_the_camera/101131_mask_rle.json b/Navigation/GroundDetection/Bed_222222_The_table_farthest_from_the_camera/101131_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d4f18e37c5ce462111b90420da074760520bd9a
--- /dev/null
+++ b/Navigation/GroundDetection/Bed_222222_The_table_farthest_from_the_camera/101131_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/Bed_222222_The_table_farthest_from_the_camera/101131_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Bed 222222 The table farthest from the camera."
+    ],
+    "scene_description_en": [
+      "Bed",
+      "The table farthest from the camera."
+    ],
+    "scene_description_cn": [
+      "床",
+      "离镜头最远的桌子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "WaX16^:4M4L3M2N3M1O2O5K3M1N5K2N4K101O1N100000O10O100L3L5M3O1O010KVN^Gk1Z8<00O00mMhGk1T8PNkG70i1h7PNXH40[2g7[NYHT1g7lNYHT1g7l001000OO20O1ZMZH]2f7cMZH]2f7cMZH\\2g7dMYH7Of1g7TNZH4Oj1g7RNZH[2f7eMZH42g1e7oMXH2155HJP2h7QNYH2O58h1`7WNXH08i1b7UNYH14j1n7UNRHk1n7VNQHi1`8N00000O2O00^O[NTHd1m7^NQHb1o7cNlG]1S8fNjGZ1k7YN\\HY2c7lMXHU2_7dM`Hm2`7310O1000O010000O10002N5K4L6J4L7I4L1N3N=C4K5L1O001O0O1001O00000UK\\JL5b4]6_O1O1O1O001O1O2N4L3M1N2O1O2N2O0O3M2N3M2N1O1O1O1O2N2N2N2N3M3M3M1O1O2N1mMlGc1e8N1O2N2N1O001O1O1O3M3M2N00000000000000001O001O0O2O10O000O001O1O1O1O2N1O100O100O100O100O10000O100O1000000O10O0100O10000O2O00000O10000000000000O010000O1O100O1O10000O1O100O100O1O2O000O100O10000O10O010000O1000000O101N100000000O10000O100O100O10000O10000O10000000000001O1gMfGU2^8O1O00000000O1O1N2O1O1O1O10000001O0O2O1O1O1O1O1O1O101N001O00001N111N1O001O2N001N2O001O1O1O001O100N102N010N2O10O01O1O1O2M1010O[OhFMX9MoF1S9LoF4T9EQG;d90000000O0N3L5L3M3N2N2O1O1O1O100O100O10000O1001O00001N101O001O1O001O001O001O1O010O1N2O001O001O1O1O001O0O2K5LQF"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/Behind_the_chair_on_the_left_side_of_the_dining_table/41007602_5305.889_mask_rle.json b/Navigation/GroundDetection/Behind_the_chair_on_the_left_side_of_the_dining_table/41007602_5305.889_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffff9257380fd9d8bbfc796063c87669f2c996de
--- /dev/null
+++ b/Navigation/GroundDetection/Behind_the_chair_on_the_left_side_of_the_dining_table/41007602_5305.889_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/Behind_the_chair_on_the_left_side_of_the_dining_table/41007602_5305.889_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Behind the chair on the left side of the dining table."
+    ],
+    "scene_description_en": [
+      "Behind the chair on the left side of the dining table."
+    ],
+    "scene_description_cn": [
+      "餐桌左侧的椅子后面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/Front_of_the_cabinet/000163_mask_rle.json b/Navigation/GroundDetection/Front_of_the_cabinet/000163_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a802da27da45589ae21a8d14b24b2ce9a6d7f82
--- /dev/null
+++ b/Navigation/GroundDetection/Front_of_the_cabinet/000163_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/Front_of_the_cabinet/000163_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Front of the cabinet"
+    ],
+    "scene_description_en": [
+      "Front of the cabinet"
+    ],
+    "scene_description_cn": [
+      "柜子正面"
+    ]
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/Front_of_the_cabinet/002504_mask_rle.json b/Navigation/GroundDetection/Front_of_the_cabinet/002504_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..572eeada5d0590cb8a2e81e7b31bb3eb9e81e739
--- /dev/null
+++ b/Navigation/GroundDetection/Front_of_the_cabinet/002504_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/Front_of_the_cabinet/002504_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Front of the cabinet"
+    ],
+    "scene_description_en": [
+      "Front of the cabinet"
+    ],
+    "scene_description_cn": [
+      "橱柜正面"
+    ]
+  },
+  "mask_annotation": {
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+      {
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+          365,
+          512
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/Fruit_basket/41069134_4086.207_mask_rle.json b/Navigation/GroundDetection/Fruit_basket/41069134_4086.207_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..63d0ee0710aab810ef7a061e3cb412c7606be9bf
--- /dev/null
+++ b/Navigation/GroundDetection/Fruit_basket/41069134_4086.207_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/Fruit_basket/41069134_4086.207_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Fruit basket"
+    ],
+    "scene_description_en": [
+      "Fruit basket"
+    ],
+    "scene_description_cn": [
+      "果篮"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "fUQ73k>9H5L;D8H7J8G9H7H7J7H9G6K6QDnLc;^3J9F7J7H9G:G8G7J9F7J:E6K8G;F7H=D:E7J;D<E>Ae0\\O2M100O100O1O100O1O100O100O100O100O100O1O100O100O010O100O101N100O100O1O100O100O100O100O100O1O100O100O100O100O1O100O100O100O100O1O100O100O100O100O1O100O100O1O100O100O100O1O100O100O100O100O100O1O100O100O100O1O100O100O100O1O100O1O10000O011N1O1000O1O10RM"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/Green_plants/41069165_2025.758_mask_rle.json b/Navigation/GroundDetection/Green_plants/41069165_2025.758_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fcec29d28c554489fb54d8f2b772a7b56a570f9
--- /dev/null
+++ b/Navigation/GroundDetection/Green_plants/41069165_2025.758_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/Green_plants/41069165_2025.758_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Green plants"
+    ],
+    "scene_description_en": [
+      "Green plants"
+    ],
+    "scene_description_cn": [
+      "绿植"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/In_front_of_the_cabinet/41048113_8797.177_mask_rle.json b/Navigation/GroundDetection/In_front_of_the_cabinet/41048113_8797.177_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..0be90d4a51fe8b714df8c34b56812cae4897453e
--- /dev/null
+++ b/Navigation/GroundDetection/In_front_of_the_cabinet/41048113_8797.177_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/In_front_of_the_cabinet/41048113_8797.177_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "In front of the cabinet"
+    ],
+    "scene_description_en": [
+      "In front of the cabinet"
+    ],
+    "scene_description_cn": [
+      "柜子的面前"
+    ]
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+          480,
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/In_front_of_the_chair/40966448_513.524_mask_rle.json b/Navigation/GroundDetection/In_front_of_the_chair/40966448_513.524_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..944dcd8608079fdf86e820476faba87ac1ca66ef
--- /dev/null
+++ b/Navigation/GroundDetection/In_front_of_the_chair/40966448_513.524_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/In_front_of_the_chair/40966448_513.524_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "In front of the chair"
+    ],
+    "scene_description_en": [
+      "In front of the chair"
+    ],
+    "scene_description_cn": [
+      "椅子面前"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/In_front_of_the_chair_with_brown_armrests/40776203_960.562_mask_rle.json b/Navigation/GroundDetection/In_front_of_the_chair_with_brown_armrests/40776203_960.562_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee0b0c66aee67f19d37781c5572de2dba693019b
--- /dev/null
+++ b/Navigation/GroundDetection/In_front_of_the_chair_with_brown_armrests/40776203_960.562_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/In_front_of_the_chair_with_brown_armrests/40776203_960.562_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "In front of the chair with brown armrests"
+    ],
+    "scene_description_en": [
+      "In front of the chair with brown armrests"
+    ],
+    "scene_description_cn": [
+      "棕色扶手的椅子正前方"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/In_front_of_the_clothes_hanger/41007602_5301.389_mask_rle.json b/Navigation/GroundDetection/In_front_of_the_clothes_hanger/41007602_5301.389_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..31909ca7faa492a7870154e42036bd725750d1ea
--- /dev/null
+++ b/Navigation/GroundDetection/In_front_of_the_clothes_hanger/41007602_5301.389_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/In_front_of_the_clothes_hanger/41007602_5301.389_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "In front of the clothes hanger"
+    ],
+    "scene_description_en": [
+      "In front of the clothes hanger"
+    ],
+    "scene_description_cn": [
+      "衣架前"
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/In_front_of_the_faucet/41007602_5317.388_mask_rle.json b/Navigation/GroundDetection/In_front_of_the_faucet/41007602_5317.388_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..96602d7f2d37c798dbfd18d9968151fe3b63c253
--- /dev/null
+++ b/Navigation/GroundDetection/In_front_of_the_faucet/41007602_5317.388_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/In_front_of_the_faucet/41007602_5317.388_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "In front of the faucet"
+    ],
+    "scene_description_en": [
+      "In front of the faucet"
+    ],
+    "scene_description_cn": [
+      "水龙头前"
+    ]
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+          480,
+          640
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/In_front_of_the_gray_chair/41048129_9836.362_mask_rle.json b/Navigation/GroundDetection/In_front_of_the_gray_chair/41048129_9836.362_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..b145e6289a3c4e5ef05466b5472ceebaf41d3e19
--- /dev/null
+++ b/Navigation/GroundDetection/In_front_of_the_gray_chair/41048129_9836.362_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/In_front_of_the_gray_chair/41048129_9836.362_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "In front of the gray chair"
+    ],
+    "scene_description_en": [
+      "In front of the gray chair"
+    ],
+    "scene_description_cn": [
+      "灰色椅子面前"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
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+          480,
+          640
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/In_front_of_the_imperial_concubine_s_couch/41007602_5345.388_mask_rle.json b/Navigation/GroundDetection/In_front_of_the_imperial_concubine_s_couch/41007602_5345.388_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..9537c9c7be8a19c7b0bc0763a8e5a482f328976e
--- /dev/null
+++ b/Navigation/GroundDetection/In_front_of_the_imperial_concubine_s_couch/41007602_5345.388_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/In_front_of_the_imperial_concubine_s_couch/41007602_5345.388_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "In front of the imperial concubine's couch"
+    ],
+    "scene_description_en": [
+      "In front of the imperial concubine's couch"
+    ],
+    "scene_description_cn": [
+      "贵妃榻前"
+    ]
+  },
+  "mask_annotation": {
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+          480,
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/In_front_of_the_trash_can/41007591_2639.724_mask_rle.json b/Navigation/GroundDetection/In_front_of_the_trash_can/41007591_2639.724_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..78ce1efc1cd22f40d589376bed52b1fb510e8bbb
--- /dev/null
+++ b/Navigation/GroundDetection/In_front_of_the_trash_can/41007591_2639.724_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/In_front_of_the_trash_can/41007591_2639.724_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "In front of the trash can"
+    ],
+    "scene_description_en": [
+      "In front of the trash can"
+    ],
+    "scene_description_cn": [
+      "垃圾桶前"
+    ]
+  },
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+          480,
+          640
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/In_front_of_the_white_chair/41048147_4994.536_mask_rle.json b/Navigation/GroundDetection/In_front_of_the_white_chair/41048147_4994.536_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfdc4e876e06fa027f8ac261fafb273e494f4992
--- /dev/null
+++ b/Navigation/GroundDetection/In_front_of_the_white_chair/41048147_4994.536_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/In_front_of_the_white_chair/41048147_4994.536_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "In front of the white chair"
+    ],
+    "scene_description_en": [
+      "In front of the white chair"
+    ],
+    "scene_description_cn": [
+      "白色椅子面前"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/In_front_of_the_white_desk_lamp/41048120_8837.076_mask_rle.json b/Navigation/GroundDetection/In_front_of_the_white_desk_lamp/41048120_8837.076_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c97da64abbb760ad67607502ab2c51dfddc63fc
--- /dev/null
+++ b/Navigation/GroundDetection/In_front_of_the_white_desk_lamp/41048120_8837.076_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/In_front_of_the_white_desk_lamp/41048120_8837.076_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "In front of the white desk lamp"
+    ],
+    "scene_description_en": [
+      "In front of the white desk lamp"
+    ],
+    "scene_description_cn": [
+      "白色台灯前"
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/In_front_of_the_white_desk_lamp/41048180_2394.290_mask_rle.json b/Navigation/GroundDetection/In_front_of_the_white_desk_lamp/41048180_2394.290_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1f7783d6e6673d89517f1470f2f3cca0d34472f
--- /dev/null
+++ b/Navigation/GroundDetection/In_front_of_the_white_desk_lamp/41048180_2394.290_mask_rle.json
@@ -0,0 +1,30 @@
+{
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+    "EPIC_Bench/Navigation/GroundDetection/In_front_of_the_white_desk_lamp/41048180_2394.290_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "In front of the white desk lamp"
+    ],
+    "scene_description_en": [
+      "In front of the white desk lamp"
+    ],
+    "scene_description_cn": [
+      "白色台灯面前"
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+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/Multiple-person_sofa222222television/065800_mask_rle.json b/Navigation/GroundDetection/Multiple-person_sofa222222television/065800_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..de555e136b6a78e951e2b164dcbe8870323d2047
--- /dev/null
+++ b/Navigation/GroundDetection/Multiple-person_sofa222222television/065800_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/Multiple-person_sofa222222television/065800_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Multiple-person sofa222222television"
+    ],
+    "scene_description_en": [
+      "Multiple-person sofa",
+      "television"
+    ],
+    "scene_description_cn": [
+      "多人沙发",
+      "电视机"
+    ]
+  },
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+          512
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/One_corner_of_the_table_is_against_the_bed/40776203_958.562_mask_rle.json b/Navigation/GroundDetection/One_corner_of_the_table_is_against_the_bed/40776203_958.562_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..d866ede68c43318577ed5b25b88f048c061e2bf8
--- /dev/null
+++ b/Navigation/GroundDetection/One_corner_of_the_table_is_against_the_bed/40776203_958.562_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/One_corner_of_the_table_is_against_the_bed/40776203_958.562_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "One corner of the table is against the bed"
+    ],
+    "scene_description_en": [
+      "One corner of the table is against the bed"
+    ],
+    "scene_description_cn": [
+      "桌子靠床的一角"
+    ]
+  },
+  "mask_annotation": {
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+      {
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+          480,
+          640
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/Prison_Gate_No._24/1167_mask_rle.json b/Navigation/GroundDetection/Prison_Gate_No._24/1167_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..8716b15fd72167f89d8fb33b9d5d98de951385f6
--- /dev/null
+++ b/Navigation/GroundDetection/Prison_Gate_No._24/1167_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/Prison_Gate_No._24/1167_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Prison Gate No. 24"
+    ],
+    "scene_description_en": [
+      "Prison Gate No."
+    ],
+    "scene_description_cn": [
+      "号监狱大门"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          600,
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+  }
+}
diff --git a/Navigation/GroundDetection/Table_222222_Television/062656_mask_rle.json b/Navigation/GroundDetection/Table_222222_Television/062656_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..0614f2c94247b0adcd156b41e181e069b1ff07d8
--- /dev/null
+++ b/Navigation/GroundDetection/Table_222222_Television/062656_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/Table_222222_Television/062656_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Table 222222 Television"
+    ],
+    "scene_description_en": [
+      "Table",
+      "Television"
+    ],
+    "scene_description_cn": [
+      "桌子",
+      "电视机"
+    ]
+  },
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_behind_the_person/row_1890_col_image_mask_rle.json b/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_behind_the_person/row_1890_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..0aae076fb3f6f436c57556c140b89300b4f94d62
--- /dev/null
+++ b/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_behind_the_person/row_1890_col_image_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_behind_the_person/row_1890_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The area at the bottom of the wall behind the person"
+    ],
+    "scene_description_en": [
+      "The area at the bottom of the wall behind the person"
+    ],
+    "scene_description_cn": [
+      "人后方的墙面底部区域"
+    ]
+  },
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_between_the_wall_lamp_farthest_from_the_camera_and_the_door/row_1214_col_image_mask_rle.json b/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_between_the_wall_lamp_farthest_from_the_camera_and_the_door/row_1214_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..11cbe3b80c87a0ecf0142d25363285f8f90c3102
--- /dev/null
+++ b/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_between_the_wall_lamp_farthest_from_the_camera_and_the_door/row_1214_col_image_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_between_the_wall_lamp_farthest_from_the_camera_and_the_door/row_1214_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The area at the bottom of the wall between the wall lamp farthest from the camera and the door"
+    ],
+    "scene_description_en": [
+      "The area at the bottom of the wall between the wall lamp farthest from the camera and the door"
+    ],
+    "scene_description_cn": [
+      "离镜头最远的壁灯和门之间的墙壁底部区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          400,
+          300
+        ],
+        "counts": "iP56Y<4L5L3M3L4M4K4hKTOfLo0V3TOkH0c3P1_3oNoH;X3j0e3kNRIc0Q3f0j3gNVIl0f2`0Q4eNXIS1^2<W4`N\\I^1S26\\4]NaIe1j11c4[NbIk1d1Ki4ZNcIV2Y1@T5ZNcI^2P1YO]5YNcIh2f0oNg5YNcIP3=hNP6XNcIW36aNW6XNcIZ32_NZ6XNdIY31`N[6WNdIY31`N[6WNdIY30aN\\6VNdIY30aN\\6VNdIX31bN[6VNdIX30cN\\6UNdIW31dN[6TNeIX3OeN\\6SNeIX3OeN\\6TNdIV31fN]6QNcIY3OgNh6W1YIiNg6W1XIjNi6U1WIkNj6S1WImNi6S1VInNj6Q1WIoNi6Q1VIPOj6P1VIPOj6o0VIQOk6o0UIROj6m0VITOj6l0VITOj6k0VIUOk6QNYIX2LHk6mM]IX2IKl6jM\\I[2GLo6fM\\I]2EMP7eM\\I\\2D0a7O_H1a7N_H3b7L^H4c7J]H7d7H\\H8e7F[H;e7E[H;f7C[H=f7BYH?h7_OYHa0g7_OXHb0i7]OWHc0j7[OVHf0k7YOUHg0k7XOUHi0l7VOTHj0m7TOTHl0m7SORHn0o7PORHP1n7POQHQ1o7oNQHQ1o7nNQHS1n7nNRHR1n7mNRHT1n7lNRHT1n7kNRHV1m7kNSHU1m7jNSHW1m7iNSHW1m7hNTHX1k7iNTHX1l7gNUHY1k7gNTHZ1l7fNTHZ1l7eNTH\\1l7cNUH\\1m7cNRH^1n7bNRH^1n7aNRH`1n7`NRH`1n7_NSHa1m7_NRHc1m7\\NTHd1l7\\NSHe1m7ZNTHf1m7YNRHh1W8nMjGR2_8eM`G\\2Q9RMPGn2X9100O10000O10O10O101N100O100O100O100O10000O1O1O1O100O100O1O10000O1000000O100000000O10000O10000O1O100O1O10000O100O100O100O100O100O10000O100O0010001N100O100O100O10000O100O100O100O10000O10000O100O1O100O1000000N2N2O1O1O100O10000000000000000000000O1O100O100O10O10O101N10000O100000000O11N100001O000000000O1000000001O0000001OO11VMlH6T7@cI3]6CnI<S6]OSJc0m5VO[Ji0f5TO\\Jl0d5RO_Jm0b5aNoJ_1R8O001O001O001O1O001O001O001O001O001O1ROUE4O"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_directly_below_the_black_photo_frame/row_122_col_image_mask_rle.json b/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_directly_below_the_black_photo_frame/row_122_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc3469744043dc6f944bb536e60283169c1ad34d
--- /dev/null
+++ b/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_directly_below_the_black_photo_frame/row_122_col_image_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_directly_below_the_black_photo_frame/row_122_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The area at the bottom of the wall directly below the black photo frame"
+    ],
+    "scene_description_en": [
+      "The area at the bottom of the wall directly below the black photo frame"
+    ],
+    "scene_description_cn": [
+      "黑色相框正下方墙壁底部区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          294,
+          294
+        ],
+        "counts": "V7o1W7000001O0000000000000001O00O100000000000O101OO1000000000000000O10000000000001O000000O1000000000000000000002N9G1O1O0000000000O1000000O10000000000007J6H5L1O0000N2O2M2O100001O001O00001O001O00001O1O001O001O002N3M4L2N2N001O00O100O1000O010O1O10O010O010O1O0100O2O001N101N101O001EYG4n8O2N1NbP40^oK2U[W1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_directly_below_the_corner_where_the_bathtub_is_adjacent_to_the_sink/row_163_col_image_mask_rle.json b/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_directly_below_the_corner_where_the_bathtub_is_adjacent_to_the_sink/row_163_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..15d643a20c730ed09a0ffea82c682ef85147dc2a
--- /dev/null
+++ b/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_directly_below_the_corner_where_the_bathtub_is_adjacent_to_the_sink/row_163_col_image_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_directly_below_the_corner_where_the_bathtub_is_adjacent_to_the_sink/row_163_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The area at the bottom of the wall directly below the corner where the bathtub is adjacent to the sink"
+    ],
+    "scene_description_en": [
+      "The area at the bottom of the wall directly below the corner where the bathtub is adjacent to the sink"
+    ],
+    "scene_description_cn": [
+      "浴缸靠近洗手池的角正下方的墙壁底部区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          256,
+          256
+        ],
+        "counts": "og61n7100O100O100O100O100O100O100O100O100O100O100O100O100O100O100O100O100O100O100O10000O100O100O100O100O10000O10000O100O10O0100O10001N100O1O100O100O100O100O10O11N1000000000000001O001O00001O001O001O001O001O1O001O0O2O1O001O010O001O1O1[OmH;\\70001O00000000O1O1N2O100001O001N10010O001O00001O001O001O001O1O1O1O1O001O1N2OSPc0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_directly_below_the_right_curtain/row_142_col_image_mask_rle.json b/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_directly_below_the_right_curtain/row_142_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..c956f66efa711c51a2641daae1d9c89d9c985afe
--- /dev/null
+++ b/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_directly_below_the_right_curtain/row_142_col_image_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_directly_below_the_right_curtain/row_142_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The area at the bottom of the wall directly below the right curtain"
+    ],
+    "scene_description_en": [
+      "The area at the bottom of the wall directly below the right curtain"
+    ],
+    "scene_description_cn": [
+      "右边窗帘正下方墙壁底部区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          256,
+          256
+        ],
+        "counts": "ko24i74M2N2N2N200O1000000000000O1000000000000001O0000O100000O11OO10000001O01O00000000O1000000000000000000001OO1000000001O000O3N4L7IeW27``MH[7b0^Oa0M3O10000O100O10000O11O0000000000O1000000000000O1GdNnI\\1Q6gNmIY1S6iNjIX1V690000O100000000000000000000000000000000000000000000000000000000000000000000O1001OO100000000000000000000000000000000000000000000000000000000000000000000000000000000001O001O2N2N2N2N1O2N2N2N2ZO\\ILf60^INc60^I0c6N_I1b6M_I2c6J`I7T7000O100K5M3J6N2O11O001O1O1O1O1O1O001O1O1O1O1O1O1O1N2O100O4L1O1O002N1NS`1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_directly_below_the_toilet_s_water_supply_pipe/row_129_col_image_mask_rle.json b/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_directly_below_the_toilet_s_water_supply_pipe/row_129_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..af8662e9468cf5a5d4285707e23a8ae08d35643c
--- /dev/null
+++ b/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_directly_below_the_toilet_s_water_supply_pipe/row_129_col_image_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_directly_below_the_toilet_s_water_supply_pipe/row_129_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The area at the bottom of the wall directly below the toilet's water supply pipe"
+    ],
+    "scene_description_en": [
+      "The area at the bottom of the wall directly below the toilet's water supply pipe"
+    ],
+    "scene_description_cn": [
+      "马桶抽水管正下方的墙壁底部区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          1600,
+          1200
+        ],
+        "counts": "TPW5=aa16J9G;F;F4K7J6J6J4L6J3L`0B4K5K6J6J3L6K4K5L4L3M4K6K2N2N9F6K8H7I4L4L00000000000O100000iKhdNPNF_3b[1RN`eNl1`Z1SNdeNj1\\Z1UNfeNj1ZZ1SNjeNl1VZ1mMSfNQ2mY1gM]fNW2cY1fMbfNX2^Y1eMffNZ2[Y1aMkfN]2WY1RMYgNm2o[1N1O001O1O1O1O1O1O001O1O001O1O001O1O001O1O001O001O00001O00001O00001O00001O00000000001O0000001O00000000001O0000000000001OO1000000000000000000000000O1000000000000N2N2O1O100000000000000000000000000000000O10000000000eKhMmhNY2QW1nMjhNR2UW1YN`hNh1`W1\\N\\hNd1dW1^NYhNc1fW1aNWhN_1iW1jNmgNW1SX1QOegNo0[X1UO`gNl0`X1YOZgNh0eX1^OUgNc0kX1CnfN>RY1FifN;WY1HdfN:\\Y1I`fN8`Y1J^fN6aY1M\\fN4dY1NYfN3gY1OVfN2jY11RfN0nY11PfN0PZ12meNOSZ12keNOUZ13geNOYZ13ceNO]Z13^eN0aZ16VeNNjZ1d3000000O1000000O10000000000O10000000000O1000000000000O1000000000000000000000000O10000O1000000O10000000000000000O100000000000000O1000000000000O1000000000000O1000000O10000000000O100000000O10000000000000000O1000000000000000000O10000000000O10000000000O10000000000000000001O001O1O001O1O1O001O1O1O1O1O1O1O1O1O1O1O1O2N1O1O1O001O1O001O001O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O001O2N001O1O1O001O2N1O1O001O2N1O1O1O1O2N1O1O001O1O001O1O1O1O1O1O1O1O1O1O1O1O1O1O001O1O2N1O1O001O1O1O1O1O1O1O1O1O1O1O1O00001O1O001O1O001O1O1O001O1O1O1O1O1O001O1O001O1O1O001O1O1O1O1O1O1O1O1O1O2N1O2N2N1O3M2N2N2N2N1O1O1O2N1O1O2N1O1O2N1O1O1O2N1O2N1O1O1O1O1O1O1O001O1O1O1O1O001O001O001O001O001O00001O000000001O0000001O0000001O001O00001O001O00001O001O1O001O001O1O1O1O001O1O1O2N1O1O1O2N1O2N2N2N3M3M4LZd_i0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_directly_below_the_towel/row_167_col_image_mask_rle.json b/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_directly_below_the_towel/row_167_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5e5bd0bf16f2b6e4ed499946ca554a0b9dd0568
--- /dev/null
+++ b/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_directly_below_the_towel/row_167_col_image_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_directly_below_the_towel/row_167_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The area at the bottom of the wall directly below the towel"
+    ],
+    "scene_description_en": [
+      "The area at the bottom of the wall directly below the towel"
+    ],
+    "scene_description_cn": [
+      "毛巾正下方墙壁底部区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          1600,
+          1200
+        ],
+        "counts": "elS7b0[a1]1cN;C:Fa0UaNnLm]1S4_O=Dk0UOc0]Oi0XO<D?WeNaHSZ1g7N2O1O1O003M000001O001O1O1O1aIdfNX4\\Y1`KUgNjNVOn4fY1SLngNf3SX1ULXhNd3jW1WL]hNe3dW1XLahNe3`W1XLehNe3\\W1YLhhNd3ZW1WLlhNf3UW1WLohNg3RW1WLRiNf3PW1TLViNj3bZ1N2N1O2N1O1O1O2N1O1O1O2N1O001O1O1L301N2O0010O01O00000000001O03M000000000000000000000000M33M00000000000000000O1000000000000000000000000O10000000000O1000000O100000000O10000000000000000O1000000O1000000O10000O10000000000O10000O1000000O1000000O10000000000O10000O10000O1000M21000000O10000O4M0O100O1mKeLaiN[3\\V1nL]iNS3aV1UMYiNk2eV1\\MUiNe2iV1bMRiN^2lV1hMohNY2PW1mMkhNS2SW1QNjhNP2UW1SNhhNn1WW1UNfhNl1YW1XNchNi1\\W1_N]hNa1aW1gNWhN[1hW1gNVhNZ1hW1jNUhNW1iW1oNQhNS1mW1YOhgNh0VX1^OdgNd0ZX1E\\gN>bX1IVgN:hX1`4O1O1O1O10000O1000000O100000000O1000000O10000000M301O002N1O1O1O2N4L3M3L4M3N3L21ON1O2N1O1O1O001O1O001O001O00001O00001O000000001O00000000001O000000000000O10000000000000M300O01000001O0000003L1000000O10000O1O10000O10000O1O1O1O1O1N2N2N2N2N2M3M3N2L4J6K5M3N2M3M3N2O1O100O100O10000O10000O1000000ON3000000000O103M0000000O100000000O100000000O1000000000000O100000000O1000000000000O100000000O1000000000000O10000000M300000O10000000000O10000000000000000O1000003M00000O100000000O1000000000000O1000000000000O1000000000000O100000000O100000000O10000000000O1000000000000O10000000000O1000000000000O10000000000O100000000O10000000000O100000000O100000000O10M300O10O10000000000O2O003M00000000000000000O1000000000000O10000000000O100000000O1000000000000O100000000O1000000O1000000O10000000000000000O100000000000000O100000000000000O100000000O100000000O100000000O10000000000O1000000000000O10000000M3000000O100000001O001O001O10O01O1O1O001O12ON1O1O001O1O1O1O1O1O1O1O001O1O1O1O1O1O1O001O1O1O001O1O1O1O001O1O1O1O1O001L4O1O1O1O1O1O001O1O1O12NO001O1O1O1O1O1O001O1O1O1O001O1O001O1O1O1O001O1O1O1O1O1O1O001O1O1O1O001O1O1O1O001L42NO1O1O1L301O1N2O1O100O1O1O1O1O12NO1O1O1O1O1O1O1O1O1O1O1O1O1O001O1O1O1O1O001O1O1O1O001O1O2N1O1O1O001O1O1O1O1O1O1O001O1O1O1O1O001L4O1O1O1O1O001O1O1O1O03NO1O1O1O1O1O1O001O1O1O1O1O1O1O1O001O1O1O001O1O1O1O001O1O1O1O1O001O1O1O1O1O1O1O1O1O1O1O1O1O001O2K4O1O1N2O1O0010O00012NO001O1O1O1O001O1O1O001O1O1O1O1O1O1O1O2N1O1O001O1O1O1O1O1O1O1O1O1O1O1O1O001O1O001O1O1O001O1O001L4O1O1O12NO1O1O1O1L3012NO1O1O1O1O002N1O001O2N1O1O1O1O1O1O001O001O001O001O1O1O1O001O1O1O001O1O1O1O1O1O1O1O1O1O1O1O1O2N1O001O1O1O1O1O1O1O1O1O002N1O001O1O1O001O001O1O001O1O1O1O1O2N2N2J8JoPb1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_directly_below_the_window/row_125_col_image_mask_rle.json b/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_directly_below_the_window/row_125_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..352094c90634a8a163c3d0e4b6334d3b2a85f475
--- /dev/null
+++ b/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_directly_below_the_window/row_125_col_image_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_directly_below_the_window/row_125_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The area at the bottom of the wall directly below the window"
+    ],
+    "scene_description_en": [
+      "The area at the bottom of the wall directly below the window"
+    ],
+    "scene_description_cn": [
+      "窗户正下方墙壁底部区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          225,
+          300
+        ],
+        "counts": "jfR13i66K4J6L4I7M3M3N2N20000000000000000000000000O1000010O000000000O10000000O101O00O11OO110O0_O`JA`5:e0O200O10000O101O0O10000000001N101O1O3M^n`0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_near_the_corner_directly_ahead/row_166_col_image_mask_rle.json b/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_near_the_corner_directly_ahead/row_166_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6dee28a303b1e5aeb08e5a7940a9a8eb142e099
--- /dev/null
+++ b/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_near_the_corner_directly_ahead/row_166_col_image_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_near_the_corner_directly_ahead/row_166_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The area at the bottom of the wall near the corner directly ahead"
+    ],
+    "scene_description_en": [
+      "The area at the bottom of the wall near the corner directly ahead"
+    ],
+    "scene_description_cn": [
+      "正前方靠近墙角的墙壁底部区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          960,
+          1280
+        ],
+        "counts": "o]_41nm01O1O1O100O1O100O100O1O1O100O1O100O1O1O1O1O1O1O1O1N2O1N2O1O1O1N2O1O1N2O1N2O1N2M3N2000000O100O1O1O100O1O1O1O100O1O1O100O1O1O100O1O100O1O1O100O1O1O100O100O1O1O1O100O1O100O100O1O1O1O100O1O1O10000O10000000000001O1O00001O1O001O001O001O00001O000000001O0000001O0000000000001O0000000000000000O11O001O006J9G2N1O1O001O1O1O001O00001O001O00001O00000000000000000000000000000000000000000000000000000000000000000000000000000000001O0000000000001O0000001O00000000000000000000000000000000000000000000000000000000000000000000000000000000O1000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000kLiNaYOW1\\f0nNaYOS1^f0POiVODb2\\1df0\\OVYOd0hf0DRYO<mf0GQYO9of0GPYO:of02fXONYg08aXOI^g0;_XOE`g0a0ZXO@eg0e0VXO\\Oig0i0SXOWOlg0m0PXOTOog0R1kWOoNTh0V1hWOjNWh0Y1fWOhNYh0[1dWOfN[h0]1bWOdN]h0_1`WObNRe0\\Nm]OV3nL_NUe0]Ni]OW3QM\\NUe0^Nh]OY3QMZNVe0_Ng]OY3QMYNXe0_Ne]OU5Zb0mJd]OT5[b0mJc]OU5\\b0mJb]OT5]b0mJb]OT5]b0nJa]OS5^b0oJ_]OS5_b0oJ_]OS5ab0nJ]]OS5bb0nJ]]OS5bb0oJ[]OS5db0oJZ]OR5fb0nJY]OS5fb0oJX]OR5gb0PKW]OQ5hb0PKW]OQ5hb0QKV]OP5jb0QKU]Oo4jb0RKU]Oo4jb0SKT]On4kb0TKS]Om4lb0TKT]Ol4lb0UKR]Ol4mb0VKQ]Ok4nb0WKP]Oj4Pc0WKn\\Oj4Qc0WKo\\Oi4Qc0XKm\\Oi4Sc0XKk\\Oi4Tc0ZKh\\Oh4Xc0YKg\\Og4Yc0ZKe\\Og4[c0[Kb\\Of4^c0\\K^\\Of4bc0[K[\\Og4fc0ZKW\\Og4ic0\\KR\\Of4nc0]Km[Oe4Sd0_Ke[Oe4[d0`2001O000000000000000000001O00001O000000001O000000000000001O0000001O0000000000001O0000000000001O00000000000000001O0000O1000000O100O100O1O1O1O1O1O1O1O100O1O1O1O100O1O1O100O1O1O1O1000000O1001O0000000000001O000000000000001O0000001O0000000000001O0000001O00001O000000000000000000000N20000000001O02N0000000001O0000001O00000N200011N000000000000N31N00000000000001O000000001O000000000000001O000000000000000N201O000000001O0000001O0000000002N01O000000001O00001O00000000000000000000001O0000000000001O00000000001O00000000001O0000000000001O00000000001O00000000000000001O0000000000001O0000000000001O00000000001O0000000000001O0000000000001O00000000000000001O000N20001O02N00000001O00001O000N20000000001O000000000000001O0O100000001O000000010O00000000000000001O000000000000001O0002N01O0000001O00`0YHeZOi5Sg0F4L4L6J;E3M3M3M3M2N1O2N3M2N2N2N1O2N1O1O2N1O1O2N1O1O1O2N1O1O1O1O2N1M3O1O1O001O1O1O1O1O1O1O1O1O1O11OO001O1O001O1O1O001O1O1O001O001O1O1O001O1O001O001O001O001M3O001O0011N01O001O001O1O0N3O02OO001O001O1O001O00001O001O00001O00001O001O00001O1O00001O00001O00001O0N3O001O00001O00001O0011N00N3O00001O00001O00001O001O001O001O001O001O001O0011N01O000N201O000000001O000000000000001O000000001O00000000001O0000001O02N0001O0000001O0000001O00001O000000001O000000001M22N00000001O000N20001O000000001O000000001O02N00000001M22N00000001O00000000001O00001O00001O0000001O00000000000000001O0000001O000000001O0000001O0000001O000000001O0000001O0000001O00000000001O00000N2000000011N00N3O0000001O000000001O0000001O00001O00000000001O00000000\\RO"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_to_the_left_of_the_trash_can/row_123_col_image_mask_rle.json b/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_to_the_left_of_the_trash_can/row_123_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c53efa23d309bb46a7ec0c7c439e1caea21b58a
--- /dev/null
+++ b/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_to_the_left_of_the_trash_can/row_123_col_image_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_to_the_left_of_the_trash_can/row_123_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The area at the bottom of the wall to the left of the trash can"
+    ],
+    "scene_description_en": [
+      "The area at the bottom of the wall to the left of the trash can"
+    ],
+    "scene_description_cn": [
+      "垃圾桶左边墙壁底部区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          817,
+          1050
+        ],
+        "counts": "Z`0256L8=IN`0J2N]Ol03BS1@0[`0dNh_O6L8=IN`0J2N]Ol03BS1@0Y`0Ij_O`217T`0Y5O2O1O0O10O11O000O100000O1O11O1O0O100000000O100000N20O1000000000000O100000000O100000002M10000000000O10000000000O01O100000O100000000O10000000000O100000000O10000000001OO10O100000001O1N1000000O10000000O001001O1O00000O100000000000000O10O100O1000O2O00001O0O100000000O10000000000O1000000000000O1000000000000O1000000O10O1O10000000O10001O0000O10000O0100000001O0O100000000000000003M3M2N5K1O001O000000001O000000001O000000001O02N00000001O000000000000000000000000000000000000000000O10000O100000000O100000000O10000O1000000O100O10000O100O1O1O1N2N2M3G9J6N2O100O10000000000O1000000O100000000000O1O10O2O0000000O10001O0O10000000000O1000000000000O100000000O01001O000000000O100000000000000O100000000O100000000O1000000O1000N20O1000000O1000000O1000002N0O100000000000000O10000000O1000O10O1000000000001O1O1O3M9G7I3M3M3M2N2N2N1O2N1O2N2N1O2N1O2N2N1O1O1O1O1O1O1O1O1RJT@U2m?fMY@X2h?fMZ@Y2g?cM^@[2b?cMa@\\2`?bMc@\\2^?`Mf@_2[?^Mh@a2X?]Mk@b2V?[Ml@e2U?XMm@h2T?UMo@j2S?RMo@n2Q?oLSAP3n>lLUAU3l>fLXAZ3h>dLYA\\3g>bL\\A]3e>aL\\A_3d>_L_A`3b>^L`Aa3`>\\LcAd3^>YLeAf3]>VLeAj3[>TLhAk3[>PLgAP4[>kKhAU4Y>iKhAW4Z>cKkA\\4Z>\\KiAd4]>PKiAP5\\a001O000000000000001O000000000O2N100000000000001O0002N00000000000000000000000000000000N2000000000000000000000000000O10000000000000000O101O1O000000O001001O000000O01000001O1O000O01000000000O2O000000000O100000000O1000O1O1000O100000000O100000000O100000001N2O00O010O100000001O1O2O2M1O2N101N1O2N2M2N3N2N2O2N3L1O2N3M2N2N:F1O1O1O2N2N2N7I5Kc0]O8H3M2N2N2N2N2N2N1O001O2N1O1O1O1O001O1O001O001O1O001O001O1O001O001O001O001O00001O001O1O1O0000001O0000001O0000001O001O00001O000N20001O0000001O0000001O02N0001O0000001O0O1001O01O00000000001O00000000001O00000000000O20O000000O1O10000000001O000000000001O1O00000000000000000000000000000000O100001O00O1O10000000000000000O11O000O1000001O1O00O100O01000000000000000000O101O1O000O01O1002N0O1000000000O01000O10O1000000O1000000O10000O1000000O10000O10000O10000O102N000O10O001001N2O000O10000O1000000O10000O10000O10000O1000000O1000000O1000000O100O100O10000O01O10O1000000O10000O101O1O0O10000O10000O10O10O01000O2O1O0O10000O0100O1000O10000O1000001N1000O01000000O1000000O0100O0100O10001O000O2O00000O101O1N10000O10000O1000000O1000000O10000O1000000O10O11N100O10000O1000000O100O10000O10000O1O1O1O1N2M3M3O11O0000001O00001O00001O001O001O001O00001O00001O001O001O001O001O001O001O001O001M2000kXO"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_to_the_right_of_the_sink/row_126_col_image_mask_rle.json b/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_to_the_right_of_the_sink/row_126_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..d17238b1907483727cf4ff848a4373847bfb1d33
--- /dev/null
+++ b/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_to_the_right_of_the_sink/row_126_col_image_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_to_the_right_of_the_sink/row_126_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The area at the bottom of the wall to the right of the sink"
+    ],
+    "scene_description_en": [
+      "The area at the bottom of the wall to the right of the sink"
+    ],
+    "scene_description_cn": [
+      "洗手池右边墙壁底部区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          512,
+          282
+        ],
+        "counts": "al<112i?8K5K003M1O000^B_Oe;d0QC\\Oc0;_;m0dCkNLMQ1`0[;U1iDmNkN_OT<k1iDfNSOGm;e1mDSOR;V1eD]N_OFk;W3ZDdLe;c3VD\\Lj;m3O2O0O1\\Od0O10000O1000000O1000000O10000O100000000O10000000000001O00001O00O10000000000O10000O100000000O10000O100O100000000O10000O10000O1000000O100000000O10000O100000000O1000000O1000000O1000000O10000O1000O1000O10000O10001O0O1000000O10000001O>aJ[E4:k3c;J2N1O2N1O001[LgCa3Z<^LfCb3\\<0000000001O001O0000001O1O1O001O1O00001O2N1O1O1O1O1O1O001O1O1O1O1O1O1O2N1ObN[MaEe2_:[McEc2]:]MdEb2\\:^MfE`2Z:`MhE^2X:dMgE[2Y:fMhEX2X:iMhEV2X:jMhEV2X:kMhET2X:mMhER2X:PNfEP2Z:PNfEo1[:QNfEl1[:UNeEj1\\:UNeEi1]:XNe320N6JPdk0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_area_at_the_lower_left_corner_of_the_bed_and_the_lower_part_of_the_222222_staircase/64d22c7de4b011b0db94ba16_mask_rle.json b/Navigation/GroundDetection/The_area_at_the_lower_left_corner_of_the_bed_and_the_lower_part_of_the_222222_staircase/64d22c7de4b011b0db94ba16_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9d1b6a9023a8598e27f01731b604ad5154fa34c
--- /dev/null
+++ b/Navigation/GroundDetection/The_area_at_the_lower_left_corner_of_the_bed_and_the_lower_part_of_the_222222_staircase/64d22c7de4b011b0db94ba16_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_area_at_the_lower_left_corner_of_the_bed_and_the_lower_part_of_the_222222_staircase/64d22c7de4b011b0db94ba16_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The area at the lower left corner of the bed and the lower part of the 222222 staircase"
+    ],
+    "scene_description_en": [
+      "The area at the lower left corner of the bed and the lower part of the",
+      "staircase"
+    ],
+    "scene_description_cn": [
+      "床的左下角区域",
+      "楼梯下半部分区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          768,
+          1024
+        ],
+        "counts": "h_T96fg06J4M3M3N2N2M3N2L4L4N2M3M3M3N2M3L4L4N2N2M3N2N2M3L4N2M3L4N2M3N1N3N2N2L4N2M2N3M3N2L4L4N2N2M3M3N2M3K5N2M3N2M3N2M3M3K5N2L4N2N2N3N2L3M3L4M3L4N2M3M3M3M3L4M3N2M3M3N2N2M2O2L4M3N2N2L3N3N2O1M4L3M3N2L3N3O2L4K4N2M3M3N2O1N2N2L4L4N2M3O1M3O10O1O010000O1O1N2N2N2N111O01O00O2O0000000000O11O1O0O10O1O10000000000010O0000O1000000001O00O100000000000000000000001OO101O000001O1O00000000O10000000000O11O10O000000000000000000001O000000000000000O1O1000000000000000000000000O10000000O1000O101M2\\OVBjFR>k8g0gNZ1ZOe0`Nc1kMc]OUMlc0f1W\\OPNVe0P1_1iN^YO2QYV9"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_area_on_the_right_side_of_the_screen__beneath_the_corridor_pillars/row_1158_col_image_mask_rle.json b/Navigation/GroundDetection/The_area_on_the_right_side_of_the_screen__beneath_the_corridor_pillars/row_1158_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..5052dd3aa2202f592c65a08af46cfa6e8022f56e
--- /dev/null
+++ b/Navigation/GroundDetection/The_area_on_the_right_side_of_the_screen__beneath_the_corridor_pillars/row_1158_col_image_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_area_on_the_right_side_of_the_screen__beneath_the_corridor_pillars/row_1158_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The area on the right side of the screen, beneath the corridor pillars"
+    ],
+    "scene_description_en": [
+      "The area on the right side of the screen, beneath the corridor pillars"
+    ],
+    "scene_description_cn": [
+      "位于画面右侧、走廊立柱下方的区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          422,
+          512
+        ],
+        "counts": "RTf22R=3N1O100O1O1O100O1O1O2OO01O100O1O100O1O100O1O100O100O100O100O10000O11O1O1O1O101N1N3N2N1O2NZJImHc0i4BZ2e0fMZOZ2f0gMYOY2g0hMXOX2i0hMVOX2j0hMVOX2j0hMVOX2j0iMUOW2k0jMTOV2l0jMSOW2m0iMSOW2m0jMROV2n0jMROV2n0Q5010O000000001O01N11O00000000010O00000001O01O00000bDSOZOOU;o0ZE=DdNj9o0aFk1Z8UNdGP3X7SMeHY3o6nLiHT3W7kLiHU3X7jLgHW3Y7iLgHW3Y7jLeHW3[7hLfHX3Z7hLfHX3[7gLdHZ3\\7eLdH\\3\\7dLdH\\3\\7cLdH^3]7aLcH_3]7`LcHa3]7_LcHa3]7^LcHc3]7]LcHc3]7\\LcHe3]7[LcHe3]7ZLcHg3]7YLcHg3]7YLcHg3]7XLcHi3\\7XLdHh3\\7WLdHj3\\7VLdHj3\\7ULdHl3[7ULeHk3[7TLfHl3[7SLdHn3\\7RLdHn3\\7QLdHP4\\7PLdHP4\\7oKdH`20VN\\7ZOdH_20XN\\7XOdH`20YN\\7WOdHT4\\7kKeHU4[7kKdHV4\\7iKeHW4\\7hKcHY4]7gKcHY4]7gKcHY4]7fKdHZ4\\7fKeHY4h7SKnH^4n7O2N=C1O001O00000001OO1001O0000O2O00001O0000001O0000001O0000000000000000000000000000O100O1O100O1O100O1O2OO0100O2OO10001O001O001O1O01N1O1000O02O000O10000O100O1O10000000000000000001O0000O10000O100O1000000O1000000000000001O001O001O0000001O00000000001O00000000001O000000000000001O0000O1O1O100O1000000O100001O0000d0\\O`3`La[5"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_back_of_the_chair_closest_to_the_camera/41048223_7234.233_mask_rle.json b/Navigation/GroundDetection/The_back_of_the_chair_closest_to_the_camera/41048223_7234.233_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..286111f3f197620a82324bef9bf7b9e8f2fba62e
--- /dev/null
+++ b/Navigation/GroundDetection/The_back_of_the_chair_closest_to_the_camera/41048223_7234.233_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_back_of_the_chair_closest_to_the_camera/41048223_7234.233_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The back of the chair closest to the camera."
+    ],
+    "scene_description_en": [
+      "The back of the chair closest to the camera."
+    ],
+    "scene_description_cn": [
+      "离镜头最近的椅子的背面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "WYn39a2IeMa0P;a0dEi0V:BcE`0\\:C`E>`:D\\E?c:B\\E?c:CYE`0e:o1O001O1N20O2O001N1000O1O001O1O001O1O001O1O1O001N10001O0000000000001O00001O001O001N2O1O2iEaKi9m4N1O1O1O1O001O1O1O1O1O001O1O1O1O001O1O1O001O1N2O1O1O001O1O1O001O1O1O1O0O2O1O1O1O1O1O001O1O1N2O001O1O1O1WN_IQKb6l4eInJ\\6R5gIkJZ6S5iIkJX6T5iIkJX6T5iIkJX6S5kIkJU6U5lIjJU6U5lIjJU6U5mIiJT6V5mIgJU6Y5lI`J[6_5gI[J^6d5dIYJ^6e5dIXJ_6f5dIWJ^6g5_1O1O001N2O1O0O2O1O1O1O001O1N2O001O1N2O1O1O001O1O1O1O002N001O1O1O0O2O1O1O1N2O001O1O001N2lNiEaLNg0Y:T1gEC;VOo9l0jE^N5X18ZOj9>eE\\Ob0;_OFc01i9>hH@X7>kHAV7=jHXOgL:`:=nH@S7?nH_OS7a0oH\\OS7c0f3O1O1O001O1O001O1O1O001O1O1O1O001O1O1O001O1O1O001O1O001O0000Qj]21nUbM"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_back_of_the_chair_closest_to_the_camera/41126783_4747.639_mask_rle.json b/Navigation/GroundDetection/The_back_of_the_chair_closest_to_the_camera/41126783_4747.639_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fdedd43d41549caf19035338e98b3248acad940
--- /dev/null
+++ b/Navigation/GroundDetection/The_back_of_the_chair_closest_to_the_camera/41126783_4747.639_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_back_of_the_chair_closest_to_the_camera/41126783_4747.639_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The back of the chair closest to the camera."
+    ],
+    "scene_description_en": [
+      "The back of the chair closest to the camera."
+    ],
+    "scene_description_cn": [
+      "离镜头最近的椅子的背面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "R]_48g>4L3M3M4M3L4L2N4L2N1O2N1O1O1]LhN]IY1c6eN^I\\1Q:1O2N2N2O10000000001O000000O1000O1000001N01001O00000bJ\\N`Md1\\2aNcM_1[2cNeM]1[2dNdM\\1[2eNhKG^Nd1k5dNfKJTNKkNg1\\7cNdKNPNMnNb1_7cNaK0oMMQO`1_7cN`K3YMEG4M35]1h6[NeI9`23\\M=Gl0a6ZN]I0`0:^24^M;Fm0]6fNQJM^25_M;Dm0]6hNRJJ^26`M:Cm0^6iNRJI]28`M8Cn0^6hNSJJ\\28aM8Ao0_6dNVJLY29QMC:c0GQ1^6dNXJLW2:RMC;`0FS1^6[N]I6l0NV2;RME;<FU1d6]NTJ1U2<SMF<8DX1e6\\NSJ2U2<SMG<6DY1f6ZNSJ4T2<SMH;5EY1f7^NVK=TMH;4DY1h7]NVK=SMK;0D[1i7[NZHOc2`0[ML;NE[1R8\\NbJ?\\MN:KF\\1R8^N`J=^MO:IF]1Q8`NaJ:^M29EH_1P8aN`J9_M3<_OFd1d7\\N]H6]28`M5d0Q1R7]N[H6_27`M6c0o0T7^NZH7^26aM7b0n0U7^NZH8]26aM8a0l0V7^N[H:\\24bM9`0k0W7^N[H;[23cM;>i0X7_N\\H;Z21eM=<h0Y7_N[H>Y2NgM?:f0Z7`N\\H>Y2LgMb08d0[7bN\\H>X2JiMd06b0]7aN]H`0V2IjMe05a0]7bN^H`0l1[OUN=Of03a0_7aN^Hb0h1\\OXN:0h01?a7aN^Hc0e1]O[N71k0L`0c7_N`Hc0b1_O^N31h2_7SM`Hc0`1A`N11h2_7SMaHc0\\1CcNO1h2^7TMcHa0Y1FfNL0i2^7TMdHa0N]Oi0;XOIOj2^7TMeH`0MAc0;_OENk2^7TMeH`0LE9?J]ONk2^7TMeH`0MP12aNNj2_7VMcH?NP13`NMk2_7VMdH>MQ14_NLl2^7WMfH<LS14]NLm2^7XMeH;MS15XNOR3Z7YMeH9NS1a0[1l6YMfH8MT1a0[1l6ZMeH7NT1a0\\1R1mLl3<dJ7LT1b0\\1R1QMh39hJ5LU1a0]1S1RMf37jJ5LU12YN4T3^1UMc35mJ3LW10ZN5R3_1WMa33oJ3LW10[N4P3a1[M]31RK1MW1N_N3m2b1]M]31RKNNX1N`N2l2c1^M[32TKKNY1MbN1k2e1^M[31TKKMZ1Mm1g1mL[31TKKM\\1Kk1i1nLZ31UKIMV5d1PKZ31UKINU5c1QKZ32UKGNV5c1QKZ33TKFNX1KW2i1hL[32SKGNW1NV2f1kLZ32UKDMY10U2c1lL[33UKBMZ11T2b1mL[34UK@M[12S2a1oLZ33VK@NZ12S2`1PMZ34VK_OL\\14P2`1QM[34TK_OM\\14P2`1QM[34UK^OL^13n1b1RMZ35UK\\OL_14m1a1TMZ33VK\\OKb12k1c1TMZ34VKZOKe1Oj1f1TMY33XKYOJ`5e1TKY34WKXOK`5e1TKZ33VKYOK`5e1UKY33YKTOJe5c1TK[32`Kj4U1TK[33_Ki4W1TKZ32_Kj4W1TK[32]Kj4X1UKZ31^Kj4Y1UKm2VOaKl08i4Z1UKm2VOaKm06i4]1TKk2VOcKm04i4_1TKU34ZKi4b1SKS35ZKh4d1TKQ33[Ki4d1UKP33\\Kg4d1XKn22]Kf4f1XKm22]Ke4e1[Km20^Ke4e1]KS2nNeLP1Be4f1^KQ2POeLm0Ed4e1`KlNmNV23cMm0Ec4e1cKkNlNT23gMk0Fb4c1eKlNlNR24iMi0Eb4c1hKkNjNS24iMh0Fb4b1jKlNhNQ25kMh0F`4a1mKlNgNn18oMd0E`4a1oKlNfNl1:QNa0F`4`1PLmNfNi1<SN?F_4`1RLnNdNh1=SN?F^4_1ULoNbNg1=UN?F\\4]1YLQO^Nf1`0UN>F[4\\1[LSO]Nc1a0XN=EZ4[1^LTO[Na1c0ZN;FX4X1cLVOWNa1d0\\N;CW4X1eLXOUN_1g0]N9CV4X1fLZOTN[1j0`N6BV4X1hLZORNZ1l0bN4BV4X1hLZORNX1o0dNb5i0_K[OPNU1Q1gN`5h0aK[OoMQ1U1lNZ5h0bK[OPN=LROb1=P5i0bK[OQN:j1Ac4i0dK[OPN9k1C`4i0eK[OPN4Q2HY4i0fK\\OPN2R2HX4j0gK[OoM4Q2HX4h0iK\\OoM3Q2HW4i0iK\\OoM4Q2FW4k0hK[OQN2R2HT4k0iK[OQN2S2GS4l0jKZOPN3S2GS4l0jKZOQN2S2GR4m0jK[OPN0V2GP4n0jK[OQNOV2Go3o0kKZOPN0W2Fn3o0lK[OPNOV2Gn3o0mKZOoM0W2Fm3P1mKZOPN0W2Dl3R1mKZOQNOV2El3R1nKZOoMOX2Dk3R1oK[OoMOo8f0SIZOnM0o8f0SIZOoMOn8f0TI\\OmMNo8f0TI[OnM0m8e0UI[OoMOl8f0VIYOoM1k8f0VIXOPN3i8d0XIXOQN3g8e0YIVOQN5f8e0YIVOQN6e8c0\\IUOQN7c8c0]IUOQN8b8c0`IQOPN<_8c0cJ]O]5c0dJ\\O\\5c0eJ]O[5c0fJ]OY5c0gJ]OY5b0iJ]OW5c0iJ^OV5a0kJ_OU5a0lJ^OT5a0mJ@R5`0nJ@R5?oJAQ5?PKAo4>RKBn4=SKCm4=TKCk4<VKDj4<WKDh4<YKCg4<ZKDf4<[KDd4;]KEc4;^KEa4:`KF`4:`KF`4:`KG_48cKG]48dKH\\48dKI[46gKIY47gKIY46iKJV46jKJV46kKJT45mKKS45mKKR46oKJP45RLIo37QLIo37RLHo38RLFn3:\\51O2N001O001O000000O1000000O001O1O1N2N2O1N2M3N2N200OQn0OQU50PmI1O000000000000O10000000000010O0000000000000000000o[90QdF001O001cAOi=O"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_back_of_the_chair_closest_to_the_camera/41159382_2522.536_mask_rle.json b/Navigation/GroundDetection/The_back_of_the_chair_closest_to_the_camera/41159382_2522.536_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddc7798b07988c1c5204c727c2e158d0b855464d
--- /dev/null
+++ b/Navigation/GroundDetection/The_back_of_the_chair_closest_to_the_camera/41159382_2522.536_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_back_of_the_chair_closest_to_the_camera/41159382_2522.536_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The back of the chair closest to the camera."
+    ],
+    "scene_description_en": [
+      "The back of the chair closest to the camera."
+    ],
+    "scene_description_cn": [
+      "离镜头最近的椅子的背面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "ofd41j>`0D2O1O001N101O01O01O000SF]O\\5d0bJ_O]5b0bJ^O^5b0bJ_O]5a0cJ_O]5a0cJ@\\5`0dJA[5?eJBZ5>fJBZ5>fJBZ5?eJBZ5?eJA[5?dJC[5>dJB\\5>cJD\\5=bJD^5<bJD^5<aJE_5;aJF]5;bJF^5;aJE_5;aJE^5<bJE\\5<dJD[5=dJEY5=gJDV5>jJBT5`0lJAR5`0nJ@P5b0oJ@m4d0RK\\Ol4f0TKZOj4h0VKYOf4j0YKWOe4k0[KVOb4m0]KSOa4o0_KQO_4Q1aKPO\\4R1dKoNX4U1gKkNX4V1hKkNT4X1lKhNR4Z1nKgNo3[1QLeNm3]1SLdNi3_1\\KeMfMl0l6a1XKiMlMg0h6c1ZKhMnMe0f6e1\\KfMnMf0c6f1_KdMnMf0_6j1cK`MnMg0\\6k1fK^MnMg0Z6m1hK\\MnMh0W6n1kKZMmMi0V6o1lKXMoMj0S6o1nKVMPNk0P6Q2PLTMPNl0m5R2TLQMoMm0k5T2VLoLoMn0g5V2[LkLmMP1e5X2aLeLiMU1d5W2_MjM^2X2bMhM\\2Z2cMgM[2[2eMfMY2[2fMgMW2[2iMeMU2]2kMdMR2^2nMcMo1`2QN`Ml1b2SN_Mk1d2TN\\Mj1h2TNYMi1j2UNWMi1l2UNVMh1m2WNSMh1Q3YK[KY2f1Y2f3iLUK]NW1g4g3cKcJJ25b2\\4j2dKVKOQ2\\4i2dKXKNP2^4i2aK[KOm1_4h2aK\\K0m1^4g2bK\\K0m1^4g2bK\\KOo1^4e2cK\\KOo1^4e2cK\\KOP2]4d2dK[K0Q2\\4d2dK[K0R2[4c2eK[K0R2[4c2eK[K0S2Z4b2fKZK1T2Y4b2fKZK1U2X4a2gK[K0T2Y4a2fK\\K1S2Y4a2fK\\K1T2X4`2gK\\K1U2X4^2gK]K1U2X4^2gK]K2U2V4]2iK^K0V2W4\\2iK^KOX2W4Y2kK_KNX2V4Z2lK^KNY2U4Y2mK^KNY2U4Y2mK^KNZ2T4X2nK^KNZ2T4W2oK^KN\\2S4U2oK_KN]2R4S2QL_KN^2Q4R2RL^KNb2o3P2RL^K0b2m3R2QL[K4d2j3S2oKYK7e2j3V3ULkLk3W3kKRMT4m601O1O001O001O001O1O001O001O001O001O00001O00001OO1J6M3N3N100O1O1O10O10O100000000O10000000000O1000000000000000002N1O1O1O1O10O001000O100O2O00000O0100O100O1O01O010O000000001O0000000001N100O101N100O2O0O1O2N1O2N1O1O2M2O2I6O101O00001O00001O001O001O00001O00001O0000001O00001O00001O00001O00001O01O01O0O2O00001O001O00001O001O0000001O001H[DSMe;g2>J5O2[NcCYO1Q1^<@SD5V<EPD38^Om:9QE27Ek:3RE37Jc=0P\\90ocF1gA1\\OOR>0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_back_of_the_high_stool_with_a_backrest/2377950_mask_rle.json b/Navigation/GroundDetection/The_back_of_the_high_stool_with_a_backrest/2377950_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c042257b5088cebb81ffe3fdc198d838335713d
--- /dev/null
+++ b/Navigation/GroundDetection/The_back_of_the_high_stool_with_a_backrest/2377950_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_back_of_the_high_stool_with_a_backrest/2377950_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The back of the high stool with a backrest."
+    ],
+    "scene_description_en": [
+      "The back of the high stool with a backrest."
+    ],
+    "scene_description_cn": [
+      "有靠背的高脚凳的背面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          333,
+          500
+        ],
+        "counts": "j9c0i91O100O10000O100O10000O100O10000O100O100O10000O100O100O100O100O100O10000O10000O10000O1O10000O100O1000000O1O1O100O100O100O100mNgNRIY1n6oNhHS1X7ZOXHi0h7n0001O00001O001O0000001O000O101O0O100O1O2N100O1O101N100O101N1O2O0O1O100O10000O1O10O0kGXNf7g1\\HYNc7h1`001O0010000O1O1O0010O0100O0010O01O10O010O01O010O001O0001O01O01O0100O00010O01N110O0O1O2G8G:N2OO2O1N2O1O2O0O1O1O101N10000O1000001N1000000O10001N2ZN[Gb1i8O1OO0N3N200001O0000000000O11O005K2OO0QIaNo4`1QK`Nm4b1SK^Nj4f1UKZNk4f1m111O002N104K000000L4O1O11O00000001O0O10001O0010O1O4MUHfNb6Y1[IRO]6o0`ITO_6l0]IZO]6k0_I\\O\\6e0cI]O\\6d0_I@a6a0[IBf6R200O1O100001O00000dLWIT3Q7000N2M3N2O1001O0000000000001O1O0000000[MXIe1h6jMXI0:n1^6oMUJP2k5oMVJQ2T7O001O1O00001O001O1O001O1O001O001O001O00001O00001O001O1N1N3K4M3M4M2N2O2M2M3N3L3N3M2N2N3N1N2N3MRmj1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_bag_farthest_from_the_camera/41125438_1309.234_mask_rle.json b/Navigation/GroundDetection/The_bag_farthest_from_the_camera/41125438_1309.234_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..e83b2e344bce3985889c141ed52dc57a169faf60
--- /dev/null
+++ b/Navigation/GroundDetection/The_bag_farthest_from_the_camera/41125438_1309.234_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_bag_farthest_from_the_camera/41125438_1309.234_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The bag farthest from the camera."
+    ],
+    "scene_description_en": [
+      "The bag farthest from the camera."
+    ],
+    "scene_description_cn": [
+      "离镜头最远的袋子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "mn71l>4M2M4L3N2M3M3N2N2M3N2M3N2M3N2N2N2N2N2N2N2M3N2N2M3N2O100O100001O0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000O10000000000000000000000000000O1000000000000000000O10000000000O10000000000O100000000O100000000O1000000O1000000O10000O1000000bMgMTHZ2k7hMTHX2k7jMTHV2l7kMRHV2m7lMRHT2n7nMPHR2o7PNoGQ2P8QNoGo1o7TNPHl1o7VNoGk1o7XNPHh1o7ZNoGg1P8[NoGe1o7^NoGc1Q8_NkGc1T8_NiGc1V8_NfGd1Y8^NcGe1]8]N_Ge1`8]N\\Gf1c8\\NYGg1f8\\NUGg1X7jL`Id1SOe1\\7iL^If1POe1_7hL^Ih1nNc1c7fL^I`5_6cJ_I_5`6bJ]Ia5c6^J]Ic5c6^JZId5e6]JZId5f6\\JWIg5i6ZJTIh5l6XJSIi5m6WJRIj5n6WJoHk5Q7UJnHl5R7UJlHl5S7XJgHk5Y7n0000000000000000000000000000000O100000000O100O1M3M3VOaHRJ`7m5eHlI^7T6dHgI_7X6e00000O10000000000000000000000O10000000000000000O1000000001O0000001O00001O0000000000000000000000000000000000000000O100O100O1O1`N`G^Lb8a3bGYLa8h3mGeKW8\\4V1001O1O1O001O001O001OJSF[Kk9d4WF[Ki9e4XF[Kg9e4ZF[Ke9e4[F\\Kd9d4]F[Kc9e4]F[Kc9e4^F[Ka9e4_F[Ka9e4_F[Ka9e4_F[Ka9d4aF\\K^9d4cF[K]9e4cF[K]9e4cF\\K\\9d4eF[K[9f4dFZK\\9f4eFZKZ9g4eFYK[9h4dFYK[9g4fFYKY9g4gFZKX9f4iFYKW9g4iFZKV9f4kFZKT9f4mFZKR9f4oFYK7NQ8i4hGZK42Q8d4lG^KI5Y8\\4PHWLo7i3QHmKB_O\\8d4SHiKEBX8e4SHgKHDT8e4UHcKLFo7f4VH_K0Li7e4WH^K2Lg7f4XH]K1Mg7f4XH]K1Mg7f4YH]KOMh7f4ZH\\KNN>3o5c4eI]KMM><h5[4mI[KMN<?i5X4oI[KKN<b0h5V4PJ[KJN<d0i5T4QJZKIM=g0h5R4SJZKGM=j0g5P4TJZKFM>l0f5o3UJYKCNa0m0e5m3WJgK4>d5n3VJbK6b0c5T4PJYK<f0b5V4mISKa0i0a5Z4gImJh0k0`5m4`JVK^5h4cJZK\\5e4dJ]K[5d4cJ^K\\5c4aJ`K^5a4QJPLn5b6O1O1O1O1O1O1O1O1O2N1O1O2N1O2N1O2N1O1O1O2N2N=C3M4L1O1O001O001O001O00001O000000000000001O00001O000000001O000000001O00001O00001O1O001O1O001O001O1O1O001O1O001O001O1O001O1O001O1O1O2N1O2N4L2N3M3M4L2N1O2N1O3M4L4L2N4L5K3M3L4N2M3M2N1O5K7I5K3M4L2N2N3L4M9Ga=LS[3OdmV10mWfN0oQO11O00000000PY30PgL0000000O100O12NPl10PTN0Pn00oQO100001O000000SY3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_bottom_area_of_the_lower_left_corner_of_the_wall_directly_ahead/row_138_col_image_mask_rle.json b/Navigation/GroundDetection/The_bottom_area_of_the_lower_left_corner_of_the_wall_directly_ahead/row_138_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bc7a01a26e0d346f64762e9840ea9371bb348b2
--- /dev/null
+++ b/Navigation/GroundDetection/The_bottom_area_of_the_lower_left_corner_of_the_wall_directly_ahead/row_138_col_image_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_bottom_area_of_the_lower_left_corner_of_the_wall_directly_ahead/row_138_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The bottom area of the lower left corner of the wall directly ahead"
+    ],
+    "scene_description_en": [
+      "The bottom area of the lower left corner of the wall directly ahead"
+    ],
+    "scene_description_cn": [
+      "正前方墙壁的左下角底部区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          600,
+          400
+        ],
+        "counts": "Q:[1]a001N011O00O100O1000000001O00O01000000O1001O0000O10O10001OO10001O4L9F`0AlR46flK=E6M3000001O00000000000Q_OlNZ`0T1e_OoNY`0Q1f_OQOX`0P1g_OQOd1Ha<W1kAROb1Ib<T1mASO`1Lb<P1nATO`1Lb<P1nATO`1Lb<P1nATO_1Mb<P1oASO]1Od<n0oASO\\11X1IT8S1XESO[12T16P8e0aESOY14U1=i7<iESOY14T1a0cMTOa9S1`FTOW15S1d0XM\\Om9g0aFTOW15R1W1V7@aFUOU15S1W1W7_OaFVOS15T1W1X7^OaFXOP14V1W1Y7]OaFXOo06U1V1[7\\OaFYOm06W1U1[7\\OaFZOl06V1U1]7[OaFZOk07FZO=k1a8ZOaFZOj08GYO<l1b8YOaFZOi0:V1S1`7YOaF[Og0:V1T1b7WOaF[Of0;V1T1c7UOaF]Oe0<U1Q1g7VO_F]Od0=V1h0hM^No9P1_F]Oc0>V1h0lMZNm9Q1_F_Oa0`0U1g0PNXNj9R1`F_Oa0`0T1i0oMWNl9R1_F^O`0b0U1Q1l7nN^F@`0c0U1o0m7nN^F@?d0U1n0P8mN\\FA=f0V1m0R8kN[FF5g0\\1j0S8iN\\FIOh0`1g0V8fN\\FNHh0f1d0V8fN\\Fm1\\1^OZ8cNZFo1[1_O]8`NXFQ2Z1@_8^NWFS2X1@c8[NUFV2V1@g8XNSFY2T1@j8VNRFZ2S1An8RNnE_2R1@S9nMkEc2o0AW9kMjEf2l0@Z9jMiEh2k0_O_9fMfEl2h0@e9aMcEQ3d0@k9\\MaEX3?^OQ:YM`E]38]Ok:X40000O1000000001O00001O1PIaDe6k;N1O1O2N5K1O1O001O00000000000000000000000000000000O1000000000000000000O10000000000000000000000O1000000000000000000O1000000000000O100000000000000000000O10000000000O10000000000O100000000000000000000O100000000000000000000000000001O1O00O100O1O100000000000000O100000000000000O100000000000000O100001O001O1O1O1O1O1O1O1O1O1O1O1O2N1O1O1O1O2N2N1O1O1O2N001O1O1O1O2N1O1O002N2N2N1O1O1O1O1O1O1O2N1O1O2N1O1O1O1O1O001O001O001O1O1O1O1O1O1O1O2N1O2N1O1O2N001O1O1O00001O00001O002N1O1O0000001O2N1O001O1O001O00001O0000002NO100O1O1000000000000000000000000O10000000000O100001O1POWAnMk>Q2XAkML"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_bottom_area_of_the_lower_right_corner_of_the_wall_directly_ahead/row_137_col_image_mask_rle.json b/Navigation/GroundDetection/The_bottom_area_of_the_lower_right_corner_of_the_wall_directly_ahead/row_137_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..d895c44aa3c42a42307af0237efacb9c948a8d03
--- /dev/null
+++ b/Navigation/GroundDetection/The_bottom_area_of_the_lower_right_corner_of_the_wall_directly_ahead/row_137_col_image_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_bottom_area_of_the_lower_right_corner_of_the_wall_directly_ahead/row_137_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The bottom area of the lower right corner of the wall directly ahead"
+    ],
+    "scene_description_en": [
+      "The bottom area of the lower right corner of the wall directly ahead"
+    ],
+    "scene_description_cn": [
+      "正前方墙壁的右下角底部区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          2200,
+          1442
+        ],
+        "counts": "Uhe;4hQ2V1jnM5k0fNZn1`3kPNYMmn1n2kPNXMQo1Z4L7J2M3N2M3N2N2M3N2M3O1N2N2N2N2N2N2M3N2M3N2NN22M3N1O2M3N2N2N2N2N2O0O2M3N2N2N2M3N2M3N2N2M3M4M2M3M4L3M7J2O1N2O1N2O1O1O1N2O1O1O1N2N2M3N2O1N2N2H8M3M3M3N2N2N2N2N2L4M3M3M3N2L4N2N2N2M3M3N2N2N2N2M3N2N2N2N2M3M3M3N2N2M3M3N2N2M3N2M3O1O1O1N2M3N2N2M3O1N2O100O1O1O1M3K5L4L4K5M3N2N2M3M3M3M3N2M3M3N2N2M3N2L4N2N2M3M3M3M3N2N2M3L4L4O1O1O1N200O1O1O100O100O1O1N2N2G9L4L4M3M3M3M3M3M3N2N2M3M3M3O1N2N2N2N2O1N2O1O1N2O1O1O1O1O1M3N2MO04L4M2N3M3M3E;M3N1O2N2O1N2N2O1N2O001O100O1O1G9O2M3M3M6L0O100000000000000000000000000000000001O00O100000000000000000000000000000000O1000000O100000000000000000000000000000000000000O100000000O10000OM40000000O100000004L00L4000000000000004L00L4000000O11O0000000001O000000001O04L01O000000000000000000000000000000000000000000000L40000004L00000000000000000000000O11O0000000000O1000000000000000000001O0000001O001O001O7PZOeaNUe0d_1[O5K4L3M2N2N1O001O001O001O0000001O000000001O000000001O00001O0000001O000000000000000000000000000000001O000000O10L400O10O100000000O10000O1000O01000O0100O10000O100O100O100O1O1O1TN\\\\OcbNec0]]1_\\O^bNbc0b]1a\\OZbN`c0e]1d\\OWbN]c0i]1g\\OQbN[c0o]1i\\OjaNZc0V^1o\\O^aNUc0a^1a1000000O2O00001O00004K1000000O100O100000000O100O10000O100000000000000000000O11O0000000000000000000000000000O1000000000000000000000000O10000000000O1001O000000001O000000000000000000000000000000O100000000000000000000000000000L31000O100000000O1000000O11N101O1O4L00000000000000000000000001O00000000000000000000001O000000000000000000000000O1000000000000001O0000000000000000000000000L4000000000O0100O100O100000000000000001O0000000O1000001O001O4L0000000000000000000000000O1001O00001O00000000001O000000001O00OM400000O1000000O1000O1000O1000001O004L000000L400004L000000000000000000000O100000L401O0004L00000000000000000001O000000000000000000001O0000000000001OO1000000000000000000000000000000001O000000O100O10000000000O10nMlaN`]OT^1Yb0ZbN`]Of]1X?gbNX_Oh1]1b[1^>dfN^A\\Y1U=oaN]Aj5\\1WX1l<ahNQC_W1j;jiNRDVV1[:`kNbE`T1Z:gkNcEYT1Z:lkNdETT1Z:PlN`ETT1]:SlN_EmS1Y:^lNcEcS1X:elNeE[S1X:jlNeEVS1Z:olNbERS1^:d;O001O1O100O100O100000000O10000O100000O0100000001N2O0O2N101N1O1O1N2N2M3N2N2O1O001O1O1O1O101N1O1O101N10001N101N2O1O1O1N2O1O1O001O2N1O1O10O01O001O1O102M1O1O1O1O2N2N2N100O1O000O2O0000001O00001O001O0O2O010O001O001O1O1O001O1O001O010O1O1O1O1O100O0O3N1O1O001N2O1N1O201N1O1O1O1O1O1O2N1O1O1O1O0QKWRNo2jm1nLXRNR3im1kLYRNU3im1eL\\RNY3gm1bL\\RN^3em1^L_RN`3cm1ZLbRNf3_m1ULfRNj3\\m1RLfRNn3[m1oKhRNP4Ym1nKhRNR4Ym1mKgRNS4Zm1kKgRNU4Zm1jKgRNU4Ym1jKhRNV4Xm1jKhRNV4Ym1hKhRNX4Xm1gKjRNX4Xm1eKiRN[4Xm1cKiRN]4Ym1`KhRN`4Ym1^KhRNb4hn1N1000000O101O0000001O00001N10001O00001O00001O00001O01O01O00001O0O10001O0O101N100O2O001N1O2N1N3L4M3K6WOinMcMcQ2Z1_nMROXR28cnMYO[Xf;"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_bottom_area_of_the_wall_directly_below_the_wall_lamp/row_131_col_image_mask_rle.json b/Navigation/GroundDetection/The_bottom_area_of_the_wall_directly_below_the_wall_lamp/row_131_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..d86397fb2b16f38786606e8c0927fd4e4679abc0
--- /dev/null
+++ b/Navigation/GroundDetection/The_bottom_area_of_the_wall_directly_below_the_wall_lamp/row_131_col_image_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_bottom_area_of_the_wall_directly_below_the_wall_lamp/row_131_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The bottom area of the wall directly below the wall lamp"
+    ],
+    "scene_description_en": [
+      "The bottom area of the wall directly below the wall lamp"
+    ],
+    "scene_description_cn": [
+      "壁灯正下方墙壁的底部区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          449,
+          298
+        ],
+        "counts": "Taa04j=3M3L4M3L4L4L4M3M3L4K5M3oNQ1K5M3L4M3M3N2jNV1K5O1000000O100000000000000001O00O100001O00000000000O11O000000000O10000001O000000000000000000000000000000000000000000000000000000000000000000001O000000O10000000000001O0000000000000000000000O1001O0000000000000000000000000000000000001O000000O1001O000000O100000000000000000SLdFU3]9gLjFU3V9iLoFT3Q9jLUGR3l8kLXGS3i8jLZGU3k9N1O2N1O2N2N1O2N1O1O001O0000001O000000000000001O0000000000000O1O1I7F:F:J6H8H8F:I8Cjdh0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_bottom_of_the_second_pillar_from_the_right/row_1898_col_image_mask_rle.json b/Navigation/GroundDetection/The_bottom_of_the_second_pillar_from_the_right/row_1898_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ace86712a5f07dce8d9b7f318e9a2fa25a1c72f
--- /dev/null
+++ b/Navigation/GroundDetection/The_bottom_of_the_second_pillar_from_the_right/row_1898_col_image_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_bottom_of_the_second_pillar_from_the_right/row_1898_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The bottom of the second pillar from the right"
+    ],
+    "scene_description_en": [
+      "The bottom of the second pillar from the right"
+    ],
+    "scene_description_cn": [
+      "右边第二个柱子底部"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          1536,
+          2048
+        ],
+        "counts": 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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_chair_at_the_bottom_right_of_the_table.222222The_bucket__farthest_from_the_camera/000235_mask_rle.json b/Navigation/GroundDetection/The_chair_at_the_bottom_right_of_the_table.222222The_bucket__farthest_from_the_camera/000235_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f9610c94c5f2a58dfafee8b18e897e99b94490a
--- /dev/null
+++ b/Navigation/GroundDetection/The_chair_at_the_bottom_right_of_the_table.222222The_bucket__farthest_from_the_camera/000235_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_chair_at_the_bottom_right_of_the_table.222222The_bucket__farthest_from_the_camera/000235_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The chair at the bottom right of the table.222222The bucket  farthest from the camera"
+    ],
+    "scene_description_en": [
+      "The chair at the bottom right of the table.",
+      "The bucket  farthest from the camera"
+    ],
+    "scene_description_cn": [
+      "位于桌子右下方的椅子",
+      "离镜头最远的桶"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          968,
+          1296
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_chair_closest_to_the_door/41069132_3721.212_mask_rle.json b/Navigation/GroundDetection/The_chair_closest_to_the_door/41069132_3721.212_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..177b4343b88b26bb5f19a223a31e8f5f418064b4
--- /dev/null
+++ b/Navigation/GroundDetection/The_chair_closest_to_the_door/41069132_3721.212_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_chair_closest_to_the_door/41069132_3721.212_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The chair closest to the door."
+    ],
+    "scene_description_en": [
+      "The chair closest to the door."
+    ],
+    "scene_description_cn": [
+      "离门最近的椅子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_chair_farthest_from_the_camera/000175_mask_rle.json b/Navigation/GroundDetection/The_chair_farthest_from_the_camera/000175_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..1362300c63a55717773796dd1f7145bf6fd8738d
--- /dev/null
+++ b/Navigation/GroundDetection/The_chair_farthest_from_the_camera/000175_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_chair_farthest_from_the_camera/000175_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The chair farthest from the camera."
+    ],
+    "scene_description_en": [
+      "The chair farthest from the camera."
+    ],
+    "scene_description_cn": [
+      "离镜头最远的椅子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "gVc21c:1N3N1N3N1O1O2N2]FGg8;UGOc83YG4b8OYG5d8o0O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O100O1001O0O10000001O0000000000000000000O100N2O1N1O3K4L4O1POZMPJg2m5`MoI`2P6aMPJ_2P6bMoI^2Q6bMoI^2Q6cMnI]2Q6dMoI\\2P6fMnI[2Q6hMmIX2S6iMlIW2S6jMlIV2U6kMiIW2V6iMfI[2Z6fMdIZ2\\6gMdIY2]6gMaI[2^6eMbIZ2_6n000O2OO2O00001O0001O00O10O1000000O100000000001O1O001O00O100O100O1000000010OO1O11O1O00001O00002N2N00000000O1001O001O0000O100N2000O1000002N5K7I00001OO1000001O0000000000O1000000000001O01OO11O01O00000aMPIX1Q7[NcI^1^6_NhIMN4]6Mn2M2O1O1N2O0NU]j0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_chair_farthest_from_the_camera/000443_mask_rle.json b/Navigation/GroundDetection/The_chair_farthest_from_the_camera/000443_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2ebfd0dc48aaded63295136f84d4771b3f92f69
--- /dev/null
+++ b/Navigation/GroundDetection/The_chair_farthest_from_the_camera/000443_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_chair_farthest_from_the_camera/000443_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The chair farthest from the camera."
+    ],
+    "scene_description_en": [
+      "The chair farthest from the camera."
+    ],
+    "scene_description_cn": [
+      "离镜头最远的椅子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "n9a01Ao9d0O1N10000O100O100O10000O100O100O100O10000O100O100O100O100O10HcFXO\\9h0fFWOZ9h0hFVOX9j0:00O00010O10O01O010O1O010O2N8H2O0N200O100O1O10PFJb94^FNa91_F0b9N_F2a9N^F3b9K_F7n91O1O2O0O1O2O0O1O1O2N1O1O2O0O1O1O1O2O01OO101N100O100O101N10001N10001O0001O1O2N1O00001O3M5J:Emd3OT[L>B6L0O1O1O1O1O1O100O1O1O1O1O1O1000000000000001O000000001O0000001O000000000000000000O100O100O1N2YNgNQJZ1n5gNQJZ1n5hNVI3\\Oe1^7YNSIT2l6RNnHo1R7XNeHj1Z7i000O100O100O100O100O2O0O10O10O100O100O10000O100O100O10000O100OYMTIg1l6QN^Im1b6nMeIP2[6kMkIT2U6iMoIV2X701O001O0010O01O1O0O2O00010O0000001O000000001O0O1000000000001O0000000000000000001O00000001O0O100000000000000O10O100000000000000nMeGj1W9[OeP4lN_oK4SG?\\8GbG9^8GbG9^8GbG:]8EeG:\\8EdG;\\8DeG<[6@jJ3lN<[6FdJMRO>X6IdJGVO?V6MaJCZO?U61_J_O]O`0S64_JZO_Ob0R65]KJb47^KIb46_KJ`46aKJ_45cKJ]45dKK\\45dKK\\44eKLc4K_K4b4J_K6a4I`K7`4I`K7`4GcK8]4GdK9[4GfK9Z4GgK8Y4GhK9X4FiK:X4EhK;X4DiK<X4AkK>V70001O0000001O0000001O0000001O0000001O0000001O000000001O0000001O0000001O2MXZ4;SeK;I7N2N2O1N2O1N2N2O1M3N2N3N1N101N2N2O1001O>C0O1O0O10000000O1K5_OaN_Gl1]88O10000001O00001O01O0000O2O00001O00001O00001O0000001O0000001O00O10000O1O1O2N1O1O1O1O1O001O1O1O1M300O11O000001O01N10000O1F:I7B>F:D=E:L4Kn\\<"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_chair_on_the_right_side_of_the_table_222222_the_table_closest_to_the_sofa/076453_mask_rle.json b/Navigation/GroundDetection/The_chair_on_the_right_side_of_the_table_222222_the_table_closest_to_the_sofa/076453_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d4b2ae0775f91acd55158471bbb8da0c0857276
--- /dev/null
+++ b/Navigation/GroundDetection/The_chair_on_the_right_side_of_the_table_222222_the_table_closest_to_the_sofa/076453_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_chair_on_the_right_side_of_the_table_222222_the_table_closest_to_the_sofa/076453_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The chair on the right side of the table 222222 the table closest to the sofa"
+    ],
+    "scene_description_en": [
+      "The chair on the right side of the table",
+      "the table closest to the sofa"
+    ],
+    "scene_description_cn": [
+      "靠桌子右边的椅子",
+      "距离沙发最近的桌子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          288,
+          512
+        ],
+        "counts": "ak:3m84K4M4L3L2OO100000O1000O10kN^OlIb0S6@kIa0U6@jI?W6BgI?Y6BfI>Z6CdI>[6EcI:^6H_I9a6G_I9a6I]I7b6L\\I3e6OXI2h6<iHEW7Q110O1001N2O4L2N1O0O10000O3N1O7I0O1000000000O010001O00[OQOhH1<m0m6XOfHJ8o0P7^OlHd0T7d000O101N101OXNlHe1S7[NmHf1R7ZNnHg1R7XNnHj1T7015J6I000003N4K00000001O0100001N1N2L5M2O11O00O2^OdM\\J]2^5dMTJ14g2f5XMVJ31g2h5WMWJ11OOf2g5`MYJf2f5<N2OgL]JT3c5iLbJU3c52N3N1O2N12O0OO1O1O101N1O2O00010N1O2M2N3N1O1O1N2O2N1\\Oe0N3M2M2OeMXL_Oh3?^L]Oa3b0nLQOQ3o0UMmNi2S1bMcN^2\\1eMbNZ2]1hMcNX2\\1hMeNW2[1jMfNT2Y1mMgNT2AZL_O2U1`1KV2nNVLN337MNX1[1MW2lNUMW1d0MY33gLMY33[LoNlNn0h43\\L:b3G_L:_3G`L:_3FcL8^3HcL7]3IdL6[3JgL5Y3KhL4X3KiL5X3cNZK10m0_1>a3@aL?`3@aL?_3@cL?]3AcL?\\3AaKUOa0Y1m3CbKTOb0X1h3GnL8P3JPM6o2JTM4l2LVM2j2NVM2j2MXM2h2NYM1d22]MMb23`ML`24aMK_25bMJ^25dMJ]25dMJ\\25fMJZ26gMIZ26gMJY24iMJZ24hMJ[23fMLZ24gMKY24dLZOAb0j34eLZOBa0j34dL[OC`0n30gMO\\2NdM2_2KbM3a2JaM5_2KaM5_2KbM4^2LcM3]2MdM2Z20gMOX22iMMV24kMKU25lMIU26lMJT25oMHQ28QNFk1=R37221O1O1O1O0010O0dG@Y8e0N01O001O001O00001O0000001O1O100O010O010O0LcGD_8:4O1OdGLILR86VH2j7LXH4i7KWH5i7JXH7W8101O001O001O001O0O2O0O2O1O001O001WJ\\OU3c0kL]OU3d0iL]OX3c0fL^OZ3b0fL^O[3a0eL_O\\3a0bL@^3`0aLA_3`0`L@`3`0_LAa3`0]LAd3>\\LBe3>YLCh3=VLDj3<VLDk3;TLFm39RLHn38RLHo38oKIQ47nKJR47mKIT47jKJV46iKKW46hKJX46gKKY45gKKZ45dKL\\44dKL\\45mJZOFa0]55mJ[OE`0_55kJZOGa0^55kJZOGa0_55_KKa46gKAZ4>gKAZ4>gKAY4`0fK@[4`0eK_O[4a0eK_O[4b0dK^O]4a0cK_O^4a0`K@`4`0`K@a4`0]KAc4`0[KAe4?aJYO_Og0Q61RJf0n5V11O0000001N1O2M2O2N2N1O100O2N101N2O0O101N1O2N2O0O2O0O2N100O2N101N1O2O0O2O0O2N1O2O0O2N2O0O1O1O1O2O0O101N2N2N101N1O2N100O2N1O2N1O2N1O2N1O2N1Oggl0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_corner_of_the_table_closest_to_the_camera_lens/1060_mask_rle.json b/Navigation/GroundDetection/The_corner_of_the_table_closest_to_the_camera_lens/1060_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b21cf128bd8cc0f20a25f14159a71d0d717d067
--- /dev/null
+++ b/Navigation/GroundDetection/The_corner_of_the_table_closest_to_the_camera_lens/1060_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_corner_of_the_table_closest_to_the_camera_lens/1060_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The corner of the table closest to the camera lens"
+    ],
+    "scene_description_en": [
+      "The corner of the table closest to the camera lens"
+    ],
+    "scene_description_cn": [
+      "离镜头最近的桌角"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          558,
+          622
+        ],
+        "counts": "eX_1Q2Z?Z1gN5K4M1O2N1O2N5K>C5I3N1O1N201O0O1O1001OO1N200O100001O1O2N2N6J8H8H1O1O0000O100YOSLlCn3k;`LoCa3m;gLmC[3Q<gLnCZ3j;nLUDS3h;[1O1001OO10000001O8H2Mo0ROg0ZO5J1O001O00O10000O1O1UNTMQD81f2m;j1OdNRDZMm;d2[DWMe;g2_DWMa;h2bDVM];j2fDTMY;l2iDSMS;UOWDg3h0SMP;R3QEmLo:R3SEmLm:R3UEmLk:R3WEmLj:Q3XEnLh:Q3ZEnLf:Q3\\EnLd:Q3]EoLd:o2^EPMb:e2UDQMY1:a:d2[DnLV1=_:c2^DmLV1?\\:b2RF^Mn9a2TF^Ml9`2VF`Mj9_2XF_Mj9_2XF`Mi9^2YFaMf9^2]FaMc9^2_FaMc9[2`FdMc9V2aFiMb9R2aFlMa9Q2dFjM_9T2P3M2N4K4M6I5K4L5L2NQOoNeAm0V>@dA?\\>H_A5c>OYAOh>7RAIo><l@CT?Z12O1N2O1N2O0O2O1N2O1O1N2N2O1O1N200N2O1N200N200N2O1O1O1QOh_Og0a`0N2N1N3O1M201M2O2M3MoW_6"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_drawer_under_the_microwave/003605_mask_rle.json b/Navigation/GroundDetection/The_drawer_under_the_microwave/003605_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a5f22b0b36611ea54da80569163323b66c3790d
--- /dev/null
+++ b/Navigation/GroundDetection/The_drawer_under_the_microwave/003605_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_drawer_under_the_microwave/003605_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The drawer under the microwave."
+    ],
+    "scene_description_en": [
+      "The drawer under the microwave."
+    ],
+    "scene_description_cn": [
+      "微波炉的下面抽屉"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "fQS2a0e9?nM\\OiIl0V6]ObIe0]6]O`Id0`6]OWIk0i6UOUIl0l6UOlHR1T7oNlHXODe1^7TOnHP1P7[1O1N2L4F:O100O10000000000O100000000O10000O10000O10000O100000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000O1000000001O00000000001O001O002N2N3M1O00000000000000O100000000000000000000000000000000f0ZO1O2N2N2N2N4bMXHh1]8M2N2N2N1O1O2N2N2N2N2N1O2N1O2N2N2N1O2N2N2N1O2N2N1O1O2N1O2N1O2N2N2N2M2O1Og_]1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_front_of_the_cabinet/000337_mask_rle.json b/Navigation/GroundDetection/The_front_of_the_cabinet/000337_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c2d143aa9ac3fdf0cf13a06409e3aef8d090bdb
--- /dev/null
+++ b/Navigation/GroundDetection/The_front_of_the_cabinet/000337_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_front_of_the_cabinet/000337_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The front of the cabinet"
+    ],
+    "scene_description_en": [
+      "The front of the cabinet"
+    ],
+    "scene_description_cn": [
+      "柜子正面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          343,
+          512
+        ],
+        "counts": "m]X11f:2M2O1O001O1O1N2O1O1O1O00001N10001O1O1O1O1O001O@PF:o9AVF`0P:1O001M2N3N2O001N2L5N1N2O001O01O002N1O2N1O1O1O2N2N1K7H7LTQ5MQoJ0000010O01O1O001O10O010jF1b7O]H6`7J^Hb0W7_OgHc0Y7^OdHc0\\7^ObHd0]7^O_Hd0b7]O[Hd0e7_OWHb0i7DoG>R8IdG9]8P11O1O1O1OcNTNPJj1Q6WNnIi1R6WNoIi1P6WNQJg1P6YNQJf1o5[NQJd1o5\\N^J3XNj0Z7SOnJg0R5ZOnJd0S5\\OmJc0T5^OlJa0T5_OmJ`0S5@mJ`0S5AmJ?R5AnJ>S5BnJ=R5DmJ<S5DmJ=R5CmJ>R5DmJ<S5DmJ=R5CmJ>S5BmJ>S5CkJ>U5BkJ>U5BjJ?U5CiJ>W5BcJd0]5\\OmIZ1S6gNkIZ1U6fNjI[1U6fNjI[1V6eNiI\\1W6eNhI\\1W6dNhI]1W6dNhI]1X6dNgI\\1Y6dNfI]1Z6cNfI]1Z6cNeI^1[6cNfI[1Z6eNXJi0h5WO[Je0f5\\OYJd0g5\\OZJd0e5]OZJc0g5\\OZJc0f5]OZJc0f5^OZJa0g5^OYJb0g5^OYJb0Q6UOnIk0S6TOmIl0T6SOlIm0T6TOkIl0U6TOjIm0W6ROiIm0X6SOhIm0Y6SOeIn0[6ROkH1Ko0Y7POfHo1Z7RNaHR2`7nM^HS2b7nM[HT2f7>000O2O00001O000010O00O20O0001O0000001O0O101O00001O00001O0000001O00001O0000001O001O00001O01O01O0O100010O00O1010O00O2O00001O00001O00001O00001O00001O00001O00001O001O001O1O001O0000001O000000001O000000001O000000000000000001OO10O100O100O100O1O100O1000000000000O1000000O1001O0000001O0000001O000000001O00001O00001O0000001O0000001O00001O0000001O0000001O00001O0000001O01OO2O01O01O00001O000O101O0001OO2O00001O000O1O1OiFeNU9W1lFkNT9S1kFPOU9o0kFROV9k0jFWOV9h0iFZOW9d0jF]OW9a0hFA[9:fFG\\95dFM\\92cF0^9McF4]9JcF8]9GcF:^9CbF?^9@bFa0^9]ObFe0_9YOaFh0_9VOaFl0c9101N2000000000000^F"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_front_of_the_cabinet/001302_mask_rle.json b/Navigation/GroundDetection/The_front_of_the_cabinet/001302_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..476956a322c4d7b24e55de0e9349363e8fa783db
--- /dev/null
+++ b/Navigation/GroundDetection/The_front_of_the_cabinet/001302_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_front_of_the_cabinet/001302_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The front of the cabinet"
+    ],
+    "scene_description_en": [
+      "The front of the cabinet"
+    ],
+    "scene_description_cn": [
+      "柜子正面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "i7:23O3<N4FY76WHe0=]O2JZ74WHe0>ZO2NY7S1eHoN1OZ7S1eHmN01[7R1fHkNO4[7Q1gHgN09Y7P1YIQOf6P1YIQOg6o0XIROh6n0WISOi6n0VIROj6n0UISOj6n0UITOj6l0UIUOk6k0TIVOl6k0RIVOn6j0QIWOo6i0RIUOo6k0nHYOP7i0nHXOR7h0nHWOS7i0kHYOU7h0jHYOU7g0jHZOV7f0jHZOV7f0jHZOV7f0jHZOV7g0iHYOW7h0hHXOW7i0iHWOW7i0jHVOV7k0iHTOW7m0iHSOW7n0hHROX7n0iHQOW7P1iHoNW7Q1kHmNT7?hHSO75_OHb7n0kIQOhNO]7n0o1N2N10100000000001N2O2N1kF@T8b0bG`0d7]1J10000ROUM`IJ>Q3Q6aMhI`2X6bMeI_2[6m000000001O0000000000000O1000000O1001RLbId3h6O000000O10000000000000000O1000000000000000000O10000000000000000002N5K8H1O0000001O004L1O2N1RMfH`2Z7\\MiHe2X7YMbHn2a71O10000O10000O100MnLdHR3[7oLeHQ3[7oLeHQ3[7oLeHQ3Z7oLfHR3[7mLeHS3^70LnLfHR3Z7mLgHS3Y7mLgHS3X7oLgHQ3Y7oLgHQ3Y7oLgHQ3Y7oLfHR3Z7nLfHR3Z7nLfHR3Y7oLgHQ3Y7nLhHR3X7nLhHR3X7nLhHR3X7nLhHR3X7nLgHS3X7nLhHR3X7mLiHS3W7mLiHS3W7mLiHS3W7lLiHU3W7kLiHU3W7kLiHU3W7kLiHU3W7kLiHU3V7lLjHT3V7lLjHT3V7lLjHT3V7lLjHT3U7mLkHS3U7mLkHS3T7mLlHT3T7lLlHT3T7lLlHT3T7lLmHS3S7lLnHT3R7lLmHU3S7kLmHU3S7kLmHU3S7kLmHU3S7kLmHU3T7jLkHW3U7iLkHW3U7iLkHW3T7jLlHV3T7jLkHW3T7iLmHW3o6mLQIS3m6oLSIQ3n6nLRIR3o6lLRIT3n6lLRIT3o6kLPIV3P7jLPIV3Q7iLoHW3Q7iLoHW3R7hLnHX3W70O10000O100O1000000000000O1000000000000000000O10000000000O1000000CcLcI]3\\6eLcI[3]6dLcI]3]6bLdI^3]6aLcI_3]6bLbI^3^6aLcI_3i6000001O3M>B4L2N1O001O00000000001O0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000O1000000O100O1nNWMjI7Af2b6XMhIV3W6d0000000O1001O000000001O1O1O4L2N1O001O00001O001O00001O001O001O001O001O001O001O00001O001O001O001O00001O001O001O001O001O00001O00001O001O001O001O00001O001O001O001O001O00001O001O001O001O001O00001O0000000000000000O10000O1000000O100001O00O100N2O100O100O10000O10000O1O1N2O1M3O1M3N2L4N2M3M3O1O10000lN[LYKe3f4]LhJ1Ma3[5_LeJ20_3[5_LdJ31^3\\5_L`J54\\3]5_L]J75Z3^5RMbJn2`5PMaJo2_5RM`Jn2^5TMbJl2[5WMfJh2X5ZMhJf2X5ZMhJf2X5[MhJd2Y5[MgJe2Y5[MgJe2Y5[MgJe2Z5[MfJd2Z5\\MfJd2Z5\\MfJd2W5^L_Jn0:d2V5`L_Jl0<c2U5aL_Jm0;b2T5dMmJ[2S5eMmJ[2S5dLaJk0<a2S5dLaJl0<_2S5eLbJk0;`2U5aLaJP1:_2Y5aMgJ_2V5eMiJ[2U5gMkJY2S5iMmJW2R5jMnJV2Q5jMPKV2P5hMSKW2l4eMYK[2g4^MaKa2_4YMgKg2Y4TMlKl2T4mLSLS3o3dLYL[3`501O001O000000001O0000^OiLhIV3Q6RMnIn2R6RMnIn2R6mL`IN>U3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_front_of_the_dark-colored_hammer/1145_mask_rle.json b/Navigation/GroundDetection/The_front_of_the_dark-colored_hammer/1145_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7e3ed341c463cbb05e95e3c3a701e98f05b227b
--- /dev/null
+++ b/Navigation/GroundDetection/The_front_of_the_dark-colored_hammer/1145_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_front_of_the_dark-colored_hammer/1145_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The front of the dark-colored hammer"
+    ],
+    "scene_description_en": [
+      "The front of the dark-colored hammer"
+    ],
+    "scene_description_cn": [
+      "深色锤子的正面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          525,
+          700
+        ],
+        "counts": "_Zb32Z`01N4M1O1N2O1O1O1O1O100O1O1O1O1O100O1O100000000002N1O001O1O00001O0000000000O1O1M3K5O1O1O100O1O1O1K5K5E;O1O1O100001O1O00000000001O001O0000000000O10000O100O1O1L4I7O1N2O1O1000000001O00O1jNkMTDU2j;mMVDS2i;oMVDQ2h;QNWDP2^;gMkC;1H7V2m;\\NiCB8S2o;]NfCB8S2R<lNiCV1W<`1001OO10000O1FTLQDn3o;80000000000000000000000000000000000000000001O000000000000000000000000001O0000000000000000000000000000001O00000000000000000000000000001O00000000000000000000000000000000001O000000O10000000000O1O1N2N200O1001O00001O1O2N6J4L1O00000000001O000000000000000000000000000000000000000000000000000000000000000000000000001O00000000000000000000000000001O000000000000O1O1M3J6H8O1001O1O001O1O001O00001O0000000000000000000000O10000O1000000001O1Od0WLYCd2X=01O5K<UM\\BU2X>kMcA3N]1[?_O2N001O0000001N2O3_OfYW2"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_front_of_the_white_computer_that_farthest_from_the_camera/1110_mask_rle.json b/Navigation/GroundDetection/The_front_of_the_white_computer_that_farthest_from_the_camera/1110_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..647ed00bab30e46dd4211197d8ffa96b90708a13
--- /dev/null
+++ b/Navigation/GroundDetection/The_front_of_the_white_computer_that_farthest_from_the_camera/1110_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_front_of_the_white_computer_that_farthest_from_the_camera/1110_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The front of the white computer that farthest from the camera"
+    ],
+    "scene_description_en": [
+      "The front of the white computer that farthest from the camera"
+    ],
+    "scene_description_cn": [
+      "离镜头最远的白色电脑的正面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          600,
+          800
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_left_corner_of_the_table_222222the_lower-right_corner_of_the_coffee_table/000152_mask_rle.json b/Navigation/GroundDetection/The_left_corner_of_the_table_222222the_lower-right_corner_of_the_coffee_table/000152_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..47c6928bb5b6e3afad235ddbb72b2b8e10760d2e
--- /dev/null
+++ b/Navigation/GroundDetection/The_left_corner_of_the_table_222222the_lower-right_corner_of_the_coffee_table/000152_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_left_corner_of_the_table_222222the_lower-right_corner_of_the_coffee_table/000152_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The left corner of the table 222222the lower-right corner of the coffee table"
+    ],
+    "scene_description_en": [
+      "The left corner of the table",
+      "the lower-right corner of the coffee table"
+    ],
+    "scene_description_cn": [
+      "左侧的桌角",
+      "茶几的右下角"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "YVR12a:1O100O101N1O1O1O100O10000000000O100O100O100O100O100O100O100O100O100O10000O100O100O100O1O100EXOhFj0X99O100O10000O100O100O100O100O100O10000O100O100O10000O10000O100O100O100O100O10000O100O10000O100O100O100O10000O100O100O100O1000000O100FPNoGQ2[7o0O1O100O10000O10000000000000000000000001O0000000000001O0000000000000000000000000000O10000O1O1O100O100O10000O1O10000O100O100O100O100000000O10fLSIm2n6PMVIn2X701O0000000000001O00@SMYIm2f6UMYIk2g6VMXIj2h6WMWIi2i6WMWIi2i6XMVIh2j6XMWIg2i6YMWIg2i6YMWIg2i6YMWIg2i6YMWIg2j6YMUIg2k6YMUIg2j6[MVId2j6\\MVId2k6[MUIe2k6[MUIe2_8nN9G3M2N2N2N1O2N001O1O1O001O1O1O001O1O001O00001O1O1O1O1O00001O000000001O002N:F002Nkd4KV[K6OO00001O0000001O0000001N100000001O1NTkW1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_left_part_of_the_floor_222222_the_area_around_the_right_leg_of_the_table/000257_mask_rle.json b/Navigation/GroundDetection/The_left_part_of_the_floor_222222_the_area_around_the_right_leg_of_the_table/000257_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..933b44dcf2d24594d353e36fb40ef66668cded9c
--- /dev/null
+++ b/Navigation/GroundDetection/The_left_part_of_the_floor_222222_the_area_around_the_right_leg_of_the_table/000257_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_left_part_of_the_floor_222222_the_area_around_the_right_leg_of_the_table/000257_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The left part of the floor 222222 the area around the right leg of the table"
+    ],
+    "scene_description_en": [
+      "The left part of the floor",
+      "the area around the right leg of the table"
+    ],
+    "scene_description_cn": [
+      "地面的左边部分",
+      "桌子的右侧桌腿周围部分"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "k3j6l3O0000001O001O1O2N2N002N1O001gKjKQ2W4V22N1O1O3M001O001O1O1O1O001O001O000000O1000000O1O1JoIdKU6W47O11O00001O001O2N1O1O1O001O1O1O1O002N1O1SJ^Ke5k4N00000\\JQKb5Q50002N1O2N1O1O0000001OO100000000O100O1N2O1N2O1O10000O10000000000O1000000000000O1O1O100O10000O10000O1000000O1O100O100000000O100000000000000O100O100O100O10000O10000O10000O100O1000000O10000O1000fJjKU4V4gKnKY4Q4cKTL]4l3_KYL`4g3]K\\Lc4d3WKbLi4_3RKeLn4a40O1K5N2L4L`JRKa5k4600000000001O1O001O001O1O1O1O1O1O001O1O1O001O1O1O1O001O1O1O001O1iK`JW3a5fLbJY3^5eLeJZ3\\5bLgJ^3Z5_LhJa3X5]LjJc3W5ZLkJf3V5VLlJk3U5QLmJP4T5mKlJU4f54N2N2M3N2O1N2M3N2O1O100O100O1O1N200O100O1O100N200O100O1O1O1O100O100O1O1O1OfJoJR5Q5jJTKU5l4jJUKV5V5O00O1M3N2O1N2N2M3O1M3O1O]JVK]5i48N^JZKY5e4cJ[KL3`5a4dJdK[5\\4eJdK[5]4bJeK^5i40O1O1O1N200O1O100N2O1L4O1O1O1O1O100001O001O001O001O1O001O1O002N00001O001O001O1O00001O002N2N1O00001O1O00001O1eKiJV3X5iLiJV3X5hLjJW3W5gLjJY3V5eLlJ[3U5cLlJ]3U5aLiJb3W5]LhJe3Y5YLgJh3Z5VLgJj3Y5VLfJk3[5SLfJm3[5RLeJn3[5QLfJ=If2b5kLgJ;Lh2^5mLdJ74k2Y5nLbJ66l2X5oLaJ48m2X5nLaJ47n2X5nLaJ38o2W5nLbJ18Q3W5mLaJ0:S3U5mLbJN8W3W5iLcJN6Z3X5fLeJL2`0A]2i5TMVKb0QOZ2k6i0N2O100O1000000001O1O1O7SMRIe1S7TNPIk1Q7TNPIk1Q7RNQIn1Q7lMfHG:\\2T7jMoHV2R7iMnHIC\\2_7jMoHX2Q7hMoHX2Q7fMPI[2P7cMQI^2V6bMoINLa2T6bM[INV1_2_5fMdINHMa0`2Q6iM_IFN71I`0c2R6UNnIm1R6RNoIn1Q6RNnIo1R6QNnIo1R6PNoIP2P6PNQJP2o5oMnI[O@h2c6lMmIV2S6iMnIW2R6iMnIW2R6hMoIM@h1c6XNmI0Ed1^6[NmI0Hd1\\6XNnI5Ha1Z6ZNmI6J_1Y6ZNmI7L^1X6YNlI9N]1V6ZNkI91Z1V6\\NhI;4W1U6^NfI<6U1U6]NeI>7U1U6[NdIa08R1i6mNXIS1g6mN[IQ1f6nN\\IP1d6PO^Io0b6QO_In0a6QO`In0`6SO`Im0_6SOcIk0]6VOcIj0]6UOcIl0[6cNbH`0T1l0[6dNaH?U1l0[6eNaH=U1n0]6ROcIm0_6QOaIP1_6PO`IP1b6oN^IP1g6kNYIV1i6eNYI\\1P8000N1011ROjF:Y9CkF9X9BkF>Z9ZOkFc0d901N105GZPi0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_lower-left_corner_of_the_coffee_table_222222the_upper-left_corner_of_the_TV_cabinet/000239_mask_rle.json b/Navigation/GroundDetection/The_lower-left_corner_of_the_coffee_table_222222the_upper-left_corner_of_the_TV_cabinet/000239_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f00f67581ec26304af6b74da53ccb3d5a6ba864
--- /dev/null
+++ b/Navigation/GroundDetection/The_lower-left_corner_of_the_coffee_table_222222the_upper-left_corner_of_the_TV_cabinet/000239_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_lower-left_corner_of_the_coffee_table_222222the_upper-left_corner_of_the_TV_cabinet/000239_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The lower-left corner of the coffee table 222222the upper-left corner of the TV cabinet."
+    ],
+    "scene_description_en": [
+      "The lower-left corner of the coffee table",
+      "the upper-left corner of the TV cabinet."
+    ],
+    "scene_description_cn": [
+      "茶几的左下角",
+      "电视柜的左上角"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "XaR12c:0000000000000000001O000O101oN4VGOh81XG0g82WGOj8OVG3DHi84cGb0`8XO`Gn0W8QOXG1a0o0o0POa56`Il0n0oNa56^In0o0mN`58_In0j0iNiN3m66^IR1k0eNjN3m66WIZ1Q1]NkN3l67XIZ1P1\\NlN3l67WI[1Q1[NnN1j68XI\\1V1[Nd58VI]1T8ZNkG71_1\\8_NdGa1\\8_NdGa1Z8aNfG_1S1ZNP64mH8Og0R1POS6NnH:Og0l0UOa64eHe0j0WOa64hHb0g0[O`63WI4:Hj5MbI7n1L_48YILX2L_48YIKY2M_47XILY2M_47XILY2La47VIMY2Le43RI1Y2Lg41PI2[2Mb43SI0a02g0Ke53SI0a07b0Fi54TIOa08a0Fi53TI0b06b0Hg51VI1b05a0Je52WIOc05`0Ke52XINd04?Le51YINe04=Me51YINe04=Me51YINf03<Nf50XIOf03<Nh5NVI1g01<0f5OWI0g01<1d5OYIOh00;1e50XIOh00d71dGNj00b72dGNk0Oa73dGNl0N`73eGNl0O`72dGOm0Na71bG0o0Ol7OVH1j7OWH1h7NZH2e7N[H4T70hGLU16P7NjGMV17m6MmGLW1;g6IRHLW1b0`6BYHLX1X1kNhNJM`67cIKY1m1S5XNdIKZ1l1R5XNeILZ1k1Q5YNeIL[1j1P5ZNeIL]1h1m4]NfIKa1d1g4cNhIIh1^1^4jNjIHh1]1_4kNiIHg1^1b4hNgIJg1^1c4gNfIJf1a1h4aNbIMe1d1U5\\NkJd1U5[NlJe1T5[NmJd1S5\\NnJc1[4^N[J0Z1a1[4_N[J0[1`1Q5`NoJ`1Q5aNPK]1Y4cNYJ2Z2MTM083o58SJHQ3Ok2>PJDV3Lj2`0PJDV3Kk2a0oIEU3Jl2a0oIFT3In2`0nIIR3HQ3=mIMo2GT3<mINj1FoN1[5:lIO_19cN^O11Q69lIO^1V1f4kNkI0^1V1g4jNkI0^1V1g4jNkI0]1W1h4iNkI0]1W1g4jNlI0[1W1h4jNmI5U1Q1m4kNnI6R1P1o4kNoI6P1P1Q5jNoI7n0P1S5hNPJ9l0o0T5hNPJ9l0o0S5iNPJ:k0n0V5gNoI;k0n0V5gNoI;k0n0V5gNoI;k0n0V5gNoI;k0n0V5gNoI;j0o0X5eNnI=i0n0Y5eNnI=i0n0Z5dNmI>i0n0[5cNlI`0g0n0`5^NiIe0g0m0`5^NiIf0f0l0b5]NhIg0e0n0b5[NiIg0e0n0b5[NiIh0d0m0c5[NiIh0d0m0c5[NiIh0c0n0d5ZNiIh0c0n0d5ZNiIi0b0m0e5ZNiIi0b0m0e5ZNiIi0c0l0d5[NiIi0c0l0d5[NiIi0c0l0c5[NkIi0c0k0c5[NjIi0g0[OTOP1\\6kNiIi0k1Gj49XKEh4;YKDg4<ZKCf4>YKBV4DnIm0j1_OU4IoIj0j1]OW4IoIk0h1]OX4JoIj0m0mNQOQ1S6XOoIj0;i0f5]NoIk03o0m5WNPJj02P1n5VNoIl01o0P6UNoIl00P1R6RNoIo0MP1T6QNoI^3Q6bLoI^3R6aLnI_3R6aLnI_3S6`LmI`3S6`LmI`3S6aLlI_3U6`LkI`3U6`LkI`3U6`LkI`3V6_LiIb3W6_LhIa3X6^LiIb3W6^LiIb3W6^LiIb3X6]LhIc3Y6\\LgId3[6YLfIg3[6XLeIh3\\6WLdIi3^6VLaIj3_6VLaIj3_6VLaIj3e60GVLgIj3X6XLgIh3Y6WLhIi3b601O001O00000000001O0000001O1O000000000000001O00001O001O001O1O001O1O1O2N1O001O0000000000000000001O00001O001O00001O1O001O001O001O001O001O00001O1O1O1O5K001O001O1O00001O00N^MRHa2n7_MRHa2n730000000^MRH]2n7cMRH]2o74001O001O001O001O001O001O001O3M5K1O000000O1M3N200O100000000000000001OO1000000000000000000000000000000000O101O0O2O0O1K6\\ObGkNe8g0m0[Od\\f0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_lower-left_corner_of_the_lounge_chair_222222_the_right_armrest_of_the_sofa_farthest_from_the_camera/000105_mask_rle.json b/Navigation/GroundDetection/The_lower-left_corner_of_the_lounge_chair_222222_the_right_armrest_of_the_sofa_farthest_from_the_camera/000105_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ecd3815be2237fe5611a33ee5a56b46fae6c2de
--- /dev/null
+++ b/Navigation/GroundDetection/The_lower-left_corner_of_the_lounge_chair_222222_the_right_armrest_of_the_sofa_farthest_from_the_camera/000105_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_lower-left_corner_of_the_lounge_chair_222222_the_right_armrest_of_the_sofa_farthest_from_the_camera/000105_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The lower-left corner of the lounge chair 222222 the right armrest of the sofa farthest from the camera."
+    ],
+    "scene_description_en": [
+      "The lower-left corner of the lounge chair",
+      "the right armrest of the sofa farthest from the camera."
+    ],
+    "scene_description_cn": [
+      "躺椅的左下角部分",
+      "离镜头最远的沙发右侧扶手"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "d8P2c8100000000O100000000003M2N3M1O2N1O1O2N002N1O2N2N1O2N2N2N2N1O2N2N1O1O1O1O1O1O1O1O1O1O2N2N1O1O000000000000O10000O10000O100O10000O1O100O100O1N2N2N2N200O1O100O10000O100O100O100O10000O100O10000O100O10000O100O10000O10000O100O10000O10000O10000hLjNQMW1n2kNQMU1m2mNSMS1l2nNSMS1l2oNSMQ1m2oNRMR1l2POTMP1k2ROTMn0j2TOUMm0i2UOWMk0e2ZOYMg0c2]O]Mc0b2^O^Mb0a2@^M`0b2@^M`0b2A\\M`0d2A[M?e2A[M?e2BZM>f2BZM>f2CYM=g2DWM=i2DVM<j2EUM;k2EUM;k2FTM:l2GSM9m2HRM8n2IQM7o2IPM8P3IoL7Q3IoL7P3KoL5Q3KoL5Q3LnL4R3LmL5S3LlL4T3LkL5U3LiL5W3KhL6Y3JdL8\\3IaL9_3I]L9c3IZK]NF2Nm1U5HlJX1c5kL[Je4P6J4L3M1O1O1O1O0000000000000000000000O10000O1000000O1000000000000000000000000000000000000000000000000O11O000000O100000000001O00000000O1000000001O0000000000000dLgIM1c1W6QN^J4^Oj1T6lM\\KT2d4lM]KS2c4lMcKo1]4QNoKc1Q4]NUL]1k3cNaLQ1`3nNkLg0U3YOSM?m2AYM8g2IZM5g2K^MOc21P40001OXI6f2JYM8f2HZM8f2HZM8f2HZM8f2HZM8f2HZM8f2HZM8f2HZM8f2HZM8f2HZM8f2HZM8f2HZM8f2HZM8f2HZM8f2HZM8f2HZM8f2HZM8f2G[M9e2G[M9e2F\\M:d2F\\M:d2F\\M:d2E]M;d2D\\M<d2D\\M<d2D[M=e2C[M=f2BZM>e2C[M=e2C[M=d2D\\M<d2D\\M<d2D\\M<e2C[M=e2C[M=d2D]M;d2D\\M<^6000WLCZM>^6000000000000000000000000000[LBTM>l2BTM>l2CSM=m2EQM;n2HPM8P3JnL6R3MjL4U3OiL1W31gLOX34fLLY37eLIZ3:dLF[3>bLB]3a0aL_O^3d0`L\\O^3h0`LXOV3A\\JZ1\\2UOW3DYJ\\1]2POW3AZJ40]1^2nNT3C]JN1j1\\2eNU3D^JM2m1W2bNX3E_JL2o1U2`NZ3E_JL242c1Q2hN\\3BgJ1Ne1n1hN]3BhJ0Ki1o1eNQ4]1mKcNQ4FnI2=l0b1\\OS5c0kJ]OW5c0gJYOVNFW7o0bJROl5m0n12N1]HQO^5o0^JTOc5n0SJYOn5i0mIYOT6h0iIYOX6h0fIXO\\6h0UInN[O<a7h0hHLZ7f11O2N3M2N2N2N1O1O1O2N2N2N002N1O1O1O2N2N1O2N1O1O009G1O2N2N1O3M2N2N1O2N1O2N1O2N2N2N2N2N1O2N2N2N1O1O1O1O2M4LTaR1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_lower-left_part_of_the_lounge_chair_222222_the_right_part_of_the_rightmost_vase/000062_mask_rle.json b/Navigation/GroundDetection/The_lower-left_part_of_the_lounge_chair_222222_the_right_part_of_the_rightmost_vase/000062_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd3888a5bc8b319c35220e0bd69ef88447e3d890
--- /dev/null
+++ b/Navigation/GroundDetection/The_lower-left_part_of_the_lounge_chair_222222_the_right_part_of_the_rightmost_vase/000062_mask_rle.json
@@ -0,0 +1,31 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_lower-left_part_of_the_lounge_chair_222222_the_right_part_of_the_rightmost_vase/000062_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The lower-left part of the lounge chair 222222 the right part of the rightmost vase."
+    ],
+    "scene_description_en": [
+      "The lower-left part of the lounge chair",
+      "the right part of the rightmost vase."
+    ],
+    "scene_description_cn": [
+      "躺椅的左下部分和最右侧花瓶的右边部分"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "`84?\\1R8dNmG^1R8aNoG_1R8`NnG`1b81000000O1000000O1000000O10000O1000000O1000000O10000O1000000O1000000O1000000O1000000O1000000O1000000O10000O10000O1000000O10000O1000000000000008H1O001O6J3M0000000000O1N2O100O1000000ObN[Go0e8QO\\Gn0c8RO^Gn0b8RO^Gn0b8RO]Go0c8QO]Go0b8RO]Go0c8QO]Go0c8QO]G4ID1f0j8@]G12=a8B\\G15<_8C\\G15<_8C\\G06=^8C\\GO6?^8B\\GN7`0]8A]GO2d0a8]O^GM1g0a8\\OkGe0U8[OjGf0V8ZOjGf0V8ZOiGg0W8YOhGh0X8XOhGh0X8XOgGi0Y8WOfGj0Z8VOeGk0[8UOeGk0[8UOdGl0]8ROdGn0\\8ROcGo0Q90O1O1O1000000000000000000]OmNeGS1Z8oNeGQ1[8oNeGQ1Z8POfGP1Z8POgGo0Y8POhGP1Y8oNgGQ1Y8nNhGR1X8mNiGS1V8nNjGR1V8nNkGQ1T8POlGP1T8POlGP1T8QOkGo0T8TOjGl0V8ZOdGf0\\8\\OcGc0\\8_OcGa0]8_OcGa0]8_OcGa0]8_OcGa0]8@cG?\\8BdG>\\8BdG>\\8BfG<Z8EfG:Y8GhG8X8HhG8X8IgG7Y8JeG7Z8R10000O10000O10000O10000O1O100O10000O100001O000000000000001O0000000000001O00000000000000001O00000000000000001O0000000000000000001O000000000000000aNRH8o7CYHE]O8Z82gHMY72iHLX73kHIW77c1O100O2O0O100O10000O2N100Oh`c11T_\\N5L3M3K5E;K5D<O1000000001O000000000000000000001O00000000000000001O000000000000000000001O0000000000000000000000001O000000000000000000000000001O00000000001O001O2N4L3M4L3M2N3M2N3M1O3M2N1O1O1O1O2Nf:"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_lower-right_corner_of_the_left_sofa_222222_part_of_the_right_table/000176_mask_rle.json b/Navigation/GroundDetection/The_lower-right_corner_of_the_left_sofa_222222_part_of_the_right_table/000176_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c3aee6cf78a0f89e8a275e7a0f2f5f947f17ccb
--- /dev/null
+++ b/Navigation/GroundDetection/The_lower-right_corner_of_the_left_sofa_222222_part_of_the_right_table/000176_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_lower-right_corner_of_the_left_sofa_222222_part_of_the_right_table/000176_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The lower-right corner of the left sofa 222222 part of the right table"
+    ],
+    "scene_description_en": [
+      "The lower-right corner of the left sofa",
+      "part of the right table"
+    ],
+    "scene_description_cn": [
+      "左侧沙发的右下角",
+      "右侧桌子的一部分"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "[jR1=U:3M3J7L3M4L3M3M7J=C3M1N2N2N2O1N20000O11O001O1O[OWN_Hi1a7YN\\Hh1b7f0O1O100000000O10000O1000000O11O1O3M1O1O1O2N1O1O0000000000000000000000O1000000O10000O1O1O100BXMoHi2n6[MoHg2Q7>O10000O10000O10000O100000000O1000000001O00001O00001O001O002N3M2N1O001O002N3M1O4L2N001O001O0000001O001O1O1O001O1O001O1O1O001O1O002N1O2N1O1O1O001O1O000000000000O100O100O100O1O100O100O10000O10000O1000000O10000O1O1001O00002gMPHj1^8O0000000000O100O100cMUNPLl1P4TNoKm1P4TNPLl1P4TNoKm1S4PNnKP2[600000O10000N2O1LmMgGS2Z831O5K1O00O1001O1O4L1O1O<D1O0000O100O1O1N2O100O1O100O1O1L4D<00000000001O001O001O001_NbGj0^8UOdGj0]8UOcGk0_8ROcGm0^8RObGn0^8RObGn0_8QOaGo0_8QOaGo0`8PO`GP1a8oN_GQ1a8oN_GQ1b8nN^GR1b8nN^GR1c8mN]GS1c8mN]GS1d8lN\\GT1d8lN\\GT1d8lN\\GT1e8kN[GU1e8kN[GU1f8jN[GU1f8iN[GW1e8hN\\GX1e8gN[GY1P90000000001O001O1O1O1O1O1O2N2N2N2N2NTOZOlGd0T8]OlGb0T8^OnG`0R8AZG05?a8AYG35;b8BYG35;b8CYG33:d8CYG41:f8CXG6O7i8CXGP1h8POXGP1h8POXGP1h8QOWGo0i8QOXGn0h8ROXGn0i8QOVGP1j8POVGP1_6TO[KLWNo0\\6WO^KIVNP1Z6YO`KHUNo0Y6[ObKFUNo0X6\\OdKDUNo0U6@eKAVNo0U6@eKBUNn0T6BhK_OTNo0W6_OeKBUNn0V6@eKBUNn0V6@eKBUNn0V6@fKBSNn0W6@fKBRNo0Y6]OfKEoMo0[6\\OfKn0Z4ROgKm0Y4SOgKm0Y4SOgKm0Y4SOgKm0Y4TOgKk0Y4UOgKk0Z4TOfKl0Z4TOfKl0Z4UOeKk0[4VOdKj0\\4WOcKi0]4YOkJ@SOY1R6[O\\Jd1d5cNQJa1o5_NoIc1R6]NjIf1V6ZNhIh1X6YNeIi1[6X1000000000000001O00O100O1I7K5H800000000001gKWJe3j5XLYJg3m5oKXJP4W6O001O00000000001O1O001O1O1O0UN[IGV7GnH6T7GnH8P7JPI6m6LTI4h60YIOg61YIOg61YIOg61ZINf61[IOe61\\INd62\\INe61\\INd62]IMd61]IOc6O`I0`6HnHlNf0\\1\\6^ORJb0P6VOWJi0k5kN_JU1a7O0000001O00001WOgF5"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_lower_left_area_of_the_door222222The_corner_of_the_table_closest_to_the_camera/107932_mask_rle.json b/Navigation/GroundDetection/The_lower_left_area_of_the_door222222The_corner_of_the_table_closest_to_the_camera/107932_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfd52135732ba1aa9d6951984af981df523c23b3
--- /dev/null
+++ b/Navigation/GroundDetection/The_lower_left_area_of_the_door222222The_corner_of_the_table_closest_to_the_camera/107932_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_lower_left_area_of_the_door222222The_corner_of_the_table_closest_to_the_camera/107932_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The lower left area of the door222222The corner of the table closest to the camera"
+    ],
+    "scene_description_en": [
+      "The lower left area of the door",
+      "The corner of the table closest to the camera"
+    ],
+    "scene_description_cn": [
+      "门的左下角区域",
+      "离镜头最近的桌角"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          684,
+          1024
+        ],
+        "counts": "^ie78Qe04N2N1lLFTA=j>ETA>j>ERA>k>EQA>n>Cn@b0P?@k@c0U?_Og@c0X?Ab@b0^?@\\@d0d?_OU@e0k?^Om_Og0S`0^Ob_Oh0^`0[O\\_Oh0d`0\\OR_Oj0n`0j1O10000000000O100000000000000O10000000000O100000000O10000000O10O1000O10000000O1000000000000O100000000000000O10000000000O10000000001N1000000000000O101O000000000O10000000000O10000000000O100000000O10000000000O100000O1000O1000O1000O1000000000000O10000000000O1000000000000O101O0000000O101O000O1000000O1000000O10000000000O1000000000000O10000000000O100000000000000O1000000O10000000000O100000000000fKR@V3n?iLU@U3l?iLV@V3k?hLV@X3l?eLV@Z3n?]LW@c3i`0O2O001O0O101O0000001O00001O00001O00001O00001O0000001O00001O010O001O1O001O001O1O001O10O01O1O001O1N110O00001O00001O00001N10000O101O0cMR^OKBR1^b0nN`2MbQf0M`YYO5JN=M8l0Qb0h1O1000001O1N100000000001O00002N1O2N3M7I3M2N9G<Dc0[O8J4KSh]6"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_lower_right_corner_of_the_wall_with_a_window_directly_ahead/row_1894_col_image_mask_rle.json b/Navigation/GroundDetection/The_lower_right_corner_of_the_wall_with_a_window_directly_ahead/row_1894_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b274c38f3ddd8ec4c4b1d38c6da98d3bd49416d
--- /dev/null
+++ b/Navigation/GroundDetection/The_lower_right_corner_of_the_wall_with_a_window_directly_ahead/row_1894_col_image_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_lower_right_corner_of_the_wall_with_a_window_directly_ahead/row_1894_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The lower right corner of the wall with a window directly ahead"
+    ],
+    "scene_description_en": [
+      "The lower right corner of the wall with a window directly ahead"
+    ],
+    "scene_description_cn": [
+      "正前方带窗户墙面的右下角"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          576,
+          432
+        ],
+        "counts": "le:2ka05J4L4M3M3L4M3L4M3M3L4K5J6M3N2aN_1O1O100000000000000O100000000000000000000000000000000000000000000000000000000000000000000O1000000000000000000000000000000000000000000O11O0000000000O100O1O100000000O10000O1000000000000000000000000001O001O00001O0O2O001O100O001O1O1O001O001O1O001O1O1O1O001O1O001O001O1O1O1O1O001N20O01O001O1O1O001O1O1O001O1O1O1O001O001O1N110O1O1O1O1O1O001O00000O11O000001O00000O100000001O019F1O1O001O001O001O1O001O1N20O01O1O1O001O1O1O001O1O001O1O1O001O1O001O1O0O200O1O1O1O001O001O1O001O1O001O1O1O001O1O1O001O1O001O1O1N10100O1N1O2N110NUh^2"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_plate_closest_to_the_camera/41069134_4156.706_mask_rle.json b/Navigation/GroundDetection/The_plate_closest_to_the_camera/41069134_4156.706_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..29d7f28ff437a1ac60e8db9b1ac3d51c8ac4f042
--- /dev/null
+++ b/Navigation/GroundDetection/The_plate_closest_to_the_camera/41069134_4156.706_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_plate_closest_to_the_camera/41069134_4156.706_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The plate closest to the camera"
+    ],
+    "scene_description_en": [
+      "The plate closest to the camera"
+    ],
+    "scene_description_cn": [
+      "离镜头最近的盘子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_right_armrest_of_the_single_sofa_222222the_compartment_at_the_lower-right_corner_of_the_cabinet/000163_mask_rle.json b/Navigation/GroundDetection/The_right_armrest_of_the_single_sofa_222222the_compartment_at_the_lower-right_corner_of_the_cabinet/000163_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e5f94a6c609b0cc34693fc63a5d63f7cd2945d9
--- /dev/null
+++ b/Navigation/GroundDetection/The_right_armrest_of_the_single_sofa_222222the_compartment_at_the_lower-right_corner_of_the_cabinet/000163_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_right_armrest_of_the_single_sofa_222222the_compartment_at_the_lower-right_corner_of_the_cabinet/000163_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The right armrest of the single sofa 222222the compartment at the lower-right corner of the cabinet."
+    ],
+    "scene_description_en": [
+      "The right armrest of the single sofa",
+      "the compartment at the lower-right corner of the cabinet."
+    ],
+    "scene_description_cn": [
+      "单人沙发的右侧扶手",
+      "柜子的右下角的隔层"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          768,
+          512
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_right_side_of_the_chair_that_on_the_left/40958749_1109.665_mask_rle.json b/Navigation/GroundDetection/The_right_side_of_the_chair_that_on_the_left/40958749_1109.665_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..05182287f8f1bafd9b9724f827a9cc31f77e9275
--- /dev/null
+++ b/Navigation/GroundDetection/The_right_side_of_the_chair_that_on_the_left/40958749_1109.665_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_right_side_of_the_chair_that_on_the_left/40958749_1109.665_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The right side of the chair that on the left"
+    ],
+    "scene_description_en": [
+      "The right side of the chair that on the left"
+    ],
+    "scene_description_cn": [
+      "左边椅子的右侧"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "hUi16i>1N200O3N0CHjAM6;m=`0O1O1O1N2K500AkNnBZ1Q=hNlBZ1R=;KYNoBi1P=4JSNWCo1g<600O1N2O1L4M3D<N2J600O1N2N2M3K5K5L4N2M3O1L4N2K5M3L4M3N2M3O1K5N2J6J6L4M3K5N2M3L4N2M3N2K500N2N2O100O100000000O10000000000O100000000000000fM[IYLe6f3aITL`6l3eIoK[6P4iIUJ_Of1h6U4mIhKT6X4mIgKS6Y4nIfKR6Z4[JXKf5h4[JWKe5i4^JTKb5l4aJPK`5P5cJmJ]5S5fJiJ[5V5iJfJX5Z5kJcJU5]5mJ`JT5`5nJ^JR5b5PK[JQ5e5PKZJP5f5QKXJP5h5PKXJP5h5T20000O100000000000000O10000000000000000000000O1000000O1000000000000000000O10000000000O100000000000000O100O100O12N2N2N4L3M4L4L5K4L7I5K4L7I8^HbHR7k7K5K5K4L6TJeGg4]9M1O1O0000000000M3N2L4K5K5L400001O1O001O1O1O1O1O001O1O1O1O1O1O1O001O1O001O2N001O00001O1O1O1O1O1O1O001O001O1O2N1O3MO1001O001O1O1O001O2N3M6J5nKfET3U;N1O001O000000O1O10000IcLkD]3R;hLkDY3Q;=L4I7J6M3M3N2O1O1O1O1O1O1O100O1O1O1O1O1N2O1O1O1O1N2O100N2O1O1O1O1O1O1O12N002N1O1O0000000]KcFc3\\9]LeFc3Z9]LgFc3V9_LkFa3Q9bLoF_3m8cLUG]3j8cLWG]3f8fLYG[3d8gL\\GZ3b8gL^GZ3_8hLaGY3\\8jLcGW3[8jLeGW3X8kLhGV3W8jLjGV3U8jLkGW3S8jLmGW3Q8kLnGV3Q8jLoGW3o7iLSHW3k7kLTHV3k7jLUHW3j7iLVHX3j7gLWHY3i7fLWH[3i7dLWH]3i7bLWH_3i7`LWHa3i7^LXHb3h7]LXHd3h7[LYHe3h7ZLWHg3i7XLXHh3h7WLXHj3h7ULXHl3i7mJTHi03[4V8dKiG]4Y8`KgGa4[8\\KfGd4\\8YKcGi4^8VKaGk4`8RKaGo4a8oJ^GR5c8lJ]GU5d8iJ\\GX5e8fJ[G[5g8bJYG_5S91O100O100O1O1000000001O001O1O001O00001O1O001O00001O001O00001O00001O00001O001O001O0000001O00001O1O4L5K6J9G9G6J6J9G5K1OTNSMeGm2Z8`MZG`2f8gMQG[2o8XN]Fi1c9j100000000O1000000000000O10000O100O100O1O100O1N2O1N20000001O001O1O001O1O1O1O001O1O001O1O1O1O1O1O1OKoJZFR5d96O100O1O1O1N2O1N2O1N2O1O1O1O1O1O1O1O100001O00001O001O0000001O001O00000000000000O100O1001O00000hJkFe4"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_side_of_the_big_sofa/41048264_5077.438_mask_rle.json b/Navigation/GroundDetection/The_side_of_the_big_sofa/41048264_5077.438_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..651d7cd80079b3de9fe8550e1db61a9ca5d114a7
--- /dev/null
+++ b/Navigation/GroundDetection/The_side_of_the_big_sofa/41048264_5077.438_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_side_of_the_big_sofa/41048264_5077.438_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The side of the big sofa."
+    ],
+    "scene_description_en": [
+      "The side of the big sofa."
+    ],
+    "scene_description_cn": [
+      "大沙发的侧面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "lgX39U>1nA6X=Z1E<VOQNQDW2g;e0L3N2N2O1M3O001O001O1N20O10000000001O00001O0000001N110O001O11N10O001O00001N100000O100O1M3O1O10000000O100000000000000000000000000001O0000000O101O0000000000000000001N10000O2N10000O2O003_E`LDHZ9T4cFQMQ9a4lFVJ2230V8h6F;F3M1O5J`0A:F1O1N101O00001N2O001N101O001N101O00001O010O000O2N100M3C[G]Jg8[5c0J6M3N1O2G9M2JiEcKY:\\46O010001O0O10001N10000O100O101N2O0O2O1O1N101O1O1O1O001O001O1O001O1O1O010O0010O01O100O010O1O10O01O011N100O001O10O000012M0001O01O100O001O010O1O100O0010O01O0010O01O100O10O01O1O10O0100O1O10O01O100O00100O001O10O01O00100O1O10O01O1O010O0010O01O1O010O1O1O010O1O010O100O00100O001O10O01O10O01O00100O001O100O1O00100O1O00100O1O010O1O101N002N001O0010O01O10O01O100O1O001O1O010O001O100O1O1O001O1O010O001O010O1O1O010O1O0010O01O000010O000000000O2O000O1O1O2O0O1000000O1001O00O10001O0O100O1O1N2N2eNdHQK]7o4eHoJ\\7P5lHhJT7X5oHaJU7^5V110O1O101OO100000bKbFZ3]9eLeFZ3\\9dLfF\\3[9aLgF_3\\9]LeFc3^9YLcFg3[:O100O100O100O100O10000O10000O100O1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_side_of_the_chair_closest_to_the_door/41126941_13421.445_mask_rle.json b/Navigation/GroundDetection/The_side_of_the_chair_closest_to_the_door/41126941_13421.445_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cc6adc67d9ef1a0b2d13b22972cb12d49a5ab9e
--- /dev/null
+++ b/Navigation/GroundDetection/The_side_of_the_chair_closest_to_the_door/41126941_13421.445_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_side_of_the_chair_closest_to_the_door/41126941_13421.445_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The side of the chair closest to the door"
+    ],
+    "scene_description_en": [
+      "The side of the chair closest to the door"
+    ],
+    "scene_description_cn": [
+      "离门最近的椅子的侧面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_single_sofa_on_the_right222222stool/000952_mask_rle.json b/Navigation/GroundDetection/The_single_sofa_on_the_right222222stool/000952_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb4d62ebd9d47835cfff60ffe7309ec0381cf908
--- /dev/null
+++ b/Navigation/GroundDetection/The_single_sofa_on_the_right222222stool/000952_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_single_sofa_on_the_right222222stool/000952_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The single sofa on the right222222stool"
+    ],
+    "scene_description_en": [
+      "The single sofa on the right",
+      "stool"
+    ],
+    "scene_description_cn": [
+      "右边的单人沙发",
+      "凳子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "o6a19jNV8X1iGiNV8\\1dGhNY8l1N0010O01O00L4N20eGmMT8S2lGmMT8R2mGoMR8Q2lGQNT8n1lGSNS8m1nGSNR8l1nGUNQ8l1nGUNR8k1mGVNS8h1nGZNP8g1oGZNQ8f1oGZNQ8e1oG\\NP8d1QH\\No7d1QH\\No7c1QH^No7`1RHaNm7`1SH`Nm7`1RHaNn7_1RHbNl7_1SHbNm7S2000ZOSHdNl7S20001OWOUHhNk7X1UHhNj7X1VHiNj7Q20001NTOXHmNh7R1YHnNg7R1XHoNg7R1YHnNd7T1\\HmN_7W2OQObHiN^7W2O10oNcHkN\\7W2OnNeHlN[7W20lNeHnNZ7W20kNfHPOY7o0gHROY7n0gHROX7n0hHSOX7l0hHUOX7U21N1O0cNfH_OY7o1LfNkH\\OT7d0lH]OT7c0lH]OS7c0mH^OS7a0mHAb6bNiIn1E@a6o0_IROa6m0_ITO`6l0`IUO`6k0`IUO`6j0`IXO_6_20XNaIZO_6^20WNaI\\O_6c0aI^O_6a0aI@_6[20TNaIB_6=aID_6<aID_6;aIG_67aIJ_66aIJ_65bIK^65aIL_63aIN_61bI0]60bI1^6NcI2]6McI5\\6KcI6]6JcI7\\6HdI9\\6GdI:[6EeI<[6DeI<[6CeI>[6n11bMdI`0]6@cI`0]6_OcIb0]6^OcIb0]6k10000000aMcIf0]6ZOcIf0]6i10`McIh0]6XOcIi0\\6h10]MeIl0\\6f10[McIR1l6_NTIa1Z7g01WMeHT2e7bM[H^2f7`M[H`2f7_MZHa2f7_MZHb2d7_M\\Ha2d7_M\\Ha2d7_M\\Ha2c7`M]H`2b7aM]H`2d7_M\\Ha2d7^M]Hb2d7]M\\Hc2d7]M\\Hd2c7]M\\Hc2d7\\M]Hd2c7\\M]Hd2c7\\M]Hd2c7\\M]Hd2c7\\M]Hd2c7\\M]He2b7[M_Hd2a7XM]H12h2a7WM]H21g2d7YM\\Hg2d7ZM[Hg2c7ZM]Hf2c7ZM^He2b7[M^He2b7[M^He2b7[M^He2b7[M]Hf2c7601O00TM^HV17K[7oN^HQ1d0Hn6WO^Hn0j0Hh6ZO^Hk0P1Hc6\\O]Hi0W1H[6_O^He0^1IT6B^Hc0c1Ho5E^H?i1Jj59ZJEf59^JEa5J`H9T2J\\5MaH7U2LY5MbH7W2JW5ObH6Z2IS52dH3\\2IP54dH3n9MRF2o9NPF2Q:MPF3P:MPF2Q:NoE2Q:NPF0Q:0oE0Q:0oEOR:1nEOS:0lE0V:OkE0V:OjE1V:0hE0Y:0gE0X:1hEOV:334O0O2N2N2N1O1O100O100M^ORFd0l9]OUFb0j9_OXF>P:0000ImELS:4mEH01R:2PFNON01R:4mEM0O10R:3nEN3OP:2UFNl9OVF1V:11Of:OZE3^EN\\:2eEN[:2eEN[:3eEMZ:3fENY:2fEOY:2gEOX:1hE0V:1kEOS:2mE0Q:0oE2P:MPF5n9KRF6m9KRF8k9HUF:i9FWF<S1_O]75`G?l0Ac70aGb0b0Em7JaGd09GV8EaGb1_8^NaGb1_8^NaGb1_8]NbGc1^8]NbGc1^8]NbGc1^8]NbGd1]8\\NcGd1]8\\NcGd1]8\\NcGd1]8\\NcGd1^8\\NaGd1_8\\NaGd1_8\\NaGe1_8YNbGg1^8YNbGg1^8YNcGg1\\8YNdGg1\\8ZNcGg1\\8YNdGg1\\8YNdGi1`0bNf6FiHm2U7TMkHl2U7TMkHl2U7TMkHl2U7TMlHk2S7VMmHj2S7VMmHj2R7WMnHi2Q7YMnHg2R7YMnHg2S7XMmHh2U7VMkHj2U7VMkHj2T7WMlHi2T7XMlHg2U7XMkHh2T7YMlHg2T7YMlHg2V7WMjHi2W7VMiHj2W7VMjHi2V7XMiHh2V7YMjHg2V7ZMjHe2V7\\MkHb2V7^MkIFQOc1V71jHHX7>iHTNX8[3iN6L1I7K5D=N01000O100001OO10000001O0000001O1O3M002N1O3M1O3RL[If3f6YLZIg3g633M2N2N1O2N3M2N1O3M1O1O2N4L2N2N1O2N1O1N3N3M1O2N2N2N4M0O2N1O4L1O2N2N2N2N2N2N2N3M1O2N2N2N2N2N4L1O3M1O2N2N1O4L1O2N2N2N2N1O4K^Y[1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_single_sofa_on_the_right222222television/000351_mask_rle.json b/Navigation/GroundDetection/The_single_sofa_on_the_right222222television/000351_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddb3c87c3991c509280e7256be4c9facd915a43d
--- /dev/null
+++ b/Navigation/GroundDetection/The_single_sofa_on_the_right222222television/000351_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_single_sofa_on_the_right222222television/000351_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The single sofa on the right222222television"
+    ],
+    "scene_description_en": [
+      "The single sofa on the right",
+      "television"
+    ],
+    "scene_description_cn": [
+      "右边的单人沙发",
+      "电视机"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "a:4]:4L4O1O100O100O1O1O1O100J_OWFb0i9^OWFb0i9^OWFb0i9_OWF`0i9@WF`0i9@XF?h9AXF?h9AXF>h9CWF>g9EXF;g9FYF9g9HYF1n9ORFHV:8kEHm92TF7NHU:84O3MZm\\1KkRcN2N1N2O1N2O1O1O1O1O1O100N2O1N@WF8g9J[F4c9Mb0000O00101N11M20001O1NkP<6knC8K3N1K6K5N101GPOkFR1Q9;O101O000000001O00001O1O2YG\\NY8S2MV1jN1O0O1000000O1O1N2O10000001O1O0000000RNoH8Q7GkHgN3[1T7MiHmN2R1U71iHQO1k0U75jHVO0@2g0T7c0jHA0JV7e0jH>U7BkH>U7BkHB0IU7e0kHB0IU7e0kHB0IU7e0kHB0IU7e0kHB0IU7e0kHB0IU7e0kHB0IU7e0kHB0IU7e0kHB0IU7e0kHB0IU7e0kHB0IU7e0kHB0IU7e0kHB0IU7e0kHB0IU7e0kHB0IU7e0kHB0HV7f0jHB0HV7f0jHB0HV7f0jHB0HV7f0jHB0HV7f0jHB0IU7e0kHB0IU7e0kHB0IU7e0kHB0IU7h1kHXNV7g1jHYNV7g1jHYNU7h1kHXNU7e0kHB0IU7h1kHXNU7h1kHXNU7h1kHXNU7h1kHXNU7h1kHXNU7h1kHXNU7h1kHXNU7h1kHWNV7i1jHWNV7i1jHWNV7i1jHWNV7i1jHXNU7h1kHXNU7h1kHXNU7h1kHXNU7h1kHXNU7h1kHXNU7h1kHXNU7h1kHXNU7h1kHXNU7h1kHWNV7d200000RNjH=V7CjH=V7CjH=V7CjH>U7BkHB0IU7e0kHB0IU7e0kHB0IU7e0kHB0IU7e0kHB0IU7e0kHB0IU7e0kHB0HV7f0jHB0HV7f0jHB0IU7e0kHB0IU7e0kHB0IU7e0kH>U7a10fLkHV10b0U7XNmHU1Nb0U7XNoHW1LC0LV7ZOoHW1KB0MV7ZOPINMT1ME0OV7ZOXIQ1BE00k7T1UHlNl7;THB03n7:RHB04o7;QH_O06Q8:oG_O07R8:nG^O07T8;lG]O0O^8e0bGZO0Hh8n0XGYOQ9h0oFVOR9j0nFTOT9m0lFQOU9o0kFoNW9R1iFlNY9S151OO002N1O1O1O1N2O1O1N2O1O1N2O1O1N2O1O1N2O1O1N2O1N2O2M2NXPU1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_sofa_on_the_right/000597_mask_rle.json b/Navigation/GroundDetection/The_sofa_on_the_right/000597_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..398776fbcee4cbe205268524de8dc34f5b606574
--- /dev/null
+++ b/Navigation/GroundDetection/The_sofa_on_the_right/000597_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_sofa_on_the_right/000597_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The sofa on the right"
+    ],
+    "scene_description_en": [
+      "The sofa on the right"
+    ],
+    "scene_description_cn": [
+      "右边沙发"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          341,
+          512
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_table_closest_to_the_sofa/41048223_7233.733_mask_rle.json b/Navigation/GroundDetection/The_table_closest_to_the_sofa/41048223_7233.733_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..614cd953ea0a85c6bfba75b468dd481c49ebc96c
--- /dev/null
+++ b/Navigation/GroundDetection/The_table_closest_to_the_sofa/41048223_7233.733_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_table_closest_to_the_sofa/41048223_7233.733_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The table closest to the sofa."
+    ],
+    "scene_description_en": [
+      "The table closest to the sofa."
+    ],
+    "scene_description_cn": [
+      "离沙发最近的桌子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "Pkf38]>=D;D<F:G9N2`NlNQEV1`:]OZEe0Z:FeE;Y:IdE9[:W2O1O1O1O1N2O10O01O010O1O13M5J1O1O01O000001O000001O001O1O1O1O1gEdKk9k4N1O1O1O1O1O1O1O1O100O1O1O1O1O1N2O100O0O2O1O100O1O1O1O001O1O1O1O1O1O002N1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O001O1O1O1O1O1O1N2O1O1M3L4K5M3N1WOYHWJj7e5\\HWJf7c5eHVJ]7g5gHTJ]7d5T1J6M3M3O1N2O1N2O1O1O1O0O2O1O1O1O1O002N1N2O1O100O001O1O1O1O1O1O1O1O1O1O1O1O1O001O1N2O1O1O1O1\\OXEmLj:P3YEoLh:n2^EmLc:Q3cEkL^:S3i0N2N2AUDfMl;T2]DiMe;P2i0M2O2M3HnB\\NW=a16J5L5N3M102N1O100N101O1O1O100O1O1O1O001O1O1O1O1O1O1O1O1O001O1O1O1O1O1N2O1O001O1O1O00001O00000000000000000000000000000000000000000000000000010O00O101O000000000001OO10001O00O10000000000000000000001OO01000000O100000000000000001O000000001O000000000001O00O10000000000000O2O0000000000000000O01000Q?0o@00000000000P]10PcN0O010000001O0000O11O00000O100000000001O00000000000000000000000000000000000000O10001dANT=2kB0003N[70QM;XKE"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_table_corner_closest_to_the_camera_222222_the_sofa_armrest_on_the_right_sofa_near_the_window/000054_mask_rle.json b/Navigation/GroundDetection/The_table_corner_closest_to_the_camera_222222_the_sofa_armrest_on_the_right_sofa_near_the_window/000054_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1182c45f496578ee0316e347e84afc14ca15bda
--- /dev/null
+++ b/Navigation/GroundDetection/The_table_corner_closest_to_the_camera_222222_the_sofa_armrest_on_the_right_sofa_near_the_window/000054_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_table_corner_closest_to_the_camera_222222_the_sofa_armrest_on_the_right_sofa_near_the_window/000054_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The table corner closest to the camera 222222 the sofa armrest on the right sofa near the window."
+    ],
+    "scene_description_en": [
+      "The table corner closest to the camera",
+      "the sofa armrest on the right sofa near the window."
+    ],
+    "scene_description_cn": [
+      "最靠近镜头的桌角",
+      "右边沙发靠近窗户的沙发扶手"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "Z::[:0000000000000000000O1O100O1O100O1O100O1O10000000000001O000000000000000MmECT:`0O0001O000000000000000000000000000000001O0000000001O00000000O100000001O1O3M001O00001O001O001O0000001O001O001O001O00001O\\Xg02agXO1N3N1O1g1H`N1O1O101N100000000000000001N101O00]Z4NU[K0o9b0N2O00000001O0000000000000000000000000000000000000000001O000000000000000000006^OlE7[:N00000000000000M3E;J6L4M3M3M3N2M3L4M3M3N2M3N2N200O100O1[OQNUH00X2i7>O011O000000000000000001O0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000001O000000000000000000000000001O0000000O100000000000000001O000000O1000000001O0000000000000000000000000000000001O000O1000000ROo0H=G8I3O1N2O2N3L3N3M2N3M2N4L^PS1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_table_farthest_from_the_camera/000182_mask_rle.json b/Navigation/GroundDetection/The_table_farthest_from_the_camera/000182_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fbc0042ea323440fcb441da8513cc5d18d2a6b4
--- /dev/null
+++ b/Navigation/GroundDetection/The_table_farthest_from_the_camera/000182_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_table_farthest_from_the_camera/000182_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The table farthest from the camera."
+    ],
+    "scene_description_en": [
+      "The table farthest from the camera."
+    ],
+    "scene_description_cn": [
+      "离镜头最远的桌子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "]Xi05_:4hEKK0h9i0L5L4L3N2N31N001O0N3M3McNTOTIi0j6]OUI`0k6BUI<j6FVI9j6GWI8n6CRI=P7@RI`0o6^OQIa0P7_OPIb0o6]ORIc0n6]OQId0o6[ORIe0a6]OWH0X1b0a6I`I7`6I`I7`6I`I7_6J`I7`6I`I7`6H`I9_6HaI8_6HaI8_6H`I9`6G`I9_6H`I9`6G_I:a6F_I:a6G]I:b6G]I:c6G\\I9d6IYI8g6LTI5l6NPI3Q7OkH2W7OeH2^7O]H2g7MUH4m7LnG7U8S12N1OZOiMoHV2Q7oMjHQ2U7RNiHn1W7VNdHk1\\7g000O10000O10000O1000000O1000000001O3M2N000000GXMdHi2\\78O10000O10000O10000O1FhLWIX3h6;0000O100O100000000O10000O10000YOVLeJh3[5XLhJe3X6L4LkNdLUKX3j4kLXKQ3g4QM[Kl2e4VM]Kf2c4[M^Kc2b4]MQJLY1d2e4mMZKo1f4dMRJ9T1P2j4`NUK\\1k4jNRKS1m4nMSJj0l0W1Q5XOlJg0T5^OgJb0Y5DaJ<^5PNTJ_18^NLh1h5e0]JVOc5i0`JUO`5k0dJROZ5eNVJn1d0ZOV5Q1nJkNR5U1QKhNn4oNWJn1P1oNi4\\1[K`Ne4_1^K_Nb4a1aK\\N_4[OWJo1]1cN[4g1kKTNU4l1nKQNR4o1QLmMP4JWJn1m1UNm3T2ULjMk3U2[LfMf3Y2\\2gMiGQ2Y851gMfGU2]8O100O101O1N2O1O0O2O1N2O1O1O1N3N1N2O1N1O100O100O10O1000O10O10O1000O010000O01000O01000O10O10O10O100O101O1N101O1O1O1O1O1O2N1O100O1002N3M2N3M2N:F2N2N4L1O2N1O1O00O2N1O10O11O0O100000O0100000000O10000000000O101O000O100000O01000000O100000000O01000O2O00000O100000;E1N3NO001O1O1O001O1O1O001O1O1O1O1O001O1O1O1O001O1O1O001O1O1O001O1O1O1O001O001O1O001O1O1O1O001O001O1O1O1O1O001O1O001O1O001O1O1O1O1O1O1O001O`dm0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_table_farthest_from_the_camera/000253_mask_rle.json b/Navigation/GroundDetection/The_table_farthest_from_the_camera/000253_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1086d350d3017786603bcad9638708b3a14c417
--- /dev/null
+++ b/Navigation/GroundDetection/The_table_farthest_from_the_camera/000253_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_table_farthest_from_the_camera/000253_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The table farthest from the camera."
+    ],
+    "scene_description_en": [
+      "The table farthest from the camera."
+    ],
+    "scene_description_cn": [
+      "离镜头最远的桌子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "S^T25_:8jEJ_9S1Ba0@?Ai0WOb0^O=C9G7oIeKZ5m4M100000000O1000000001O1O2N<D:F3M1O000000O100H82N5K2Nd0\\O1O001O0000001O1O1O2N2N2N2N4L3M2N3M3M3M2N6JS1mN2N001O0000O100O1_OSOZGm0Y8n0O1O100O1000000O1000000O100000000O10000000000O10000000000SMdMaM\\2_2eM_M\\2`2gM^MY2b2hM]MX2c2iM\\MW2d2jMZMW2f2jMYMV2g2kMXMU2h2lMWMT2i2mMVMS2j2nMUMR2k2oMTMQ2l2PNRMQ2n2PNQMP2o2QNPMo1o2SNPMm1P3TNoLl1Q3UNmLl1S3UNlLk1T3VNkLj1U3VNkLj1U3XNiLh1W3XNhLi1X3XNgLh1Y3ZNeLf1[3ZNeLf1Z3]NdLc1\\3]NdLc1\\3_NbLa1^3_NbLa1^3aN_L`1a3aN^LA^NU1T5[O]L]OcNW1P5]O\\LTOnN]1g4^O\\LPOROa1b4A[LkNUOd1`4`NkJg0[2i0k2]NmJk0V2h0W3XOiLh0W3YOhLg0Y3YOeLg0\\3ZObLg0^3^N^Jc0l1V1X3SNUK2Je0d1Z1]3QNSKOMg0^1]1b3lM_Kg0j0a1g3hM_Kh0d0e1m3cM_Ki0?h1R4_M_Kj0<i1U4]M\\Kn08k1\\4WMZKQ16l1`4QMZKU12m1U5UNcJR2]5oM`JS2_5oM_JR2`5b10000O10000001O000000001O1O1O1O1O1YKXJ_4o501O001O0000O1K4L500_O]KPKc4P5]KQKb4o4^KQKb4n4_KRKa4n4`KPKa4P5`KnJa4R5`KkJb4T5a0N100000O2O001O001O00001O010O001O001O001O001bKcJb3]5YLjJe3V5WLnJi3S5SLPKm3Q5lKUKS4g5001N1M3M20100001O001O001O000001O01O000000000000O1000000O1N2N2O100001N10001O001O1O1O000001O01O001O001O1O001O001O001O001O00001O001O001O001O001O001O00001N101O001O001O001O001O0O2O001dMTIl0m6]NXIG0k1i6]NXIG05K:OM2"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_table_leg_closest_to_the_camera/000407_mask_rle.json b/Navigation/GroundDetection/The_table_leg_closest_to_the_camera/000407_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..a882a23c0a6faf1c07ef4bda96426f3981205a83
--- /dev/null
+++ b/Navigation/GroundDetection/The_table_leg_closest_to_the_camera/000407_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_table_leg_closest_to_the_camera/000407_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The table leg closest to the camera."
+    ],
+    "scene_description_en": [
+      "The table leg closest to the camera."
+    ],
+    "scene_description_cn": [
+      "距离镜头最近的桌腿"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          384,
+          512
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_upper_right_corner_area_of_the_stove222222The_bottom_area_behind_the_man_holding_the_child/1159760_mask_rle.json b/Navigation/GroundDetection/The_upper_right_corner_area_of_the_stove222222The_bottom_area_behind_the_man_holding_the_child/1159760_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..a74346a8f765667db89798765f741c2ccdaaed0a
--- /dev/null
+++ b/Navigation/GroundDetection/The_upper_right_corner_area_of_the_stove222222The_bottom_area_behind_the_man_holding_the_child/1159760_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_upper_right_corner_area_of_the_stove222222The_bottom_area_behind_the_man_holding_the_child/1159760_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The upper right corner area of the stove222222The bottom area behind the man holding the child"
+    ],
+    "scene_description_en": [
+      "The upper right corner area of the stove",
+      "The bottom area behind the man holding the child"
+    ],
+    "scene_description_cn": [
+      "炉子右上角区域",
+      "抱着孩子的男人背后的底部区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          683,
+          1024
+        ],
+        "counts": "[Tg53Ve03O0000O0101O0O2N2O0O11O7IdS8N[lG8I6eM0Q_O6i`00R_O4j`02P_O4j`00U^OUO?Q1Va0OT^OVOb0Q1h`0jNi^O^1>Md`0`0Z_OEa`0<^_OJ\\`07W_ORN4k1b`04X_OTN0P2d`0L\\_Og0Z`0YOf_Ok0V`0UOk_Om0R`0Z2L4L2SCaJj9d5nE`JQ:f5eE`JY:e5`E]J`:f5\\E[Jd:i5WEXJi:l5QEVJV8EfHY6mNTJ]8DeH\\6iNQJa8DfH`6cNmIg8DfHc6\\NkIn8BfHg6WNhIS9AgHi6QNhIX9^OYFKV2T7SNdI^9]OYFLMLV2]7mM`Ig9[OYFLW2[8`7jGXFKZ2Y8^7lGXFK]2V8a7hGTF0_2U8b:L:F3M>B7I2N1O000000001O000000RO[IVCe6Y<UI_Cb0K[6U=n0O1O100O100O1000000O10000O12N3M1XHXCk6f=N1O001O0000O100O1J6[Oe0M3O1O1O100O1000000O10000001O0000001O001O001O00001O00000000001O000000001O2N6J9G7Ia0PI[AX6T?H1O001O0000000000O1O1O1TOmIoAd6n=>L4N200O100O1O100N200ZMbH_G^7`8dH^G]7l7iHeEMMOa2\\7m7XIRHi6n7XIPHi6P8XIoGh6Q8XInGi6S8VImGj6S8VIlGk6U8TIkGl6U8TIjGm6W8RIiGn6W8RIhGo6X8QIgGP7Z8fHeECQ2g7[8bHQH^7o7aHQH`7Q8]HPHc7l:01O1OO1O100000000004L5K1O1O1O1O1O00O10000O1O1mNdHeCn7U<ZHgCh7W<[HfCg7V<^HgCd7X<h00000000000001O00001O0000001O00001O0000001O0000001O000000001O0000001O00001O00001O1O7I2N>B3M1O001O0000O100O1VOYHoCh7^;YHWD?K\\7k;[1O1N200001O2N1O1O001O1O2lFjCo8_<J2N2N00000000gNlGZEU8d:]HhDg7T;Z10000001O3M1O1O001O0000O1O1O1M3N2O1000000000000001OO100O1N2L40000000000001O000000001O000000000000000000@eEPF[:P:gEnEY:Q:hEoEX:R:hEmEX:S:hEmEX:S:iElEW:T:jEkEV:U:kEjEU:V:lEhEU:Y:lEcEV:^:;00001O001O00000000000000]O[E`Fe:_9\\E`Fe:`9[E`Fe:`9ZESFO:g:b9`E\\Fa:d9_E\\Fa:d9aEZF_:g9`EXFa:h9aEUF`:l9?000000000000O100O10000000000O10000000000000000000000000000000000000000000PFTFa8l9^GVFa8k9]GWFb8i9ZFTFj05k8g9YFWFk02l8h9WFVFn03j8g9WFWFo02j8o9VGRFi8m9XGSFh8m9XGTFg8k9ZGUFf8k9ZGVFe8j9[GVFe8i9\\GXFc8h9]GXFc8h9]GYFb8g9]GZFc8f9\\G[Fd8f9[GZFe8f9YG]Ff8c9RGeFn8[9PGgFP9Z9nFhFQ9Y9lFiFT9g:01O00001O00001O0000001O000000O100O100O10000J60000000000001O0000000000000000O1YOZFfEi9X:]F`Eg9`:b0O100001O001O1O1O001O001O00<D7I7I1O001O001O001O1O1O000000001O002N1O1O2N3M5K;E4L3M2N2N7I4L3M5K2N4L4L5K9G:F7_ISAV6T?M1O3M3M;E3M3M4L6J2N6J7I4L3M;E7I3M6J3M2N:F4L6J2N4L4L2bMW]OV2Sc0L:F6J7I2N5K6J3M3M7I6J4LRRd3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/bag222222guitar/000784_mask_rle.json b/Navigation/GroundDetection/bag222222guitar/000784_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..52a402b5e7166cb9d058fb2fa48b62e2d168b342
--- /dev/null
+++ b/Navigation/GroundDetection/bag222222guitar/000784_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/bag222222guitar/000784_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bag222222guitar"
+    ],
+    "scene_description_en": [
+      "bag",
+      "guitar"
+    ],
+    "scene_description_cn": [
+      "书包",
+      "吉他"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          968,
+          1296
+        ],
+        "counts": 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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/basket/41159382_2496.037_mask_rle.json b/Navigation/GroundDetection/basket/41159382_2496.037_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..917f2e0596ccfd3778dde7869ef0c09a4238ef2b
--- /dev/null
+++ b/Navigation/GroundDetection/basket/41159382_2496.037_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/basket/41159382_2496.037_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "basket"
+    ],
+    "scene_description_en": [
+      "basket"
+    ],
+    "scene_description_cn": [
+      "篮子"
+    ]
+  },
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+          640
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/bed222222_The_table_farthest_from_the_camera/102576_mask_rle.json b/Navigation/GroundDetection/bed222222_The_table_farthest_from_the_camera/102576_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..b220c01ba40fb5718b7a6ed448ae712e693ae7d4
--- /dev/null
+++ b/Navigation/GroundDetection/bed222222_The_table_farthest_from_the_camera/102576_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/bed222222_The_table_farthest_from_the_camera/102576_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bed222222 The table farthest from the camera"
+    ],
+    "scene_description_en": [
+      "bed",
+      "The table farthest from the camera"
+    ],
+    "scene_description_cn": [
+      "床",
+      "离镜头最远的桌子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
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+          341,
+          512
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/bed_222222_bed/101704_mask_rle.json b/Navigation/GroundDetection/bed_222222_bed/101704_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..5daa351ba52d3668819c0388b19dc226d3946388
--- /dev/null
+++ b/Navigation/GroundDetection/bed_222222_bed/101704_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/bed_222222_bed/101704_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bed 222222 bed"
+    ],
+    "scene_description_en": [
+      "bed",
+      "bed"
+    ],
+    "scene_description_cn": [
+      "床",
+      "床"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          341,
+          512
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/bed_222222_big_carpet/101643_mask_rle.json b/Navigation/GroundDetection/bed_222222_big_carpet/101643_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..3184ee4063ef880771ad81a142ab59d1c7c0eba4
--- /dev/null
+++ b/Navigation/GroundDetection/bed_222222_big_carpet/101643_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/bed_222222_big_carpet/101643_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bed 222222 big carpet"
+    ],
+    "scene_description_en": [
+      "bed",
+      "big carpet"
+    ],
+    "scene_description_cn": [
+      "床",
+      "大柜子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          341,
+          512
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/bed_222222_desk/101355_mask_rle.json b/Navigation/GroundDetection/bed_222222_desk/101355_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..272a38733bc6af079ea52d0dfd22f5a6eaff3cf8
--- /dev/null
+++ b/Navigation/GroundDetection/bed_222222_desk/101355_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/bed_222222_desk/101355_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bed 222222 desk"
+    ],
+    "scene_description_en": [
+      "bed",
+      "desk"
+    ],
+    "scene_description_cn": [
+      "床",
+      "书桌"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          384,
+          512
+        ],
+        "counts": "ki73l;3N2M2O1O2M2O2N1O2N1N2O2N2N1N2O2N1O1N3N1O2M2O2N1O2M2O2N1O1N3N1N3N1O2N1N2O2N2M2O1O2N1N3N1O1N2O00000O1000000O1000000O10000O10000O1000000O100000O10O10001N1000000O10000O01001O0O011O000O10000000000001O2N2N2N4L;E7I8H6J8H9G2N1O001O001OO1001O00001N101O1O001O1O1O001O1O10O01O1O1O1O001O1O1O001O1O001O1O1O1O1O1O1O001O1O1NR\\h00ocWO00000P`o00PdQO0PPe00oS_O1ogJ1O100O100O1O1O100O100O100O1O100O100O1O100O1O100O1O100O1O010O2N1O011N100O1O1O100O100O1O100O100O100O1O1O100O1O100O100O100O100O1O100O100O100O100O1O100O100O100O100O100O1O100O100O100O100O10000001O001O00001O0000"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/bed_222222_door/101439_mask_rle.json b/Navigation/GroundDetection/bed_222222_door/101439_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..829983b529bd90f0d4e0cd285c6460131aa8b6dc
--- /dev/null
+++ b/Navigation/GroundDetection/bed_222222_door/101439_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/bed_222222_door/101439_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bed 222222 door"
+    ],
+    "scene_description_en": [
+      "bed",
+      "door"
+    ],
+    "scene_description_cn": [
+      "床",
+      "门"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          340,
+          512
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/bed_222222_door/101456_mask_rle.json b/Navigation/GroundDetection/bed_222222_door/101456_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd8b8e8de24b576b7050783318fbe28361fe4bdf
--- /dev/null
+++ b/Navigation/GroundDetection/bed_222222_door/101456_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/bed_222222_door/101456_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bed 222222 door"
+    ],
+    "scene_description_en": [
+      "bed",
+      "door"
+    ],
+    "scene_description_cn": [
+      "床",
+      "门"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          384,
+          512
+        ],
+        "counts": "o9e18\\Nj9d1PFcNo9h1N101O0O100O10000O10000O10000O10O11N1000O02O000O01000O10000O10000O10000O2O0O10000O10000O10000O10000000000O100000O10O10000O10000O2O000O10000O10000O10000O100O1000O10O10000O10eMQGe1o8XNUGg1j8YNWGg1i8XNXGh1g8WN\\Gh1d8VN^Gj1b8TN`Gl1`8SN`Go1^8PNdGP2\\8oMeGQ2[8oMeGQ2\\8lMfGT2S90000000O100000000000000O1001O001O2N1N2O002N4M3L2N2N2N3M2N1O00000000000000O10000000000000000001O00001O001O1O2N9G2N1O00000O100000000001O0O100000000001O2N1O1O4L2N0000O1O100O010O1000000001O001O1O002N1O2N2N1O1O1O000000001O001O1O2Nog01PXO1N100O1O1O10O1000001O2N1O1OS\\Y3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/bed_222222_wardrobe/102050_mask_rle.json b/Navigation/GroundDetection/bed_222222_wardrobe/102050_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcaf6a2fa8f001f5bde9384f7edca23cf62ff9ee
--- /dev/null
+++ b/Navigation/GroundDetection/bed_222222_wardrobe/102050_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/bed_222222_wardrobe/102050_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bed 222222 wardrobe"
+    ],
+    "scene_description_en": [
+      "bed",
+      "wardrobe"
+    ],
+    "scene_description_cn": [
+      "床",
+      "衣柜"
+    ]
+  },
+  "mask_annotation": {
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+      {
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+          340,
+          512
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/bed_222222_wardrobe/102178_mask_rle.json b/Navigation/GroundDetection/bed_222222_wardrobe/102178_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e750df865125f831a96cd1f364f28f47fa34ee3
--- /dev/null
+++ b/Navigation/GroundDetection/bed_222222_wardrobe/102178_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/bed_222222_wardrobe/102178_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bed 222222 wardrobe"
+    ],
+    "scene_description_en": [
+      "bed",
+      "wardrobe"
+    ],
+    "scene_description_cn": [
+      "床",
+      "衣柜"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
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+          340,
+          512
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/bed_frame/1068_mask_rle.json b/Navigation/GroundDetection/bed_frame/1068_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c9ebffdee7d86014c2ff4018338fb4d2faf4a60
--- /dev/null
+++ b/Navigation/GroundDetection/bed_frame/1068_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/bed_frame/1068_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bed frame"
+    ],
+    "scene_description_en": [
+      "bed frame"
+    ],
+    "scene_description_cn": [
+      "床架"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/beige_double_electrical_outlet_to_the_left_of_the_parrot_artwork_on_the_right_side_of_the_frame/1182_mask_rle.json b/Navigation/GroundDetection/beige_double_electrical_outlet_to_the_left_of_the_parrot_artwork_on_the_right_side_of_the_frame/1182_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..98e55fa5445f37ff22f85c5cc818df66f2905f84
--- /dev/null
+++ b/Navigation/GroundDetection/beige_double_electrical_outlet_to_the_left_of_the_parrot_artwork_on_the_right_side_of_the_frame/1182_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/beige_double_electrical_outlet_to_the_left_of_the_parrot_artwork_on_the_right_side_of_the_frame/1182_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "beige double electrical outlet to the left of the parrot artwork on the right side of the frame"
+    ],
+    "scene_description_en": [
+      "beige double electrical outlet to the left of the parrot artwork on the right side of the frame"
+    ],
+    "scene_description_cn": [
+      "位于画面右侧、鹦鹉装饰画左侧的米色双孔电源插座"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          443,
+          512
+        ],
+        "counts": "\\T?2c=1_B0a=6I8K3M3L4M3N2N2O1O1N2N2N2N2N2O1N2O1N2N2O1N2O1N2N2O1N2N2O1N200O1000000000000000000000000000000000000000000000000000000000000000000000000000000000000O10000000000000000000000000000O10000000000000000000000000000O10000000000000000000000000000000000O10000000000000000000000000000000000000000000000000000000000O10000000000000000000000000000000000O10000000000O11O0000000000000000000000000000000000000000O1000000000000000000000000000000000000000000000000000000001O1O1O1O000000000000O100000000000000000000000000O100000000000000000000O100000000000000000000000000000000000000000000O100000000000000000000000000O10000000000000000000000000000000000000000000000000000000000O10000000000001O0000O10000000000000000000000O1N2N20000O1000000000000000000O1001O001O1O1O2N1O2N2N1O2N1O2N2N2N1O1O2N1O2N2N2N2N1O1O2N2N2N1O2N;E4L3M2N3M5_OeB8a=N3L3N_]m0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/black_vase_on_the_left_wooden_bar_counter__below_the_purple_flower_arrangement/1144_mask_rle.json b/Navigation/GroundDetection/black_vase_on_the_left_wooden_bar_counter__below_the_purple_flower_arrangement/1144_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..149b1aaf1e2d61a2a503a21a34f115a693fe30f4
--- /dev/null
+++ b/Navigation/GroundDetection/black_vase_on_the_left_wooden_bar_counter__below_the_purple_flower_arrangement/1144_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/black_vase_on_the_left_wooden_bar_counter__below_the_purple_flower_arrangement/1144_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "black vase on the left wooden bar counter, below the purple flower arrangement"
+    ],
+    "scene_description_en": [
+      "black vase on the left wooden bar counter, below the purple flower arrangement"
+    ],
+    "scene_description_cn": [
+      "位于画面左侧木质吧台台面上、紫色花束下方的黑色花瓶"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          360,
+          480
+        ],
+        "counts": "l:<l:0O1O100O10000O100O100O100O1O100O1O100O1O1O100O1O1O100O100O1O100O1O1O100O100O1O1O100O1O1O100O1O1O100O1O100O1O1O100O1O1O1O100O1O100O1O1O100O1O1O1O100O1O100O1O1O1O1O100O100O1O100O1O1O100O1O1O1O1O100O1O100O1O100O010O0001O0O1000001N100000001N10000O1000000O101N10001N10000O101O00001N100[NTGHMl0P9WOfGe0Z8[OhGb0Y8_OgG`0Y8AgG=Z8DfG;[8EeG:[8GfG6\\8JdG5\\8LdG3]8NbG0_81aGN`82`GLa85_GJb86^GHc89RG^OJ7T9<RG]OJ6W9;oF@I3^9:hFCK0a9;dFFg9;YFEf9<ZFDa9a0^F@_9c0]FAc9?\\FCc9=\\FDc9=\\FDd9<\\FCe9=ZFCh9<XFCi9=VFCk9>TFAm9?SF_Oo9a0QF^OP:b0QF[OQ:e0oEZOR:f080000000000O1O1O1O1N3N3M8G3N1OL5L5N1000000000000001O2Nkoo0LUPPO7L100000000000000000000000000000000010O00000000000000000000000000000O1010O01O0O2O1O001O001O1O2NQW_1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/book/41069134_4159.206_mask_rle.json b/Navigation/GroundDetection/book/41069134_4159.206_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9afee62712847dc72ec8e348a21d97d9e6eb29f
--- /dev/null
+++ b/Navigation/GroundDetection/book/41069134_4159.206_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/book/41069134_4159.206_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "book"
+    ],
+    "scene_description_en": [
+      "book"
+    ],
+    "scene_description_cn": [
+      "书"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "PTh21o>001O001O00001O1O001O001O0YAJd>901O1O1O001O0100O1O1L\\AJb>8^AI`>8`AH_>>O00001O00000000001O001O1O1O00001O0010O01O1O01O0001N3M101O00001O000000001O001O001O001O00001O001O1OO100000000000000000000001O001O001O001O1O1O1O2gMdNjFX1oMhNT;1mFX1X9iNgF[1mMfNa0Nk93fGj1d8VN\\GQ2\\8QNcGo1]8RNbGn1]8TNbGk1_8VN`Gi1`8YN_Gf1b8[N]Gc1e8^NZGa1f8aNYG_1g8bNXG]1h8eNWGZ1j8fNVGY1k8hNTGW1l8kNSGT1n8mNQGR1o8POPGo0Q9SOmFm0S9TOlFk0g7[NPHk09h0g7jNeG?c0f0h7]OTGNS1d0j7HiFD]1c0k7KhFA\\1c0m7NfF_O\\1b0n72eF]O[1`0Q83dF^OZ1>S85cF]OY1=V8Y1iGfNX8[1gGdN[88^F]OW1:\\8]1cGcN]8;]FZOV19`8_1_G`Nb8b1\\G]Nf8e1WGZNj8g1UGXNl8h1TGWNm8h1TGWNn8h1RGWNo8h1RGWNo8i1QGVNo8j1RGUNo8k1QGTNP9l1PGSNP9m1QGRNP9o1oFPNR9U1lEiNR11R9S2mFlMT9Y1kEiNo0MV9Y2iFfMm7NiG]29dMm73gG[2;aMn76fG[2:^MP89dG[2;[MQ8<cGY2<ZM\\6CYJl0mNZ2<VM[6LXJe0POZ2<UMn5BaI`0R1`0RO[2<SMa5l0oJGSOZ2=SM_5`1_JSOE\\2;QM_5f1nImM9P1N]2<PM^5k1ZJiNK^2;nL^5l1]JhNJ^2;mL^5P2[JeNL_2:lL_5Q2ZJdNLb29iL`5S2ZJaNNc28iL_5U2[J^NNe27hL`5V2ZJ]NNg27fL`5W2\\JZNNj25eLa5X2\\JXNMm25cLb5X2]JVNMQ32aLc5Z2^JRNNS31aLc5Z2`JoMLX30_Ld5[2_JlMO[3M^Le5[2^JmM0[3L]Lf5\\2]JlM0]3L[Lg5\\2]JlM0^3KZLh5\\2]JlMO`3KXLi5\\2]JkM0b3IWLj5]2\\JjM1c3HVLk5]2\\JjM0V4e5PNZJiM2W4d5PNZJiM2W4e5oMZJhM1Z4e5nMZJhM1Z4e5nM[JfM1\\4>WK[OONT3]1DlNdM0_4:QK]Ol3Z1POPObM0a49YO=dN[O`M0c47\\O<bN^O\\M0f45^O<`N@[MNh45_O<^NA[MNi44_O<]NA[MOj43@<[NB[MOk42_O=\\N@ZM2l40_O=[NAZM1m40_O>[NAWM2P5N^O`0ZN@XM2P5N^O`0[N_OQMH2;V5M\\O`0\\N3Y2\\O\\O`0\\N2Y2_OZO?]N2Z2^OYO`0]N2Z2^OYO`0^N1Z2^OXOa0^N0[2@VO`0_N0\\2_OUOa0_N0\\2@TO`0`NO^2APOb0aNM`2@oNc0aNM`2AnNb0bNLb2AkNd0cNKb2BjNc0dNKc2CgNc0dNJg2CcNd0fNIg2DbNd0fNHi2D`Nd0fNHl2E\\Nd0gNGm2FZNe0gNFP3DZNg0cNEU3DWNh0bNEW3CWNd1nKbNT17h4CUN\\2SL]M`0d0Y5CTN\\2nKZM15c0b0[5CRNj2aLbM_5CPNn2VLgMj5[OPNV4Q2iKoMW4R2hKnM9TLV3o5aLmM9eLd2`5RMkM:eMd1`4RNkM9SNW1T4`NhM9cNh0f3nNhM9]ONk2JgM8BIi2NeM9GCf24bM9Y6GgI8[6HdI8\\6IcI7^6I`I8`6J^I6c6J\\I6e6JZI5h6LUI5k6LTI4m6LRI4n6MPI4Q7LmH4T7NjH2V71fH0[7f1lF\\NU9e1hF\\NX9j1^FZNc9a3001O1O2Ml0QLYGKPh64icI3O1N2M3N2N2001O002K`AFb>5aAK`>3bALjVc00oW]O001O000000000000000000O1000Pm80PSG0000000000000Po70PQH000000000000000P?0PA00000P^g0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/box/41048242_575.385_mask_rle.json b/Navigation/GroundDetection/box/41048242_575.385_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..eeee07de22cb081116f75026597a66b15c95373d
--- /dev/null
+++ b/Navigation/GroundDetection/box/41048242_575.385_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/box/41048242_575.385_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "box"
+    ],
+    "scene_description_en": [
+      "box"
+    ],
+    "scene_description_cn": [
+      "箱子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "ega35j>4M1O1N3N3M1O3L3N1O3L3N2N2N1N101O0O2O1N2O1O1O1N3N2N2M3N2N2M2O1O2N1N3N1O1O1O1N1000000O100O0100O10O10O010000O0100000O101O0O101O001N101O1N101O1N101O1O0dEaMW8`2gGfMS8\\2kGjMP8W2nGlMP8V2nGlMo7V2oGnMn7T2PHnMn7S2QHQNk7AXGY1j0ZOj7\\O`GY1e0_Og7WOfGZ1a0Bf7UOjGZ1=Dg7QOmG]1:Ch7oNPH_15Cj7oNRH`10Bn7mNSHf1H_OU8jNUHl1]O]O]8hNWHQ4i7nKXHR4h7nKXHR4g7nK[HQ4e7oK[HQ4e7nK]HQ4c7oK]HQ4b7oK`HP4`7oKaHQ4^7PLcHo3U7XLlHh3S7XLoHg3P7ZLQIe3n6\\LRIc3o6\\LSIc3m6]LSIc3m6]LTIc3j6^LVIb3j6_LUIa3k6_LUIa3k6_LVI`3i6bLWI]3i6cLWI]3i6cLXI\\3h6dLXI\\3h6eLXIY3i6gLWIY3i6gLXIX3h6hLXIX3i6hLWIW3j6hLVIX3k6gLVIX3k6hLTIX3l6iLTIV3l6jLTIW3j6jLWIU3i6lLVIT3i6mLXIR3h6nLXIR3g6PMYIo2g6QMYIo2f6SMZIl2f6TMZIl2f6TM[Ik2e6VM[Ih2e6YM[Ig2f6XM[Ih2d6YM[Ig2e6YM\\If2e6ZM[Ie2e6[M[Ie2f6ZM[Ie2e6\\MZId2g6[MZId2f6\\MZId2f6]MYIb2h6^MXIb2h6^MYIa2g6`MXI`2h6`MXI`2h6aMWI_2j6`MWI_2i6aMWI_2i6bMVI^2j6bMVI^2j6bMVI^2j6cMTI^2m6aMRI`2o6mLcGJ\\1[3R7fLgGNV1]3X7_LdG4R1^3[7[LeG7o0_3\\7ZLeG8l0`3S8_LlGc3S8^LkGc3V8\\LiGe3W8[LgGg3Z8XLeGi3[8XLcGh3_8WL`Gj3a8VL]Gk3c8VL[Gk3g8SLWGo3j8QLSGQ4m8PLnFT4S9oK^F\\4c9`01O1O1O1O2O1N1O001N2O1O1O1O2N2N1N3H7G:K4N2L4F9N3N1O1O1O1O101N1O1O2O1M3O1N1O2N2N1O2N1O2N101N1O2N1O2N2N1O2N101N1O2M201N1O2N3M2N2N1O2N2N1O2N101N1O2M3N2N2N1O2O1N2N1O2\\OmA8U>GlA7U>HmA6U>IlA5V>IlA5a>Nmc\\1NU\\cN2L3O1O1L4N3M2O1N2L4O1N2N2O100O10O10000O1K6JTR7"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/box/41127025_6810.711_mask_rle.json b/Navigation/GroundDetection/box/41127025_6810.711_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..095bb855ea43c07b8842479ffa5db89f6b10c0a5
--- /dev/null
+++ b/Navigation/GroundDetection/box/41127025_6810.711_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/box/41127025_6810.711_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "box"
+    ],
+    "scene_description_en": [
+      "box"
+    ],
+    "scene_description_cn": [
+      "箱子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "\\RR6;c>3N4`AAX>h0L5H7TBjNd=\\1hLiNbHX1\\7oN]HT1b7UOUHk0lMjNY9b0dHd0RNnNW9g0^H<XNWOQ9e0`H3_N]Ol8c0oFcN^1^1fN@i8Q1UH@SOD`8P1ZGjMn0c1VOH^8V1SHSO\\ON[8U1THd0CfLQ8o2SHh0f7ZOXHi0e7WO[Hm0X4QLiNS3oLn0U4QLkNQ3PMW1k3jKTOo2QMZ1h3hKVOn2RMa1L]Ka35_On2TMh1X3\\KCk2VMT2l2RKMj2WMX2h2oJ0i2XMj0KaMj2mN1i2ZMj0L`Mg2nNkMF_1R3SN^2a2kJjMI_1n2WNi2U2bJQNJa1l2YNj2R2dJoMId1j2[Nm2m1WKGm1\\Nn2k1VKGl1_NW3HhIa1V16l1aNf3Q1`J;k1dNi3m0aJ:e1jNn3g0`J<c1mNR4b0`J<]1SOX4<]J[OWNm0T3\\O_44bJFgM?Y3Ga41kJ1d0Ob4NmJOc03a4MPKJ`0:`4L`N4a1J_N7c1G\\N:e1E[N;f1CZN>S8100O100O100O100O1O100O1O1O100O1O100O100\\MZOmFg0Q9\\OnFd0Q9^OmFc0R9_OmFa0S9@lF`0S9BkF?U9BjF>V9BjF>U9DjF<V9EiF;W9EiF;W9FhF:X9FhF:X9GgF9Y9HfF8Z9HfF8Y9JgF5Y9KgF5Y9KgF5Y9LfF4Z9LgF3Y9MgF3Y9MgF3Z9MfF2Z9NfF2Z9NfF2Z9OfF0Z90fF0Z90gFOY91gFOY91hFNX93gFMY93gFMY93hFLX94hFLX95hFJY95gFKY95gFKY95hFJX96hFJX97hFHX98hFHX98iFGW99iFGW99iFGW9:hFFX9:iFEW9;iFEW9;jFDV9=iFCX9<iFCW9=iFCW9=jFBV9>jFBV9>jFBV9?iFAW9?iFAW9?^E]O54]:?\\E0EBo:>\\En0d:SO[Em0e:SO[Em0e:SO[Em0e:SO[Em0e:SO[Em0e:TO[Ek0e:UO[Ek0e:UO[Ek0e:UO[Ek0e:VO[E]OJ<k:7[E[O6HUO5Z;h0[E\\O<LY:h0\\E[O<LY:i0ZE[O=LY:i0ZE[O>KX:j0[EZO>KW:l0ZEYO?KV:m0[EXO?KV:m0\\EXO>JV:n0\\EYO=IW:n0\\EYO=IW:n0\\EYO>HV:P1\\EXO=HW:P1\\EYO<GX:P1\\EZO<EX:Q1\\E[O;DY:R1[EZO<DX:S1]EWO<FW:S1]EWO=EV:T1]EWO=EU:U1^EWO=CT:X1_ETO=DT:X1_ETO=DS:Y1`ESO=DS:Z1`EQO=ER:[1aEPO=EQ:\\1bEPO<DQ:^1cEmN<EQ:^1cEmN<EP:_1dEmN;DP:`1eElN;Do9b1eEkN;Co9c1fEjN;Cn9e1gEgN;Dn9e1gEgN;Dm9f1hEgN:Cm9g1iEfN:Cl9h1kEdN9Dk9i1lEcN9Dj9j1mEbN4In9f1nEaN0MQ:d1nEbN]O;e:S1nEBQ:`0dEJ[:^200O100O100O10000O1000000000000000000001O000000000000001O0000000000000000000001O1ON"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/chair/000336_mask_rle.json b/Navigation/GroundDetection/chair/000336_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..389281a0a30dbae91be6c035b82b5b1cdcfb388c
--- /dev/null
+++ b/Navigation/GroundDetection/chair/000336_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/chair/000336_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair"
+    ],
+    "scene_description_en": [
+      "chair"
+    ],
+    "scene_description_cn": [
+      "椅子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          384,
+          512
+        ],
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+  }
+}
diff --git a/Navigation/GroundDetection/chair/000502_mask_rle.json b/Navigation/GroundDetection/chair/000502_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..c22ec14bd05988ac974dec99c221847148ee060c
--- /dev/null
+++ b/Navigation/GroundDetection/chair/000502_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/chair/000502_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair"
+    ],
+    "scene_description_en": [
+      "chair"
+    ],
+    "scene_description_cn": [
+      "椅子"
+    ]
+  },
+  "mask_annotation": {
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+          341,
+          512
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/chair/41048180_2425.290_mask_rle.json b/Navigation/GroundDetection/chair/41048180_2425.290_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4d2c1765c99dd1b4318b26eaee273009e7d9e82
--- /dev/null
+++ b/Navigation/GroundDetection/chair/41048180_2425.290_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/chair/41048180_2425.290_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair"
+    ],
+    "scene_description_en": [
+      "chair"
+    ],
+    "scene_description_cn": [
+      "椅子"
+    ]
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+  "mask_annotation": {
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/chair/41048231_8929.864_mask_rle.json b/Navigation/GroundDetection/chair/41048231_8929.864_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fd2d82e76c214d853bb7210fecf259465668aea
--- /dev/null
+++ b/Navigation/GroundDetection/chair/41048231_8929.864_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/chair/41048231_8929.864_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair"
+    ],
+    "scene_description_en": [
+      "chair"
+    ],
+    "scene_description_cn": [
+      "椅子"
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+          480,
+          640
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/chair/41048264_5129.439_mask_rle.json b/Navigation/GroundDetection/chair/41048264_5129.439_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d8860302ec7c88b7cddbeb3567917b78233939f
--- /dev/null
+++ b/Navigation/GroundDetection/chair/41048264_5129.439_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/chair/41048264_5129.439_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair"
+    ],
+    "scene_description_en": [
+      "chair"
+    ],
+    "scene_description_cn": [
+      "椅子"
+    ]
+  },
+  "mask_annotation": {
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+          480,
+          640
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/chair/41069130_4417.701_mask_rle.json b/Navigation/GroundDetection/chair/41069130_4417.701_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b966c16eccad2a04213e855387cfc0de9f1f633
--- /dev/null
+++ b/Navigation/GroundDetection/chair/41069130_4417.701_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/chair/41069130_4417.701_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair"
+    ],
+    "scene_description_en": [
+      "chair"
+    ],
+    "scene_description_cn": [
+      "椅子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/chair/41125543_3609.307_mask_rle.json b/Navigation/GroundDetection/chair/41125543_3609.307_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ab9708928ff25a1d9fb1f7fb5ca222596f930a9
--- /dev/null
+++ b/Navigation/GroundDetection/chair/41125543_3609.307_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/chair/41125543_3609.307_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair"
+    ],
+    "scene_description_en": [
+      "chair"
+    ],
+    "scene_description_cn": [
+      "椅子"
+    ]
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/chair/41159586_50576.269_mask_rle.json b/Navigation/GroundDetection/chair/41159586_50576.269_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..b00fe6ded404e3a59a98dfe97522697b5cfb2244
--- /dev/null
+++ b/Navigation/GroundDetection/chair/41159586_50576.269_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/chair/41159586_50576.269_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair"
+    ],
+    "scene_description_en": [
+      "chair"
+    ],
+    "scene_description_cn": [
+      "椅子"
+    ]
+  },
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+          480,
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/chair/41159587_50437.571_mask_rle.json b/Navigation/GroundDetection/chair/41159587_50437.571_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0ebee718bbddced87ce00a1430cc6977a0837fb
--- /dev/null
+++ b/Navigation/GroundDetection/chair/41159587_50437.571_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/chair/41159587_50437.571_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair"
+    ],
+    "scene_description_en": [
+      "chair"
+    ],
+    "scene_description_cn": [
+      "椅子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
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+          480,
+          640
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/chair222222bed/000550_mask_rle.json b/Navigation/GroundDetection/chair222222bed/000550_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..866d7fb5952fea997a4671455fab2ee705069a12
--- /dev/null
+++ b/Navigation/GroundDetection/chair222222bed/000550_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/chair222222bed/000550_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair222222bed"
+    ],
+    "scene_description_en": [
+      "chair",
+      "bed"
+    ],
+    "scene_description_cn": [
+      "椅子",
+      "床"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          968,
+          1296
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/chair222222cabinet/001435_mask_rle.json b/Navigation/GroundDetection/chair222222cabinet/001435_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..c30e8a0993c6ca3ecb2b97325c943175cc79c728
--- /dev/null
+++ b/Navigation/GroundDetection/chair222222cabinet/001435_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/chair222222cabinet/001435_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair222222cabinet"
+    ],
+    "scene_description_en": [
+      "chair",
+      "cabinet"
+    ],
+    "scene_description_cn": [
+      "椅子",
+      "柜子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          968,
+          1296
+        ],
+        "counts": 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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/chair222222chair/000007_mask_rle.json b/Navigation/GroundDetection/chair222222chair/000007_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..843ab730841900315916ab681ccf060d66065716
--- /dev/null
+++ b/Navigation/GroundDetection/chair222222chair/000007_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/chair222222chair/000007_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair222222chair"
+    ],
+    "scene_description_en": [
+      "chair",
+      "chair"
+    ],
+    "scene_description_cn": [
+      "椅子",
+      "椅子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          968,
+          1296
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+  }
+}
diff --git a/Navigation/GroundDetection/chair222222chair/taskonomy_globe_point_216_view_3_domain_rgb_mask_rle.json b/Navigation/GroundDetection/chair222222chair/taskonomy_globe_point_216_view_3_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a2352db0c51fbc1ec76522c10c6dcb98c2fcf32
--- /dev/null
+++ b/Navigation/GroundDetection/chair222222chair/taskonomy_globe_point_216_view_3_domain_rgb_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/chair222222chair/taskonomy_globe_point_216_view_3_domain_rgb_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair222222chair"
+    ],
+    "scene_description_en": [
+      "chair",
+      "chair"
+    ],
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+}
diff --git a/Navigation/GroundDetection/chair222222door/000704_mask_rle.json b/Navigation/GroundDetection/chair222222door/000704_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a3b2af8ba7eaccc38c8e8ca654b3cb0eaca18a8
--- /dev/null
+++ b/Navigation/GroundDetection/chair222222door/000704_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/chair222222door/000704_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair222222door"
+    ],
+    "scene_description_en": [
+      "chair",
+      "door"
+    ],
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+      "椅子",
+      "门"
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/chair222222door/001284_mask_rle.json b/Navigation/GroundDetection/chair222222door/001284_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..91991604708107ad92938d03e169270179398390
--- /dev/null
+++ b/Navigation/GroundDetection/chair222222door/001284_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/chair222222door/001284_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair222222door"
+    ],
+    "scene_description_en": [
+      "chair",
+      "door"
+    ],
+    "scene_description_cn": [
+      "椅子",
+      "门"
+    ]
+  },
+  "mask_annotation": {
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+      {
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+          968,
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+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/chair222222doorway/row_101_col_image_mask_rle.json b/Navigation/GroundDetection/chair222222doorway/row_101_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0faf469ec5746f592eda01f547bd31b5b193a54
--- /dev/null
+++ b/Navigation/GroundDetection/chair222222doorway/row_101_col_image_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/chair222222doorway/row_101_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair222222doorway"
+    ],
+    "scene_description_en": [
+      "chair",
+      "doorway"
+    ],
+    "scene_description_cn": [
+      "椅子",
+      "门口"
+    ]
+  },
+  "mask_annotation": {
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+      {
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+          768,
+          1024
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/chair222222low_table/000000_mask_rle.json b/Navigation/GroundDetection/chair222222low_table/000000_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..27006f628decc6680f228dca7749c9b906e20bb1
--- /dev/null
+++ b/Navigation/GroundDetection/chair222222low_table/000000_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/chair222222low_table/000000_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair222222low table"
+    ],
+    "scene_description_en": [
+      "chair",
+      "low table"
+    ],
+    "scene_description_cn": [
+      "椅子",
+      "矮桌子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          968,
+          1296
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/chair_backrest/1105_mask_rle.json b/Navigation/GroundDetection/chair_backrest/1105_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..25a0b157b376aaaedc7eca0abea267fdda829b4c
--- /dev/null
+++ b/Navigation/GroundDetection/chair_backrest/1105_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/chair_backrest/1105_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair backrest"
+    ],
+    "scene_description_en": [
+      "chair backrest"
+    ],
+    "scene_description_cn": [
+      "椅子靠背"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          545,
+          800
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/chair_backrest/1106_mask_rle.json b/Navigation/GroundDetection/chair_backrest/1106_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..862fb2e2216cb21a9b3606baf52301ac8865ac26
--- /dev/null
+++ b/Navigation/GroundDetection/chair_backrest/1106_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/chair_backrest/1106_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair backrest"
+    ],
+    "scene_description_en": [
+      "chair backrest"
+    ],
+    "scene_description_cn": [
+      "椅子靠背"
+    ]
+  },
+  "mask_annotation": {
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+      {
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+          800
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/chessboard/41159466_1953.115_mask_rle.json b/Navigation/GroundDetection/chessboard/41159466_1953.115_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..7acc988bb65117266d514363a747e6a2e0ca2780
--- /dev/null
+++ b/Navigation/GroundDetection/chessboard/41159466_1953.115_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/chessboard/41159466_1953.115_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chessboard"
+    ],
+    "scene_description_en": [
+      "chessboard"
+    ],
+    "scene_description_cn": [
+      "棋盘"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/clock_and_watch/41098005_9477.391_mask_rle.json b/Navigation/GroundDetection/clock_and_watch/41098005_9477.391_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..a698b380e0f2db15bb1d74f268247c5798dbe762
--- /dev/null
+++ b/Navigation/GroundDetection/clock_and_watch/41098005_9477.391_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/clock_and_watch/41098005_9477.391_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "clock and watch"
+    ],
+    "scene_description_en": [
+      "clock and watch"
+    ],
+    "scene_description_cn": [
+      "钟表"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "U]l42^>a0J5I7K5K5G9K4O200POQOnCo0n;WOPDj0j;^OSDc0b;c1K4K6G9J6I7E;J6J6L4M3G:I7G8L5D;J7I7J6H8F:F:K4F;I7I7G9L3F;G9G9J6K5N2O001O1O1N2O1O1O001O1O1O1O1O001O1O1O1O001O1O1O1O001O1O1O1O1O1O001O1O1O1O1\\NkD[OU;a0PE^OQ;>SEAn:8YEGg:6^EHd:1bEN^:NgE1Z:JkE5V:EPF:Q:^OWFa0U<O1O1O1O1O1O1O1O1O1O1O1O1O1O1O2N1O1O1O1O1O001O00000000000000Po70PQH0PS60PmI0O100N2N2N2N2N2M3N2N2N2M3N2M3M3M3M3N2M3N2M3M3M3N2N2L4N2O1M3M3N2M3M3N2M3M3M3M3L4N2N2M3M3M3N2N2M3L4M3M3L4L4O1N2N2M3L4M3M3N2M3O1M3N2O1O1O100O1O100O1O2N100O011N100O1O100O100O1O100O100O1O010O1O100O1O100O100O100O100O10000O10000O10000O100000000O10000O100O1000000O100O10000O1000000O100O100O1000000O1000000O2N1VNcIoJ^6"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/clock_and_watch/41127016_6651.112_mask_rle.json b/Navigation/GroundDetection/clock_and_watch/41127016_6651.112_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..0adc5809ee9b920f25af42ff98ea9e0e05f028e9
--- /dev/null
+++ b/Navigation/GroundDetection/clock_and_watch/41127016_6651.112_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/clock_and_watch/41127016_6651.112_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "clock and watch"
+    ],
+    "scene_description_en": [
+      "clock and watch"
+    ],
+    "scene_description_cn": [
+      "钟表"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "[Ym42k>8J2N4L4K6K4L4L3M3L5L5K4L5K4L3M4L3M4L3M3M4K4M8H5K4L3M4L3L5L4L3N4K4L4L3M4K5M3L3M4K5M3K4M3N3L3N3L3N1N2O0000000000000EQJdGP6Z8TJdGk5\\8YJ`Gh5^8>O1O1O1O1O1O1O0O2O1O1O1O1O1O001N2O100O1O0O2O1O1O1O1O1N2O001O1O1O1O1N101O1O1O1O001O1O1O001N200O0O2O1O1O1O001O1N2O1O1O001O1O1N2O1O001O1O1O001O1N2O1O001O1O1O1O001N2O1O001O1O1N2O1O2N1O1O2N2N2M4M4L3M3M3M2N3M3L4M3M4L2N3M3M3M2M5L3M3M2N3M3M2N3L3N3M3M4L2N3M2N2M4M2N3M3M3L5L3M3M3M3M3L3N2N1O1O1O1O1O1O1O2M2O1O1O1O1N2O1O1O1N2O001O1O1O1O1N2O1N2O1O1O1O1N2O1N2O1O10000000000000000000000000Pj20PVM00000000000O100000000000000O1O1N2O1N2O1N2O1N3M2O1N2N1N3O1ONlAZOR>h0nAXOR>h0nAXOR>k0000000000000O1000000O1000ARBLn=3TBLl=4UBKk=5UBLY3FP7>iEJ"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/coffee_table222222single_sofa/000502_mask_rle.json b/Navigation/GroundDetection/coffee_table222222single_sofa/000502_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6781a7a9447d5747afe609e5080f31b3c6b5d89
--- /dev/null
+++ b/Navigation/GroundDetection/coffee_table222222single_sofa/000502_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/coffee_table222222single_sofa/000502_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "coffee table222222single sofa"
+    ],
+    "scene_description_en": [
+      "coffee table",
+      "single sofa"
+    ],
+    "scene_description_cn": [
+      "茶几",
+      "单人沙发"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "`o3232V::GCSFa0e9_O^Fe0_9[O\\F14e0c9[O\\Fe0d9[OZFg0f948H1O1O001O00001O3M4K2O1O00000000O100O2N1L4L4O1O100O10000O100000O02O00O10O1000000O1000000O10000000000O1000000O100000000O100000000O101OO10O2O0000O02OO10000000O101O000O1000000O10O1000O10^OeFJ[95oFAR9>c000O01000000O10O1000O0100000O0100000O100000O1000O10O1000O1000000O10O100000O0100O100O0100000O10O10000O10O100O10000O010000000O10O10000000O10O10O01000O1000O01000O10O1000O10O10O01000000O010O1000000O01000O10O1000O10O100000O01000O1O010O1O10O100000000O1000O10000O01000000O01000O0100O0100000O10O1000O1000O0100O010O1000O1000O1000O1000O10O1000O1000O00100000O1000000O2O1O1N2OPe25jZM101N100O2M2M4O0O2O1O0O2O001O0O2O001O001N101N2O0O2M2O22M0100O001O001O001N2SHjNV6Y1kIfNg5i1YJVNd5m1b11N101N2O001O0O2O1O0O2O1O001O1N101O001N2O001N2O001O001O1N2N2`HiM`6V3O101O0O1000000O100O100N2J510O10000O10000000001N1000O01000000O100OoKiIf3U6[LoIb3R6\\LRJa3n5_LTJ_3k5bLWJ\\3i5dLZJY3g5eL\\JY3h5_L]J`3\\601O0000O10000L4K5N2O1O1001O01OO100001O0000O1000000000000000001O000000000000000000001O000000001O002N1O1O2N1O2N100N2O001O0000000000O100N2M3I7M3J6J6M3N200000000000001O0001O0O10001O0000001O000O1^OgIgL[6GfI\\2OXN0D2"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/door222222sofa/taskonomy_gladstone_point_345_view_2_domain_rgb_mask_rle.json b/Navigation/GroundDetection/door222222sofa/taskonomy_gladstone_point_345_view_2_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d5c8e6931c8dae7d60acabfb1d5ffdd2dc55749
--- /dev/null
+++ b/Navigation/GroundDetection/door222222sofa/taskonomy_gladstone_point_345_view_2_domain_rgb_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/door222222sofa/taskonomy_gladstone_point_345_view_2_domain_rgb_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "door222222sofa"
+    ],
+    "scene_description_en": [
+      "door",
+      "sofa"
+    ],
+    "scene_description_cn": [
+      "门",
+      "沙发"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          512,
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+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/faucet/41048223_7204.234_mask_rle.json b/Navigation/GroundDetection/faucet/41048223_7204.234_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..c44b1a9332dbd0d3f78deb49f6edfd627df53536
--- /dev/null
+++ b/Navigation/GroundDetection/faucet/41048223_7204.234_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/faucet/41048223_7204.234_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "faucet"
+    ],
+    "scene_description_en": [
+      "faucet"
+    ],
+    "scene_description_cn": [
+      "水龙头"
+    ]
+  },
+  "mask_annotation": {
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+          480,
+          640
+        ],
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+  }
+}
diff --git a/Navigation/GroundDetection/fireplace/000054_mask_rle.json b/Navigation/GroundDetection/fireplace/000054_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2faa240597de9195750a63847db8d6ab252bf4b
--- /dev/null
+++ b/Navigation/GroundDetection/fireplace/000054_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/fireplace/000054_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "fireplace"
+    ],
+    "scene_description_en": [
+      "fireplace"
+    ],
+    "scene_description_cn": [
+      "壁炉"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          341,
+          512
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/fireplace/41048180_2418.790_mask_rle.json b/Navigation/GroundDetection/fireplace/41048180_2418.790_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e3bab22109c8814fbcfb1910e2f686fbea45b24
--- /dev/null
+++ b/Navigation/GroundDetection/fireplace/41048180_2418.790_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/fireplace/41048180_2418.790_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "fireplace"
+    ],
+    "scene_description_en": [
+      "fireplace"
+    ],
+    "scene_description_cn": [
+      "壁炉"
+    ]
+  },
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+          480,
+          640
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/floor_lamp/40809741_11016.046_mask_rle.json b/Navigation/GroundDetection/floor_lamp/40809741_11016.046_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ff9135207752c0f9a10f0ad969bbff80812e2d9
--- /dev/null
+++ b/Navigation/GroundDetection/floor_lamp/40809741_11016.046_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/floor_lamp/40809741_11016.046_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "floor lamp"
+    ],
+    "scene_description_en": [
+      "floor lamp"
+    ],
+    "scene_description_cn": [
+      "落地灯"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "23m>OO11O100OjhQ52ZhmJNf>6ZALa>;`ACZ>f0fAZOO<d=P1LN37\\BbNX=P2hBVN`<n1bCiM06W<c2hCXMP<Q3K:E8H8lDaMX9V4M3M3Mf0YO4K5M2E:N2O=C=D4L5K5K?`ISGo5U9K4K5M6;MB4aJ[FZ5g9O110O203K6MUFQK\\9_50[OfFZKFL_9NcFl5R9[J^Gi4b8TKbGk4d0YKY6HUIo48TLj6P4oHVLP7d5_H]IV7e6mH[In6_7<aH]Hg6l73M2M4L1O2N2N2N2N1O1O2N1O1O1O1O1O1O1O1O1O001O1O1O001O001O1O001O00001O001O00001O0000001O00000N200OO1O2O0gG_IT8a6mG_IR8`6oGaIQ8_6nGbIQ8^6900N2O1N2O1O1O100O1O100O100O0100000O101O1N2O3M0O01O010O01O010O1O00100O1O100O1O1O1O1O100OiF[JU9e53O010O1O1O100O1O1O1O1O1O1O100O1O100O100O2O0O1O2N2O0O2O1N100O001O100OnEVKP:i44OmEXKP:g4PFYKQ:g4nEYKR:g4400O1O1O100O100O1O100O2N1N2O1O100O1L4O00101L30O0100O2N1OQETLl:j3UEVLl:i3TEWLl:i36O14L2N001O0000100O000O101O000O1010O0000O11O00O1000001O001O001O00000010O00O1O110O1N101N100O10000001O001gK^ER4b:7O01OO2O0O100001O00001N2O2MiG"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/floor_lamp222222the_front_of_the_TV_stand/2020_mask_rle.json b/Navigation/GroundDetection/floor_lamp222222the_front_of_the_TV_stand/2020_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..746f370ace164a72b709ee17e51a7296e554ef74
--- /dev/null
+++ b/Navigation/GroundDetection/floor_lamp222222the_front_of_the_TV_stand/2020_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/floor_lamp222222the_front_of_the_TV_stand/2020_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "floor lamp222222the front of the TV  stand"
+    ],
+    "scene_description_en": [
+      "floor lamp",
+      "the front of the TV  stand"
+    ],
+    "scene_description_cn": [
+      "落地灯",
+      "电视柜的前方"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          600,
+          800
+        ],
+        "counts": "db01j[o21iVQM3M4N2mN7R_OLc`0f0T_O]Oj`0Z1N1O2O1O001O100O1O1O001O1O1O001N2O00100O010O100O1000000O001O1N2J7M2M3OoM^@n0`?QOc@o0[?POg@U1S?jNn@Z1n>eNSA^1j>aNWAc1e>]N\\Ad1c>ZN^Ai1_>WNaAk1]>UNcAm1]>QNcAQ2\\>mMfAT2X>lMhAW2U>iMkA\\2P>dMPBh2c=YM]Bj2_=WMaBn2[=PMfBQ3Z=nLgBS3W=mLiBU3V=iLkBZ3T=`LUBJh0m3n<VLVCm3i=>B;E4L1O1O00000000000nNVKVDj4g;ZKXDf4g;\\KXDd4h;\\KXDd4h;]KVDd4j;]KUDc4k;]KUDc4l;\\KTDd4l;\\KSDe4m;[KSDe4m;\\KRDd4n;\\KRDd4n;\\KQDe4P<ZKPDf4P<ZKoCg4R<YKmCg4T<XKkCi4V<VKjCj4V<VKiCk4X<TKhCl4Y<SKfCn4Z<SKdCn4]<RKbCn4^<SK`Cn4a<d0001O000000001O000000000000000000O1000000000000000000O11O00001O0000000000000000000000001O001O0000001O0000001O00000000000000001O0000001O000000001O00001O000000000000001O00000000001O0000001O0000001O000000001O0000001O0000001O00000000001O0000000000001O00000000001O0000001O000000001O000000001O00000000001O001O000000000000000000001O001O00000000001OO1001O00000000001O00000WK_B[4b=`KgB[4m=N2N2N1O2N1O1O1O001O1O0bLeA_2\\>]MlA^2T>_MRB^2o=`MUB]2k=`MZB^2g=_M\\B`2V?H1O1O1O00001O00001O0000001O000000001O0000001O0000001O000000000000000000000000001O00001O0000001O001O00001O00001O00001O00001O000000KXNZ_Oh1f`0XNZ_Oh1k`00LXNX_Oh1l`000000001O0000001O00001O1O001O001O001O001O001O1O1O001O1O00001O001O001O001O00001O00001O00001O001O001O00001O0000001O00000000000000000000000000000000000000000000000000000000001O0000001O0000001OMSO[^Om0ea0SO\\^Ol0da0TO\\^Ol0da0TO\\^Ol0ea0TO[^Ok0ea0UO[^Ok0ia001O00001O00001O0000001O00001OLZOV^Of0ja0ZOV^Of0ja0[OU^Oe0la0ZOT^Of0la0ZOT^Of0la0ZOT^Of0Pb0O00M[OS^Oe0Pb001O001O0000001O001O001O00001O00001O001O0000001O001O0000001O000000001O0000001O001O00000000000000000000000000000000000000000000000000000000000000000000NIc]O7_b00MIe]O7Zb0Ig]O7Xb0Jh]O6Wb0Ik]O7[b00N2O1O1N2O1O1IBS^O?la0AT^O`0ja0AV^O`0ha0AX^O`0fa0A[^O?da0A[^Oa0ea0^O[^Oc0da0\\O]^Oe0ba0ZO_^Og0`a0YO`^Oh0_a0XO`^Oj0_a0VOa^Ok0]a0VOc^Ok0\\a0UOd^Ol0Za0UOf^Ol0Ya0SOh^On0Wa0ROi^Oo0Va0QOi^OQ1Va0oNj^OR1Ua0nNk^OS1Ta0mNl^OT1Sa0lNm^OU1Ra0kNn^OV1Qa0jNo^OW1Qa0hNn^OZ1Qa0fNo^O[1Pa0eNP_O\\1Pa0cNo^O_1Ta01O1O1O1O1O1O1O1O1O1N2O1N2N2N2O1O1O0O2O1N1O2M2_Ob01O1O0OY@"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/flowerpot/000176_mask_rle.json b/Navigation/GroundDetection/flowerpot/000176_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e55ecdcfc0021bea60fa037ba1b698f4d571374
--- /dev/null
+++ b/Navigation/GroundDetection/flowerpot/000176_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/flowerpot/000176_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "flowerpot"
+    ],
+    "scene_description_en": [
+      "flowerpot"
+    ],
+    "scene_description_cn": [
+      "花盆"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          340,
+          512
+        ],
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+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/green_chair/41126783_4704.139_mask_rle.json b/Navigation/GroundDetection/green_chair/41126783_4704.139_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..529ac381e4d04b62c2112217c1af8ba0d3b12b8a
--- /dev/null
+++ b/Navigation/GroundDetection/green_chair/41126783_4704.139_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/green_chair/41126783_4704.139_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "green chair"
+    ],
+    "scene_description_en": [
+      "green chair"
+    ],
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+      "绿色椅子"
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/heater/41159420_7660.904_mask_rle.json b/Navigation/GroundDetection/heater/41159420_7660.904_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..deced0ac491737e277995b498a8edea6069cd00d
--- /dev/null
+++ b/Navigation/GroundDetection/heater/41159420_7660.904_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/heater/41159420_7660.904_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "heater"
+    ],
+    "scene_description_en": [
+      "heater"
+    ],
+    "scene_description_cn": [
+      "取暖器"
+    ]
+  },
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/nightstand/41048180_2453.789_mask_rle.json b/Navigation/GroundDetection/nightstand/41048180_2453.789_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..0287503bba5d8dd0bbf06f736757b6090fba97d9
--- /dev/null
+++ b/Navigation/GroundDetection/nightstand/41048180_2453.789_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/nightstand/41048180_2453.789_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "nightstand"
+    ],
+    "scene_description_en": [
+      "nightstand"
+    ],
+    "scene_description_cn": [
+      "床头柜"
+    ]
+  },
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/nightstand/41048236_8614.869_mask_rle.json b/Navigation/GroundDetection/nightstand/41048236_8614.869_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..c83e7ff016b8a26667bf85faeb8e8c9043cbd0a9
--- /dev/null
+++ b/Navigation/GroundDetection/nightstand/41048236_8614.869_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/nightstand/41048236_8614.869_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "nightstand"
+    ],
+    "scene_description_en": [
+      "nightstand"
+    ],
+    "scene_description_cn": [
+      "床头柜"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
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+  }
+}
diff --git a/Navigation/GroundDetection/nightstand/41097980_7052.959_mask_rle.json b/Navigation/GroundDetection/nightstand/41097980_7052.959_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..958c33f9edded33da00f485b4186641a204e7b1e
--- /dev/null
+++ b/Navigation/GroundDetection/nightstand/41097980_7052.959_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/nightstand/41097980_7052.959_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "nightstand"
+    ],
+    "scene_description_en": [
+      "nightstand"
+    ],
+    "scene_description_cn": [
+      "床头柜"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
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+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/nightstand/41098053_1692.657_mask_rle.json b/Navigation/GroundDetection/nightstand/41098053_1692.657_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..421775c9f0c7160a1eecd334f82c104bffafbe6c
--- /dev/null
+++ b/Navigation/GroundDetection/nightstand/41098053_1692.657_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/nightstand/41098053_1692.657_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "nightstand"
+    ],
+    "scene_description_en": [
+      "nightstand"
+    ],
+    "scene_description_cn": [
+      "床头柜"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/oven/41048223_7217.734_mask_rle.json b/Navigation/GroundDetection/oven/41048223_7217.734_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..918059d021bb24d7ab4105434269365bf50dfa14
--- /dev/null
+++ b/Navigation/GroundDetection/oven/41048223_7217.734_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/oven/41048223_7217.734_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "oven"
+    ],
+    "scene_description_en": [
+      "oven"
+    ],
+    "scene_description_cn": [
+      "烤箱"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "fQ\\57T>LZBOC6S>3oA7O@`04BLM;d0HML`:d1oDWO0\\O87HNn:f3N4Lb0^OP2PN2N4Lj1VN9kIoF03c5\\9K?A;[KiEk3i:M2nKSEm3_;A10O010O01O0000001N101O1O0O2O001O00001O001O00001O001O001O001O00001O00001O001O010O0000001O001O00000O2O001O001O001O001O001O001O00001O001O00001O001O001O1O0000001O1O001O00001O001O001O001O00001O00001O001O00001O0000001O001O001O0000001O00001O00001O0000000000001O002N1O2N1O003M2N001O1O001O1O0000001O0000001O001O00001O001O0000001O1O001O00001O0000001O00001O01OO101O001O001O0000001O00001O001O000000001O0000001O00001O00001O00001O0000001O0000001O00001O000000001O000001O000001O00001O00000O2O0000001O001O001O001O0000000001O1ON"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/pillar/1024_mask_rle.json b/Navigation/GroundDetection/pillar/1024_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..036684751fa965af7b20c86b57423a10db46510d
--- /dev/null
+++ b/Navigation/GroundDetection/pillar/1024_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/pillar/1024_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "pillar"
+    ],
+    "scene_description_en": [
+      "pillar"
+    ],
+    "scene_description_cn": [
+      "柱子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/plate/41048223_7177.734_mask_rle.json b/Navigation/GroundDetection/plate/41048223_7177.734_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..55aed76bb5a63793e8009173fc3b06fcbb576495
--- /dev/null
+++ b/Navigation/GroundDetection/plate/41048223_7177.734_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/plate/41048223_7177.734_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "plate"
+    ],
+    "scene_description_en": [
+      "plate"
+    ],
+    "scene_description_cn": [
+      "盘子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/potted_plant/41126783_4720.639_mask_rle.json b/Navigation/GroundDetection/potted_plant/41126783_4720.639_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..33a81c073a1d7aa54521f6a32f761670cb0dcf11
--- /dev/null
+++ b/Navigation/GroundDetection/potted_plant/41126783_4720.639_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/potted_plant/41126783_4720.639_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "potted plant"
+    ],
+    "scene_description_en": [
+      "potted plant"
+    ],
+    "scene_description_cn": [
+      "盆栽"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/red_sofa_222222_bookshelf/063486_mask_rle.json b/Navigation/GroundDetection/red_sofa_222222_bookshelf/063486_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2c60d6f7c8a2dd0ca5585de1075e968e373a08a
--- /dev/null
+++ b/Navigation/GroundDetection/red_sofa_222222_bookshelf/063486_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/red_sofa_222222_bookshelf/063486_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "red sofa 222222 bookshelf"
+    ],
+    "scene_description_en": [
+      "red sofa",
+      "bookshelf"
+    ],
+    "scene_description_cn": [
+      "沙发",
+      "书架"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          384,
+          512
+        ],
+        "counts": "f;:f;0O100001O001O1O001O001O1O001O001O001O001OTX94ggF:G:F1O0001N5L9FR[g0GWeXO10000O1000000000000O100000000000000O10000O1001O00001O1Nhm23enNNQSNd0M2N2kDWOQ;h0oD\\On:P1K8Ha0aERNj9_2WOdMSG]2l8eMSG[2m8eMSG[2l8fMSG\\2l8eMTGZ2m8fMRGZ2S9aMmF_2[9O00001O00fNbMWH58X2^7kMRH3>R2]7bNaH]1_7fN`HY1^7jNcHW1Y7lNeHZ1T7hNjHY1T7kNiHU1W7oNdHR1\\7i11O00APLnHP4Q7`0O10bKPIl3o6ULQIk3o6ULQIk3o6c0O1000cKRIh3n6XLRIh3n6XLRIh3m6f0000000O01eKSIc3m6]LSId3k6]LUIb3l6i0000fKTI`3k6aLUI_3k6aLUI_3k6aLUI_3k6k0O10gKVI\\3j6dLVI]3i6cLWI]3h6dLXI\\3h6n000O10gKYIY3g6gLYIY3g6gLYIY3g6P1O100000hKZIV3f6jLZIV3f6jLZIV3f6R1001O00000iKYIU3g6R11hKXIU3j71O00O110O000000001O000`NWHiNi7:hHaNAS1h7:kH`N^OV1g78XIIg66ZIJf63]ILd61_IOb6O_I2`6MaI3_6M`I4`6L_I5b6J^I6b6J]I7c6I]I7c6J[I7e6I[I7e6I[I7f6H[I7e6I[I7e6I\\I6d6J]I5c6K^I4b6LbI0^60cIO]61cIO^61aIO_61aIO_61bIM_63aIN^65SIgNWOS1g7=jHbN^OQ1h7?hH`N@Q1i7a0cH`NCo0j7a0cHaNBn0k7b0bHaNBm0l7b0bHbNAl0m7b0aHdNAj0n7b0`HeNCh0m7c0_HgNCf0n7c0_HgNCg0n7a0^HiNEe0m7b0^HiNEe0m7c0]HiNEd0n7c0]HiNEd0n7d0\\HhNGc0n7e0ZHhNHc0n7e0ZHhNHc0o7e0XHiNHb0P8f0WHhNIb0S8c0THkNIb0U8b0QHlNKa0U8c0nGmNM`0U8d0lGmNO>V8g0gGmN3=U8\\1lGdNS8]1mGcNR8^1nGbNR8]1oGcNQ8]1PHbNo7_1QH`NP82jG:7Co7FaH>_OLP8BTI3lN;P8@[I0eN`0P8^O^I1bNa0P8]OaI0^Nd0Q8[ObI2[Nd0S8YOdIX1\\6fNfI[1Y6dNhI\\1X6cNiI]1W6bNiI^1Y6`NhI`1X6_NiI`1[8O`N`NcH`1]7aNbH^1_7cN`H]1_7eNaHZ1^7hNaHX1_7iN`HW1`7kN^HV1b7jN]HV1d7iN\\HX1b7iN^HW1e7eN[H]1T90O001N200O10O1O1O1O1O101O0O1001O0001O00000000001O0000000000001O000000000000001O000001OO101O0O1O2N108mNVE?X;M2O1N1O2O0O10O01O010O01fNGkF:S9KkEMg09X90PFIe08V95TFDd09U96WFAb0:V97WFA`09W99YF^O?:V9:[F\\O>:V9f0hF\\OW9f0fF[O[9e0dF\\O\\9e0aF\\O`9e0]F]Oc9_1100000001O01O0010dNZF<f9C[F>d9BaF9`9BfF=\\9ZOjFf0Y:O00000000001O1ROWEc0U;GhDDZ;89L5Mi]h0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/refrigerator222222The_table_directly_facing_the_refrigerator/taskonomy_gloria_point_119_view_3_domain_rgb_mask_rle.json b/Navigation/GroundDetection/refrigerator222222The_table_directly_facing_the_refrigerator/taskonomy_gloria_point_119_view_3_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..05f86db7f310861e69459326cc4bbda2a90fe9bf
--- /dev/null
+++ b/Navigation/GroundDetection/refrigerator222222The_table_directly_facing_the_refrigerator/taskonomy_gloria_point_119_view_3_domain_rgb_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/refrigerator222222The_table_directly_facing_the_refrigerator/taskonomy_gloria_point_119_view_3_domain_rgb_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "refrigerator222222The table directly facing the refrigerator."
+    ],
+    "scene_description_en": [
+      "refrigerator",
+      "The table directly facing the refrigerator."
+    ],
+    "scene_description_cn": [
+      "冰箱",
+      "正对冰箱的桌子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          512,
+          512
+        ],
+        "counts": "ll=6i?4L2N2O0O1000000O2OO10O10000O1000000O10000O100000000001O000000000000000000000O01000000000000000000O100O1I7O100000000000000O10000000000000000000000000000O1000001N1000000KQOYAo0e>TOZAl0d>VO\\Aj0b>XO]Ai0c>WO]Ai0b>XO^Ah0b>XO^Ah0b>XO^Ag0c>YO]Ag0c>YO]Ag0c>YO]Ag0c>XO^Ah0b>XO^Ah0b>XO^Ah0b>XO^Ah0b>XO^Ah0b>XO^Ah0b>XO^Ah0b>YO]Ag0c>YO]Ag0d>XO\\Ag0e>YO[Ah0d>XO\\Ah0d>WO]Ai0c>WO]Ai0b>XO^Ai0a>WO_Ai0`>XO`Ah0_>YOaAh0]>YOcAg0[>[OeAf0X>\\OgAe0W>]OiAc0V>^OjAc0T>^OlAb0R>@nAa0P>@PBa0m=ATB?i=CWB?8POj<b0nBa04POk<`0QCT1l<nNTCS1i<oNWCR1e<QO[CP1a<SO_Cn0[<WOdCk0];kMXE`1[Oi0T;4lD1l:1UE6c:K]ES10^L_9a2`FX1]9iNcFW1]9iNcFW1]9iNcFW1]9iNcFW1]9iNcFW1]9iNcFW1]9hNdFX1\\9hNdFX1\\9hNdFX1\\9hNdFX1\\9hNdFX1\\9hNcFY1]9gNcFY1]9gNcFY1]9gNcFY1]9gNcFY1\\9hNdFX1\\9hNdFX1\\9hNdFX1\\9hNdFX1\\9hNdFX1\\9hNdFX1\\9hNdFX1\\9hNdFX1\\9hNdFX1\\9hNdFX1\\9hNdFX1\\9gNeFY1[9gNeFY1[9gNeFY1[9gNeFY1[9gNeFY1[9gNdFZ1[9gNeFY1Z9hNfFX1X9jNhFV1U9mNkFS1R9POnFP1o8SORGl0l8VOTGj0l8VOTGj0k8WOTGj0l8VOTGj0l8VOTGj0l8VOTGj0l8VOTGj0l8VOTGj0l8VOTGj0l8VOTGj0l8VOTGi0m8WOSGi0m8WOSGi0m8VOTGk0k8UOUGk0k8UOTGl0l8TOTGl0l8TOTGl0l8TOTGl0l8TOTGl0l8TOTGl0l8TOTGl0l8SOUGm0k8SOUGm0k8SOUGm0k8SOUGm0j8TOVGl0j8TOVGl0j8TOVGl0j8TOVGk0k8UOUGk0k8UOUGk0k8UOUGk0k8UOUGl0j8TOVGl0j8TOVGl0j8TOVGl0j8TOVGl0j8TOVGk0k8UOUGk0k8UOUGk0l8TOTGm0l8ROTGn0n8PORGP1P9nNPGR1Q9mNnFT1S9kNmFU1S9jNnFV1R9jNnFV1R9jNnFV1R9jNnFV1R9jNnFV1R9jNnFV1R9jNnFV1R9jNnFV1R9jNnFV1R9jNnFV1R9jNnFV1R9jNnFV1R9jNnFV1R9jNnFV1R9jNnFV1R9jNnFV1R9jNnFV1R9jNnFV1R9jNnFV1R9jNmFW1S9iNmFW1S9iNmFW1S9iNmFW1S9iNmFW1R9jNnFV1R9jNnFV1R9l20000000mKnFX1R9hNnFX1R9hNnFX1R9hNnFX1R9hNnFX1R9hNoFW1Q9iNoFW1Q9iNnFX1R9hNnFX1R9hNnFX1R9hNnFX1S9gNmFY1S9fNnFZ1R9fNnFZ1R9fNnFZ1]9[NcFe1c9UN]Fk1e9SN[Fm1f9RNZFn1m9kMSFU2T:cMlE^2X;^LhDb3Z;\\LfDd3b;TL^Dl3d;QL]Do3d;PL\\DP4e;oK[DQ4e;nK\\DR4d;oK\\DP4d;PL\\DP4d;PL\\DP4c;QL]Do3c;QL]Do3c;QL]Do3c;QL]Do3c;QL]Do3c;QL]Do3c;QL]Do3c;QL]Do3b;RL^Dn3b;RL^Dn3b;RL^Dn3b;RL^Dn3c;QL]Do3c;QL]Do3b;RL]Do3c;QL]Do3c;QL]Do3c;QL]Do3c;QL\\DP4c;QL]Do3c;QL]Do3c;PL^DP4b;PL^DP4b;PL^DP4b;oK_DQ4`;PL`DP4`;PL_DQ4a;oK_DQ4a;PL^DP4b;PL^DP4b;PL^DP4b;PL^Do3c;PL^DP4b;PL^DP4b;PL^DP4b;PL^DP4b;PL^DP4b;PL^DQ4a;oK_DQ4a;nK`DR4g;000000000001OO100000000000000000000000O1001O0O100000000000000000000000000000000000000001O001O1N2O1O1O1O1XMSD[1o;aNUD]1l;bNVD\\1l;bNWD[1j;cNYD[1i;cNYD\\1h;bNYD]1h;bNZD\\1h;bNZD\\1g;cN[D[1g;cN[D[1f;dN]DY1d;fN^DX1c;gN`DV1a;iNbDT1`;jNaDU1`;iNcDU1^;jNeDR1^;lNfD=n;BZ2N2MPc[1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/round_table222222the_front_of_the_bed/2389332_mask_rle.json b/Navigation/GroundDetection/round_table222222the_front_of_the_bed/2389332_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c1c26b020ba7bccb8eb6b9b8baa8e9b6f58a531
--- /dev/null
+++ b/Navigation/GroundDetection/round_table222222the_front_of_the_bed/2389332_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/round_table222222the_front_of_the_bed/2389332_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "round table222222the front of the bed"
+    ],
+    "scene_description_en": [
+      "round table",
+      "the front of the bed"
+    ],
+    "scene_description_cn": [
+      "圆桌",
+      "床的正面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          375,
+          500
+        ],
+        "counts": "Qf72b;3L4O1O1M3K5N2M300O1FXO`E1Og0_:<O100O1001O0000000000000000001O00001O001O001O001O1O001O1O001O00001O0000001O0000001O000000001O00001O001O00001O00001O001O0000001O00001O001O001O001O001O00001O001O001O001O00001O00001O00001O001O001O00001O001O00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000N2N2O1O1O1O1N2N2M3N2O1O1O1O1N2O1O1N2N2O1N2O1N2O1O1O1O1N2O1N2O1O1O1O1N2O1O1N2O1N2O1O1O1O1N2N2O1cLnMTMS2k2oMSMR2m2oMPMS2P3mMoLT2Q3mMlLU2T3kMjLW2V3iMhLY2X3hMfLY2[3fMcL\\2]3eMaL\\2_3dM_L^2a3cM\\L_2d3bMZL_2f3cMVL_2j3bMTL_2l3bMQL`2o3aMnKa2R4`MkKb2V4_MfKc2Z4`M`Kc2`4gMSK\\2m4SN`JQ2`5SNQJbNKa3T6m1001O0000000000001O0000000000000000001O000000000000001O0000000000000000001O000000000O1000010O00000000000000001O00000000001O0000000000000000001O00"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/rubbish_can222222fridge/1364_mask_rle.json b/Navigation/GroundDetection/rubbish_can222222fridge/1364_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff96e9545aacda4e630118125e37b6ee7f36426b
--- /dev/null
+++ b/Navigation/GroundDetection/rubbish_can222222fridge/1364_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/rubbish_can222222fridge/1364_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "rubbish can222222fridge"
+    ],
+    "scene_description_en": [
+      "rubbish can",
+      "fridge"
+    ],
+    "scene_description_cn": [
+      "垃圾桶",
+      "冰箱"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/single_sofa/000275_mask_rle.json b/Navigation/GroundDetection/single_sofa/000275_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4e7ba353b71573ecced9a7afe4bc17dc415712c
--- /dev/null
+++ b/Navigation/GroundDetection/single_sofa/000275_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/single_sofa/000275_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "single sofa"
+    ],
+    "scene_description_en": [
+      "single sofa"
+    ],
+    "scene_description_cn": [
+      "单人沙发"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          384,
+          512
+        ],
+        "counts": "Q8S33fMn7Z2QHgMo7U3O100001O001O2`NoGmNQ8R1PHnNQ8P1PHPOR8n0nGROS8l0nGTOT8j0kGWO]8RO_GD7Q1N9W9EeFPO1[1[9CdFSO1Z1[9CdFSO1Y1\\9CcFVO0W1]9CcFWO0U1]9CcFYO0T1]9CcFZO0R1]9DbF\\O0P1]9DdF\\O0o0[9FdF]O0m0[9FfF]O0l0Y9HfF^O0j0Y9HhF^O0i0V9JkF^ONh0U9LlF^OOe0S9OnF\\O0d0Q90PG]ONc0R90oF^O0a0Q90PG@O?Q91PG@0>P92PGAO=Q91PGDO:Q92PGDO:Q92PGEO8R91oFHO7R91oFIO6Q91oFKO4R90oFNO1R91oFN00R90nF2OMT91mF20LS92mF3OKT91nF4OJT91mF6NIU91lF70GT91mF9NFU91mF:NDV91kF<0BU92kF=OAV91lF>O@U92lF?N_OW91jFb0O\\OW91kFc0O[OV91kFf0NYOW91kFf0OXOV91kFi0NVOW91kFi0OUOW90iFn00QOW90jFo0OQOW90jFP1OoNX90iFR1OmNX90iFU1NkNY90iFU1OjNX91hFW10gNY90hFY1OgNY90hFZ1OeNY91gF\\10bNY91gF^10aNY91gF_1O`N[9OfFc1O]N[9OgFd1O]NY9OgFf1O[NZ9NhFg1OZNY9OgFi1OXN[9NfFj10WNZ9NgFl1NVN[9NfFn1ORN\\9OfFo1OQN[90eFQ2OoM]9NeFS2OnM\\9OeFT2NmM^9MdFX2NjMb9V2_FiM`9Y23001O1N100100O1O2N3M2N5K2N1O1O001O0000000000O100O100O1N2_Oa0M3O1O100O100O1O100O100O100O100O100O100O100O10000O100O10000000000001O1O1O2O<C7I>B?@<E:F100N101O00001O00O10000O100O1O1O1K5SOVOdFj0P9DmF=R9DoF;P9FPG:P9EQG<n8DSG;m8DTG;m8ESG;m8DUG<k8CUG<l8CVG<j8DVG<k8BVG?i8AXG>h8AYG>h8BYG=g8CYG=h8AZG>`6GSJJ^O?^6HUJH]O`0T62_J]O_O`0Q64`J\\O_O`0Q64aJ[O_O`0P65bJYO_Ob0o55bJXO@c0n54QLLn34RLLm35TLJl35ULKk35VLJj35WLKi35WLKi34YLKg35ZLJf35[LKe35[LKe35\\LJd35]LJd36\\LJd35^LJb36^LJb36^LJb35`LJ`36`LJ`35bLJ^36bLJ^36cLI]36dLJ\\36eLI[36fLJZ36gLIX37iLIX36iLIW37iLIV37kLIU37lLHT37mLIS37nLHR37oLIQ37oLIQ37PMHP37QMIo27RMHn27SMIm27SMIm27TMHl27UMIk27UMIj28WMGi28XMHh28YMGg28a40000O1O10000O100O10001O00000000000001O0001O000001O01O2MdXd11[g[N1O1O2N1N2O1N2O1O1O1cNDTG>k8CTG=l8ERG<m8FQG<m8ERG;n8FQG;P9DnF>V9\\OkFf0V:010O1001O00001O0000000001O0O1O1M3G9H8C=FWNZFl1`9[N^Fe1b9\\N^Fd1b9\\N^Fd1b9]N]Fc1c9]N]Fc1c9]N^Fb1b9^N^Fb1c9^N\\Fc1c9]N]Fc1c9]N]Fb1d9^N]Fa1c9_N]Fa1d9^N\\Fb1d9_N[Fa1e9_N[Fa1f9^NZFb1f9^N[Fa1e9_N[Fa1e9_N[Fa1f9_NYFa1g9_NYFa1j9[NWFe1S:O0000001O00001O0000001O0O1N2N2N2N2N3M2M3M3M4M2NMWOSEh0k:\\OUEa0k:AUE>k:DTE:m:GTE7m:JRE6m:KTE0P;0QELU1G"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/skirting_board/002229_mask_rle.json b/Navigation/GroundDetection/skirting_board/002229_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d5d6400614c5dcc4434edba1b750f0b716aadd7
--- /dev/null
+++ b/Navigation/GroundDetection/skirting_board/002229_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/skirting_board/002229_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "skirting board"
+    ],
+    "scene_description_en": [
+      "skirting board"
+    ],
+    "scene_description_cn": [
+      "踢脚线"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          683,
+          512
+        ],
+        "counts": "acT17Se0=C<E;E7I:F7I;E000001O00000000O11O000000000000000000000000000000000000000000000000000000000000000000000000000000000000O100O1O1O100O100000000000000O100N2N2M3M3N2N2M3N2N2M3N2M3M3N2N2N2M3N2M3N2M3M3N2M3N2M3M3M3N2M3L4M3]Oc0O1O10000O100N2O1O1O1O100O1fMSJ\\D1XOm5Z<XJXDO\\Oi5Z<bJQDGCh5\\<kJeCAMd5^<mK_CT4a<mK^CS4b<nK\\CS4d<Z2000000000000000000000000000000000000001O00O10000000000000000000000000000001O0000O1000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000001OO10000000000000000001O001gGfC_7X=K3M4L4L4L4L4L5K5K5K3M2N4L4L4L4L4L3M2N4L4L4L2N5K4L4L4L4L4L3M3M3M2N3M3M6J3M5K4L4L3M4L4L4L3M4L4L4L4L4L2N2N2N7I5K4L4L4L3M4L4L5K4L`fn1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/small_square_table/41069175_3855.414_mask_rle.json b/Navigation/GroundDetection/small_square_table/41069175_3855.414_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd91b893b484b4b614da06c711eec47dbad56a67
--- /dev/null
+++ b/Navigation/GroundDetection/small_square_table/41069175_3855.414_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/small_square_table/41069175_3855.414_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "small square table"
+    ],
+    "scene_description_en": [
+      "small square table"
+    ],
+    "scene_description_cn": [
+      "小方桌"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "fRU33m>3M2N3M1N5L2M4M2M6K5J4M3L2BeNTC_1g<dNVCc1d<^N\\Ce1`<\\N`Cj1Y<WNfCm1V<TNjCP2Q<QNoCR2m;nMRDW2i;kMVDX2g;hMZD\\2a;eM_D^2];bMdDb2W;_MiDe2S;[MmDi2n:XMREn2g:RMZEQ3b:PM_ES3\\:gLkE\\3Q:aLSFe3f9\\LZFg3c9XL]FX4T9hKlFX4S9jKhF\\4V9iK]FF1d4_9mKaFT4]9j0M3N2MhMoFcL5d1i8b1QHXNl7b1_H[N_7a1jH\\NS7b1TI]Ni6a1]I^N_6a1fI_NR6d1SJ[Nj5_1gG\\Mg2R1_5b1iJ\\NU5f1lJ\\No4e1TKYNj4g1ZKWNd4i1_KUN`4l1bKRN]4n1fKPNY4P2jKnMU4R2nKlMR4S2QLkMn3V2SLiMl3W2XLfMg3Z2\\LdMd3\\2^LbMa3^2bL`M^3`2cL_M]3a2eL]M[3b2hL\\MX3d2jLZMV3f2kLYMU3g2b4O10O1000O1000000000@[MeDe2[;[MeDe2Z;\\MfDd2Y;]MgDc2X;^MhDb2W;_MiDa2V;`MjD`2U;aMkD_2U;aMkD_2U;aMlD]2V;bMjDHDd2c;cMkD]2W;aMhD_2[;_MeDa2m;O10O01O100O1O10O010ZH`Ml2_2k4O1O10000O1OVDfMP;Z2nDiMQ;V2nDmMQ;S2nDoMQ;Q2nDQNQ;n1oDTNo:m1QETNn:l1QEVNn:i1REYNm:g1SEZNl:f1TE[Nk:d1UE^Nj:b1TEaN[:XObEW22cNZ:WOdEU22fNY:UOeEU21hNW:TOhEU20iNV:TOiES21jNS:VOjEQ22kNS:TOkEP22nNQ:SOlEP22POP:POnEQ20QOo9QOPFn10SOn9SOnEk13TOm9ROoEk13VOl9a1RFaNl9\\3L3O2L3O1N3M2N2dNdJQI_5l6dJQI_5l6cJRIa5j6bJSI`5k6dJQI_5l6cJSI^5k6eJRI_5k6cJSI_5j6cJUI_5i6cJTI_5k6aJUIa5h6aJWIb5f6^JZId5c6]J^Ie5]6]JcIe5V6`JjId5Q6\\JQJd5m5]JSJf5i5ZJXJh5e5]JWJf5e5[J[Ji5`5YJ_Jh5_5YJaJh5]5ZJbJf5]5[JcJe5]5[JcJe5\\5]JcJb50TIg4[1YKa5OVIf4Z1[K_5OZIc4Y1]K]5OZI;Ad3i1RL[5OZI<Cb3i1SLZ5N[I9Fe3f1ULV5O\\I8Ic3g1ULS5O_I7Kb3d1WLS54YI31a3d1XLQ56YI03a3d1YLo47XIO7`3c1ZLm4:UIM<^3d1ZLk4<RIN?[3e1[Li4n0dIf2d1\\Lg4n0fIe2e1\\Ld4n0iIe2f1ZLa4P1kIe2g1XL_4R1kIe2d8YM_Gf2a8YMaGf2`8XMbGg2^8ZMbGe2_8ZMbGe2]8[MeGe2[8ZMfGe2Z8ZMhGd2Z8[MgGd2Y8YMkGf2T8[MmGd2R8]MoGb2R8]MoGb2R8]MoGc2Q8[MQHd2P8[MQHd2Q8YMQHg2o7XMRHh2P8SMSHm2o7nLTHS3l9001O1O1O1O0000O1I7L4N2N2N200N2O1O1O1N2N2O1O1O1O1N2O1O1O1O1O1O100O1O1000000000000IVCWNk<h1VCXNj<h1VCYNi<g1WCYNi<R2M3M3M1O00000000UOeCROZ<l0iCaNH=`<Q1oCmNQ<R1PDmNQ<R1QDlNP<R1SDjNP<U1n0O1O1O1O1O1O1N2O1O1O1O1O1O100O100O100O1O1O100O1N2O1O1O1O1O1O1O1O100O1O1O1O1O1O1O1O1O1O1O1O1OQSc1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/sofa222222The_bed_closest_to_the_camera/001438_mask_rle.json b/Navigation/GroundDetection/sofa222222The_bed_closest_to_the_camera/001438_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..56e9a80abd04940d6660ca165df0081594fc0236
--- /dev/null
+++ b/Navigation/GroundDetection/sofa222222The_bed_closest_to_the_camera/001438_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/sofa222222The_bed_closest_to_the_camera/001438_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "sofa222222The bed closest to the camera"
+    ],
+    "scene_description_en": [
+      "sofa",
+      "The bed closest to the camera"
+    ],
+    "scene_description_cn": [
+      "沙发",
+      "离镜头最近的床"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          968,
+          1296
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/sofa222222The_table_farthest_from_the_camera/taskonomy_experiment_point_749_view_7_domain_rgb_mask_rle.json b/Navigation/GroundDetection/sofa222222The_table_farthest_from_the_camera/taskonomy_experiment_point_749_view_7_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..64e0aeb9d39827836ef6bb37b2bfa088b5d21734
--- /dev/null
+++ b/Navigation/GroundDetection/sofa222222The_table_farthest_from_the_camera/taskonomy_experiment_point_749_view_7_domain_rgb_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/sofa222222The_table_farthest_from_the_camera/taskonomy_experiment_point_749_view_7_domain_rgb_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "sofa222222The table farthest from the camera"
+    ],
+    "scene_description_en": [
+      "sofa",
+      "The table farthest from the camera"
+    ],
+    "scene_description_cn": [
+      "沙发",
+      "离镜头最远的桌子"
+    ]
+  },
+  "mask_annotation": {
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+          512,
+          512
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/sofa222222The_taller_table/000486_mask_rle.json b/Navigation/GroundDetection/sofa222222The_taller_table/000486_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..777b93848622e43e1f5b99b90fa1ded73a25f4ca
--- /dev/null
+++ b/Navigation/GroundDetection/sofa222222The_taller_table/000486_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/sofa222222The_taller_table/000486_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "sofa222222The taller table"
+    ],
+    "scene_description_en": [
+      "sofa",
+      "The taller table"
+    ],
+    "scene_description_cn": [
+      "沙发",
+      "较高的桌子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          384,
+          512
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/sofa222222sofa/000570_mask_rle.json b/Navigation/GroundDetection/sofa222222sofa/000570_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e890689ea5fa6d0f774e9ade1d2d9116e34a873
--- /dev/null
+++ b/Navigation/GroundDetection/sofa222222sofa/000570_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/sofa222222sofa/000570_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "sofa222222sofa"
+    ],
+    "scene_description_en": [
+      "sofa",
+      "sofa"
+    ],
+    "scene_description_cn": [
+      "沙发",
+      "沙发"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          340,
+          512
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+        "counts": "g]c134j0h8l0@>POlMmHi2R7XMgHo2Y7RMfHn2Z76000kLfHP3Z7PMfHP3Y7QMgHo2Y7QMgHo2Y7QMgHo2Y7QMgHo2Y7QMgHo2Y7QMgHo2Y7QMgHo2Y7QMgHo2Y7QMgHo2Y7QMgHo2Y760000O10jLhHP3X7PMhHP3X7PMhHP3X760000000O11O00000000iLhHR3W7oLiHQ3W7oLiHQ3W7oLiHQ3W7oLiHQ3W7oLiHQ3W7600000hLiHS3W7mLiHS3W7mLiHS3W7mLiHS3W75000000O1000000000000000gLjHT3U7mLkHS3U7mLkHS3U7mLkHS3U7mLkHS3U7600000fLkHU3U7kLkHU3U7kLkHU3U7kLkHU3T76000000000000O1000eLmHU3S7kLmHU3S7kLmHU3T7jLlHV3T7jLlHV3T7jLlHV3T7jLlHV3S76000000000000000dLmHW3S7iLmHW3S7iLmHW3S7500000cLmHY3S7gLmHY3S7gLmHY3S7gLmHY3S7gLmHY3S7gLmHY3S7gLmHY3S7gLmHY3S7gLmHY3S7gLmHY3S7gLmHY3R7iLnHV3R7jLnHV3R7kLnHT3R7lLnHT3S7lLmHS3[7O1O2N9G0000O1L4O11O00001O001O1O001O001O1O001O1O001O001O1O001O001O1O001O1O1O001O001O001O1O001O001O1O005K7I1O0000L4M300001O001O001O00000000000000000000001O001OMSN`Gl1`8VN_Gi1`8YN`Gf1`8[N_Ge1a8\\N_Gc1b8\\N_Gc1a8^N^Gb1b8_N_G_1c8_N`G^1k8000000000K`NVG`1f89L`N^GV1a8?1\\N^GT1c8lN]GS1c8mN]GS1c8nN]GQ1c8oN]GQ1d8oN\\GP1d8PO\\GP1e8PO[Go0e8QO[Go0f8QOZGn0g8?0cNYGm0h8SOXGl0h8`01dNWGk0i8VOWGi0j8VOVGj0j8WOVGh0k8`000001O1kNTG`0T9QOTGn0Y900000O100GVOhFj0T9[OlFd0o8AQG?o8BQG=n8e00PORG:n8f0OROSG7m8JSG5m8i00SOSG3l8k00TOTG0l8l00UOTGNl8m00VOTGLk86UGIk87UGIk88UGGk89VGEj8=UG]OQ9c0PGUOW9k09K5N20O01O1O100O1DWFMk9LZF4S:O10000OQYh0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/sofa222222television/000175_mask_rle.json b/Navigation/GroundDetection/sofa222222television/000175_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..89fa6649066f46eddb74eb3b16d3478b7edb9a73
--- /dev/null
+++ b/Navigation/GroundDetection/sofa222222television/000175_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/sofa222222television/000175_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "sofa222222television"
+    ],
+    "scene_description_en": [
+      "sofa",
+      "television"
+    ],
+    "scene_description_cn": [
+      "沙发",
+      "电视机"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "gVc21b:3N1O1N3N1O2N1O2\\FIg89UG1c81ZG4b8OYG5d8o0O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O100O11O000O100001O000000000000000000000O100N2O1O1M3L4L4O1PO\\MoId2n5aMoI`2Q6`MoI`2P6aMPJ_2P6bMoI^2Q6bMoI^2Q6cMnI]2R6dMlI]2T6dMkI\\2U6eMjIZ2W6gMgIZ2Y6gMeIZ2[6fMbI^2Z6fMdIZ2^6eMaI\\2_6dMaI\\2_6eM_I\\2a6eM]I\\2b6l00000001O1O000001OO10O100O10001OO011O0000O1001O1O000000O1000000O101O0001O00O1001O000000002N2N0000000000000000001O000000O100O1O11N10O12N5K7I1O00000000O101O0000000000O1000000000001O01O00000001O000aMoHoNOW2S7]NcI^1^6_NgIOH9c6Fn2N3N2N1N2O0OS]j0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/sofa222222television/076409_mask_rle.json b/Navigation/GroundDetection/sofa222222television/076409_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..091641bd4d7654654b147a0bef47627f45f22a8f
--- /dev/null
+++ b/Navigation/GroundDetection/sofa222222television/076409_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/sofa222222television/076409_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "sofa222222television"
+    ],
+    "scene_description_en": [
+      "sofa",
+      "television"
+    ],
+    "scene_description_cn": [
+      "沙发",
+      "电视机"
+    ]
+  },
+  "mask_annotation": {
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/sofa_222222_computer/062746_mask_rle.json b/Navigation/GroundDetection/sofa_222222_computer/062746_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e6ca752d069f286b3ddf334544a4a4dbe039dc9
--- /dev/null
+++ b/Navigation/GroundDetection/sofa_222222_computer/062746_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/sofa_222222_computer/062746_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "sofa 222222 computer"
+    ],
+    "scene_description_en": [
+      "sofa",
+      "computer"
+    ],
+    "scene_description_cn": [
+      "沙发",
+      "电脑"
+    ]
+  },
+  "mask_annotation": {
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/stool/000579_mask_rle.json b/Navigation/GroundDetection/stool/000579_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c3c7c156532159528a1873fa91c4d583e147060
--- /dev/null
+++ b/Navigation/GroundDetection/stool/000579_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/stool/000579_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "stool"
+    ],
+    "scene_description_en": [
+      "stool"
+    ],
+    "scene_description_cn": [
+      "凳子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
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+          771,
+          512
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/stool/41048262_5477.040_mask_rle.json b/Navigation/GroundDetection/stool/41048262_5477.040_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1d9d2c30a7520dc7199bb12fe95c10756ba690d
--- /dev/null
+++ b/Navigation/GroundDetection/stool/41048262_5477.040_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/stool/41048262_5477.040_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "stool"
+    ],
+    "scene_description_en": [
+      "stool"
+    ],
+    "scene_description_cn": [
+      "凳子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
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+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/stool/41126894_2300.499_mask_rle.json b/Navigation/GroundDetection/stool/41126894_2300.499_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ebd0088c74cdf2211a3fdaac0507e2312935f4a
--- /dev/null
+++ b/Navigation/GroundDetection/stool/41126894_2300.499_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/stool/41126894_2300.499_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "stool"
+    ],
+    "scene_description_en": [
+      "stool"
+    ],
+    "scene_description_cn": [
+      "凳子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "Sb^43k>3M3N1O2N2N1O2N2M2O1O1O1N3N1O1O2N1O2M2O2N1N3N2M3N2N2N2N1O1O2N1O2M2O2M2O1O1lEnMY7T2dHoMZ7R2fHnMY7S2gHnMV7U2hHlMW7U2iHkMU7W2jHjMU7X2iHiMV7X2jHiMT7Y2jHhMU7Y2kHgMT7[2jHfMiNJP7c2UJeMgNMPOHl7i2\\JbMXNFK?[7\\2`J`MZNEJe0V7Y2cJ^M]NEIk0o6U2iJ\\M^NDIo0m6U2gJYMbNEHP1m6Y2bJRMiNFEQ1P7_2YJkLSOQ1d6Z2RJfLZOP1d6_2mIbL_Om01dNm5T4[J\\LGk02jN_OFV6Z4aJ[LHj03POa5n3aJXLJj05TO\\5k3dJWLKj05VOZ5i3fJWLKi06XOX5g3hJXLJh07ZOV5e3jJYLHi08YOV5e3iJ[LIf08[OU5c3kJ\\LHf08kN@1d0LQ4V4kK\\LHf08iNC2?5FEf3Y4bL\\LHGJ9>[OG6::@Dk3U4dL\\LHC296]OI88j0Y3Y3fL\\LH_O:9>J_Ol0Y3W3XLdK7h02[O`0851_Oj0Z3_3^LSLW1CB1^Ol0Z3^3]LSL[1A_O3^Ok0[3`3ZLRL`1^O]O5]Om0[3_4mM\\J\\O8\\On0Z3_4PNVJ\\O=YOo0[3^4WObJ_MP1Z3^4VOcJ_MP1[3]4UOcJaMP1Z3]4nL`JYOGg1<iNP1Y3]4mLaJZOEg1>hNP1W3bN[Lj5e0aJQ15hNn0U3eN\\Lg5f0aJj0FcN`0<m0S3c4RM\\Jl0:nNh0S3d4QMZJo0:mNh0R3e4RMYJo09nNi0o2g4TMWJn09POi0l2i4VMUJn09oNj0k2k4WMRJP17oNl0i2m4WMPJP18oNl0h2oNiL_5?]JQ19oNl0f2QOkLa5;YJT1:oNm0d2QOnLa5:VJT1<POl0c2Y5YM_IT1<POm0`2Z5]M\\IR1>POm0`2SOSM^5;SJP1`0SOl0^2TOTM]5;TJo0?TOm0[2UOWM[5<SJm0`0UOn0Y2_5eMRIm0a0UOo0V2WO\\MX5=PJk0c0UOo0U2XO^MW5=mIk0f0UOn0S2ZO`MU5k1cJcNn0Q2[OaMU5i1cJdNn0P2[OdMU5f1cJfNm0n1]OfMT5c1dJiNk0l1_OhMS5^1gJmNh0k1AiMP5T1jIlNP1<d0k1CiMQ5Q1QKZO<k1CjMQ5n0RK]O9k1EjMS5i0RKA5k1HkMT5b0TKG0k1IlMV5;WKKJm1KmMa9b0QEc0b1kN\\9a0_EO_1@R9`0TH@l7?UHAk7?UHAj7?WHBh7=YHCg7=YHCh7;YHEh79YHGh77YHIi73YHM];00O10Pj20PVM000000001OO10000001O0000000001O0000oV40QiK00000010O000001O0000000000O1000o>0QA000000000P]10PcN0000000Qh30oUM0PRO000000000000000O10000000001O0000000000O1001N10O10000000001O0000000O11O0000000000000000O1000000000QZ:0oeE000000000000000000000000000oZ20QeM001O000000O1001O0000O1010O000og30QXL000P]10^]N8lKHn3b0nK_Oo3f0nKZOQ4i0mKXOQ4j0nKWOP4m0lKTOT4m0kKPO"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/stool222222The_single_sofa_on_the_right/000952_mask_rle.json b/Navigation/GroundDetection/stool222222The_single_sofa_on_the_right/000952_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..38f3b38c6ae9322afa7624df925c33c747facc5e
--- /dev/null
+++ b/Navigation/GroundDetection/stool222222The_single_sofa_on_the_right/000952_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/stool222222The_single_sofa_on_the_right/000952_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "stool222222The single sofa on the right."
+    ],
+    "scene_description_en": [
+      "stool",
+      "The single sofa on the right."
+    ],
+    "scene_description_cn": [
+      "凳子",
+      "右边的单人沙发"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          341,
+          512
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/stool222222stool/taskonomy_foyil_point_428_view_3_domain_rgb_mask_rle.json b/Navigation/GroundDetection/stool222222stool/taskonomy_foyil_point_428_view_3_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..315caa9b98e6fe8a4a59f625f534d6fe635675a8
--- /dev/null
+++ b/Navigation/GroundDetection/stool222222stool/taskonomy_foyil_point_428_view_3_domain_rgb_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/stool222222stool/taskonomy_foyil_point_428_view_3_domain_rgb_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "stool222222stool"
+    ],
+    "scene_description_en": [
+      "stool",
+      "stool"
+    ],
+    "scene_description_cn": [
+      "凳子",
+      "凳子"
+    ]
+  },
+  "mask_annotation": {
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+      {
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+          512,
+          512
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/table/000430_mask_rle.json b/Navigation/GroundDetection/table/000430_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..1983b0018c7fe6285bc95a7805304bd5c1815401
--- /dev/null
+++ b/Navigation/GroundDetection/table/000430_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/table/000430_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "table"
+    ],
+    "scene_description_en": [
+      "table"
+    ],
+    "scene_description_cn": [
+      "桌子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
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+          384,
+          512
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/table/41048246_487.185_mask_rle.json b/Navigation/GroundDetection/table/41048246_487.185_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9857a3471ef09cf2fa2bc1e0eed8bc29a600c0d
--- /dev/null
+++ b/Navigation/GroundDetection/table/41048246_487.185_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/table/41048246_487.185_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "table"
+    ],
+    "scene_description_en": [
+      "table"
+    ],
+    "scene_description_cn": [
+      "桌子"
+    ]
+  },
+  "mask_annotation": {
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+      {
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+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/table/41159420_7656.904_mask_rle.json b/Navigation/GroundDetection/table/41159420_7656.904_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf17c331bf25d6b90dccffd475512a7a4c7686fc
--- /dev/null
+++ b/Navigation/GroundDetection/table/41159420_7656.904_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/table/41159420_7656.904_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "table"
+    ],
+    "scene_description_en": [
+      "table"
+    ],
+    "scene_description_cn": [
+      "桌子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
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+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/table/41159466_1949.615_mask_rle.json b/Navigation/GroundDetection/table/41159466_1949.615_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dbd7d1d830da4c6af2f14b67ade8caf159cc58d
--- /dev/null
+++ b/Navigation/GroundDetection/table/41159466_1949.615_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/table/41159466_1949.615_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "table"
+    ],
+    "scene_description_en": [
+      "table"
+    ],
+    "scene_description_cn": [
+      "桌子"
+    ]
+  },
+  "mask_annotation": {
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/table222222The_sofa_on_the_right/000054_mask_rle.json b/Navigation/GroundDetection/table222222The_sofa_on_the_right/000054_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2485632241e63cbb9dc4ef0ec5a3f0c7235d747
--- /dev/null
+++ b/Navigation/GroundDetection/table222222The_sofa_on_the_right/000054_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/table222222The_sofa_on_the_right/000054_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "table222222The sofa on the right"
+    ],
+    "scene_description_en": [
+      "table",
+      "The sofa on the right"
+    ],
+    "scene_description_cn": [
+      "桌子",
+      "右边的沙发"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "Z::[:0000000000000000000O1O100O1O100O1O100O1O10000000000001O000000000000000MmECT:`0O0001O000000000000000000000000000000001O0000000001O00000000O100000001O1O3M001O00001O001O001O0000001O001O001O001O00001O\\Xg02agXO1N3N1O1g1H`N1O1O101N100000000000000001N101O00]Z4NU[K0o9b0N2O00000001O0000000000000000000000000000000000000000001O000000000000000000006^OlE7[:N00000000000000M3E;J6L4M3M3M3N2M3L4M3M3N2M3N2N200O100O1[OQNUH00X2i7>O011O000000000000000001O0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000001O000000000000000000000000001O0000000O100000000000000001O000000O1000000001O0000000000000000000000000000000001O000O1000000ROo0H=G8I3O1N2O2N3L3N3M2N3M2N4L^PS1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/table222222cabinet/000163_mask_rle.json b/Navigation/GroundDetection/table222222cabinet/000163_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..5aba311c79e6b112f74251be956b07994de4ad52
--- /dev/null
+++ b/Navigation/GroundDetection/table222222cabinet/000163_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/table222222cabinet/000163_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "table222222cabinet"
+    ],
+    "scene_description_en": [
+      "table",
+      "cabinet"
+    ],
+    "scene_description_cn": [
+      "桌子",
+      "柜子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          768,
+          512
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/table222222chair/000502_mask_rle.json b/Navigation/GroundDetection/table222222chair/000502_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce3842a020cae928da22dbfc170bf875472b8e9c
--- /dev/null
+++ b/Navigation/GroundDetection/table222222chair/000502_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/table222222chair/000502_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "table222222chair"
+    ],
+    "scene_description_en": [
+      "table",
+      "chair"
+    ],
+    "scene_description_cn": [
+      "桌子",
+      "椅子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "`o3232V::GCSFa0e9_O^Fe0_9[O\\F14e0c9[O\\Fe0d9[OZFg0f948H1O1O001O00001O3M4K2O1O00000000O100O2N1L4L4O1O100O10000O100000O02O00O10O1000000O1000000O10000000000O1000000O100000000O100000000O101OO10O2O0000O02OO10000000O101O000O1000000O10O1000O10^OeFJ[95oFAR9>c000O01000000O10O1000O0100000O0100000O100000O1000O10O1000O1000000O10O100000O0100O100O0100000O10O10000O10O100O10000O010000000O10O10000000O10O10O01000O1000O01000O10O1000O10O10O01000000O010O1000000O01000O10O1000O10O100000O01000O1O010O1O10O100000000O1000O10000O01000000O01000O0100O0100000O10O1000O1000O0100O010O1000O1000O1000O1000O10O1000O1000O00100000O1000000O2O1O1N2OPe25jZM101N100O2M2M4O0O2O1O0O2O001O0O2O001O001N101N2O0O2M2O22M0100O001O001O001N2SHjNV6Y1kIfNg5i1YJVNd5m1b11N101N2O001O0O2O1O0O2O1O001O1N101O001N2O001N2O001O001O1N2N2`HiM`6V3O101O0O1000000O100O100N2J510O10000O10000000001N1000O01000000O100OoKiIf3U6[LoIb3R6\\LRJa3n5_LTJ_3k5bLWJ\\3i5dLZJY3g5eL\\JY3h5_L]J`3\\601O0000O10000L4K5N2O1O1001O01OO100001O0000O1000000000000000001O000000000000000000001O000000001O002N1O1O2N1O2N100N2O001O0000000000O100N2M3I7M3J6J6M3N200000000000001O0001O0O10001O0000001O000O1^OgIgL[6GfI\\2OXN0D2"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/table_corner_of_the_second_wooden_dining_table_in_the_dining_area_on_the_left_side_of_the_frame/1132_mask_rle.json b/Navigation/GroundDetection/table_corner_of_the_second_wooden_dining_table_in_the_dining_area_on_the_left_side_of_the_frame/1132_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c4a8fbc0816d85bed32a12e09eb11274cc04aae
--- /dev/null
+++ b/Navigation/GroundDetection/table_corner_of_the_second_wooden_dining_table_in_the_dining_area_on_the_left_side_of_the_frame/1132_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/table_corner_of_the_second_wooden_dining_table_in_the_dining_area_on_the_left_side_of_the_frame/1132_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "table corner of the second wooden dining table in the dining area on the left side of the frame"
+    ],
+    "scene_description_en": [
+      "table corner of the second wooden dining table in the dining area on the left side of the frame"
+    ],
+    "scene_description_cn": [
+      "位于画面左侧用餐区、第二张木质餐桌的桌角"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          239,
+          686
+        ],
+        "counts": "S625;23m5BQJ;23m5BQJ;23l5CRJ:23l5BSJ;14k5ATJ;14k5ATJ;14k5ATJ;14k5ATJ;14k5ATJ;14k5ATJ;23k5ASJ<23R6MnI3R6MnI3R6MmI4S6LlI5T6MgI6Q6\\OUJT1k5lNUJT1k5lNUJT1k5lNUJT1S60001O8H4L1O001O002N3M1O2NWNMRKHg0;U4h0`KWO_4P1[KPOe4X1SKhNl4\\1PKeNP5m100001O1O001O1OO1O1O100000000000000000000000000O1000000000000001O0000O10000O100001O001O1O001O9G2N1O1O2N1O002N1OO10000001O1Om0RO8HmP3FlnL3^I2`60^I27Ii56oI27Ij55oI27Ij55oI27If5LRJ9127If5MQJ8227If5MQJ8226Jg5LQJ8226Jg5LQJ8226Jk54oI26Jk54oI26Jg5KRJ9126Jk54nI37Ij55oI27Ik54nI37Ik54nI36Jl53nI36Jl53nI37Jj53oI37Jj53oI37Jj53oI37Ik54nI38Hj55nI38Hj55nI38HX3M^L100W27kM38HT3:hNKlM38HS3;iNJlM3;EP3>iNImM4j33YNImM4l31WNKmM3P4OTNLmM5Q4NQNLoM6Q4OZN1f10YN0h1OYNOi10XNNj11XNKk14h20O1N2N110000<D0000001O00000000O1O1L5N1O100O2O6J3Mhge3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/table_corner_on_the_left_side_of_the_red_pool_table_in_the_center_of_the_frame/1143_mask_rle.json b/Navigation/GroundDetection/table_corner_on_the_left_side_of_the_red_pool_table_in_the_center_of_the_frame/1143_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..70cc7ba46ec746f08d64447e311aadeb54e6e724
--- /dev/null
+++ b/Navigation/GroundDetection/table_corner_on_the_left_side_of_the_red_pool_table_in_the_center_of_the_frame/1143_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/table_corner_on_the_left_side_of_the_red_pool_table_in_the_center_of_the_frame/1143_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "table corner on the left side of the red pool table in the center of the frame"
+    ],
+    "scene_description_en": [
+      "table corner on the left side of the red pool table in the center of the frame"
+    ],
+    "scene_description_cn": [
+      "位于画面中央红色台球桌左侧的桌角"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          450,
+          675
+        ],
+        "counts": "mai131Nf:m0[EG0Do02_7LfG;k0h1]OaNQ8\\OgG<j0g1^OaNQ8\\OfG?i0d1_ObNS8ZOeG`0j0c1^OcNT8XOeGc0i0a1^OdNU8WOdGe0h0a1^OcN_8LUH_1\\OeN_8LZH[OlN02e19TO`8JgHo0iNWOa8GiHQ1fNXOe8YOoH_1]NWOj:g0WEYOj:d0iDbN>g0b;OaDMS<]OTD9XOIco2O]PM118OM0L\\1MU:[1bDgNNN00b0;e:a1WEkN]:V1aEkNa:S1_EnN`:R1`EnNa:Q1_EnNb:Q1_EnNc:Q1_E_NCNf8KbI^1i7dNWH9nMMHI_:Obo00am31ZVK3M200N3N1M3M3O2N100O2`CA[;`0\\DJb;7[DLc;6[DLd;8nCTO3i0n;U100O10010O00001O1O0100O10O01OO2hD_Nm9a1QFXOX9i0UFmM=X2FPN\\8l1`GlM=Y3b7lNPHkM=k3D`Lo6k1^IU2a6lM\\IX2b6iM\\IX2d6iMXIZ2h6gMSI]2m6cMSI]2l6]200O1001O000000O10000O1001O00000000000000001O001O0000000\\ISIS6m6lITIT6m6jIUIU6k6kIUIU6k6kIUIU6k6jIVIV6i6kIVIV6h6lIXIT6e6PJZIP6d6RJ\\In5c6SJ\\In5d6SJ[Im5e6h00ZI^I8Me4e6SK^I7Nf4d6TK\\I70e4d6TK\\I70e4e6SK[I80e4e6SK[I72e4c6TK[I72e4d6QL]Io3c6PL_Io3a6PL`IP4`6PL`IP4`6nKYIbN8_5_6nKdIR4\\6mKdIeNE\\5g6PLdIcNF\\5f6TLdIl3\\6SLeIm3[6RLfIn3Z6RLeIo3[6QLeIo3[6RLdIn3\\6RLcIo3]6RLbIn3^6SL`In3`6SL_Im3a6SL^In3a6SL_Im3`6TL`Il3`6TL`Il3`6TL`Il3_6TLbIl3^6TLbIl3^6SLcIm3]6SLcIm3]6SLcIm3]6SLcIm3]6SLcIm3]6VL`Ij3a6UL_Ik3a6VL^Ij3b6VL^Ij3b6VL^Ij3c6VL\\Ij3d6VL\\Ij3d6WL[Ii3e6XLZIh3f6j1000000001O0000000000001O000000000cIZI^5f6oInIP6R6oIPJP6P6PJQJo5P6oIQJQ6o5nISJQ6m5nIUJQ6k5nIVJR6k5mIVJR6j5mIXJR6h5nIYJQ6m6O00001O00000lKPHV2P8XLRHGO9c0KCk3k9N2N00001O00001O001O00001O00000000O100O1O1N2O100O100hNRL\\Hn3^7`L_GDd0l3j7lLUHS3j7PMTHP3l7PMTHP3l7PMTHP3l7oLUHQ3l7nLUHQ3m7mLSHS3m7mLSHS3n7kLSHU3m7kLTHT3Q8eLQH[3[90001O00001O000000001O00001O000000001O00001O00001O0000000000001O000000001O0000001O001O00001O00001O0000001O000000001O0000]NdL`H\\3^7gLVGNK3S1W3m7fLWGOI44Li0[3S8fLYG4JLM0i0Z3V8jLQG`0h0f2U8eMjGZ2V8fMjGZ2V8hMhGX2X8hMhGX2X8jMfGV2Z8fMSGROd0W3Z8jMfGV2Z8kMeGU2[8kMeGU2[8kMeGU2[8lMdGT2]8kMcGU2]8kMcGU2^8cMRGUOd0V3\\8YMnFA\\1l2h9O1O00001O001O001O000000001O001O00000000000000O1O1N2I7jNPM\\FOd0T3]8VMjF>?]2`8ZNZGh1d8l1O1O1O1O100O1O100O100O1O100O1O1O1O1N200000000001O1O00000000000000000000000000O1O1O1ZOeJdH\\5Z7gJeHY5Z7QK\\HP5d7g00000001O0000000000001O0000000000000000001O000000001O0000000000001O00000000000000001O000000000000001O00000000000000001O00000000000000001O00000000001O00000000000000001O000000000000001O0000000000001O0000000000000000000000001O0000001O001O1O2N3M3M2N1O1O4L3M3M3M3M5K2N4L2L9I6I1QLRF`29[NJ"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/television/41069134_4104.707_mask_rle.json b/Navigation/GroundDetection/television/41069134_4104.707_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe76b741fb70b41dc798af43a2b9a8a41fa5d50e
--- /dev/null
+++ b/Navigation/GroundDetection/television/41069134_4104.707_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/television/41069134_4104.707_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "television"
+    ],
+    "scene_description_en": [
+      "television"
+    ],
+    "scene_description_cn": [
+      "电视机"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "ofQ51g>6N5J5H9L3EUOYB00P1\\=a0H8L4J6nNR1M3N2A?G9G9K5L4K5B>H8M3L4H8L4M3L4F:N2M3L4L4HQI^HP7_7RIbHn6g71^OSIoHo6i6h0oNXHUJ]8T63L4C=I7K5L4H8K5K5G9J6K5L4L4K5L4J6YOg0M3K5M3I7K5K5I7N2QOaB9c=Oc0F:K5N2K5O100000000O1000Pkh00Pbc1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/television/41098005_9485.891_mask_rle.json b/Navigation/GroundDetection/television/41098005_9485.891_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ef07253278f157064bf48305d68fa29404de4c1
--- /dev/null
+++ b/Navigation/GroundDetection/television/41098005_9485.891_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/television/41098005_9485.891_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "television"
+    ],
+    "scene_description_en": [
+      "television"
+    ],
+    "scene_description_cn": [
+      "电视机"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "`mo31h>9I6K5I8J5H8HgNbB_1Z=6J7K4K5L5H7M3K5O1O1O20O0001N100O2N100O1N2O2M2O1N2N2O1O1N1O3N1N2O0O100O1O100O100O1O1O100O1O10000O1O1O100O1bIQLj1o3SNWLk1i3oM]LP2d3lM`LS2a3iMdLU2]3cMkL]2U3^MPMa2Q3ZMTMf2l2WMWMh2k2SMYMm2f2oL_MP3c2lL`MT3`2fLgMY3Y2bLlM]3U2^LPN`3Q2]LTNW3W2dLnMX3V2cLoMX3V2eLnMW3V2cLoM[3S2aLRN]3o1^LVN`3l1[LZNT3]LhK20]5n0ZNV3bLjKU5l0]NU3U2fLQNS3U2hLPNV3R2fLRNW3Q2eLSNW3Q2dLUNY3m1bLXN[3h6K5K5M4L3L4N2LUK`M_M[2e2eM[MX2h2hMXMT2l2lMTMP2P3PNPMm1S8L5M2M3M3L5K4M3J7L3M4M3M3L3N3L3N5Khb30Z]L0Pb60P^I0PV<0PjC001OO10P[2000PeM000000000Q]10o@0PRO000000001O00O1000000000000000000000000000oV40QX;0Pa@000000000Qj20nSN0QRO0000000Pn00PRO000000000Pl10PTN00000000000000000Qf40oYK0000000000000dD1g7OSH9k7GRH=kMFi8MXIa0oMCg8MWId0PNBg8JVIg0SNAe8HUIk0TN_Of8FSIn0WN]Oe8EPIS1YNZOf8ClHX1^NWOX7HlHJY1\\1aNTOW70fHA_1^1dNROU74dH[O`1c1gNoNS7l0TJ9hNlNR7l0QJ=lNiNP7l0QJ>oNgNn6l0oIa0SOeNj6l0oIc0WOaNi6m0kIh0ZO]Nh6m0iIk0_OXNg6n0bIR1FRNe6n0aIT1JnMd6o0]IX1OjMb6o0\\I[10gMb67lH]O<k26aMa66ZIPO@K7f3>ZM^66cIiN\\O2Nj3d0WM\\67eIfN]OQ4a0SMZ6CTIMb0\\O_OQ4a0UMW6BXIL`0\\O_OR4a0UMW6A[IKa0_3MUMU6B`IH>a3MUMS6CdIF<b3LUMT6DeIC<e3JTMT6EfIB<e3JTMQ6HjI^O;f3IUMQ6AaIWOO2;;;f3IVMn5BdIYO:9;f3IVMm5CdIYO;9:e3JVMk5BfIVO22::9f3JVMj5BnIVO6<8g3HWMj5_ORJWO4=7g3GWMn3iN]Me0cNYO2=8e3HXMk3jN_Md0dNXO2=8A"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_back_of_the_chair/41125438_1269.235_mask_rle.json b/Navigation/GroundDetection/the_back_of_the_chair/41125438_1269.235_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..41d95632f428cf1bb89ae867af84386d965b1d5b
--- /dev/null
+++ b/Navigation/GroundDetection/the_back_of_the_chair/41125438_1269.235_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_back_of_the_chair/41125438_1269.235_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the back of the chair"
+    ],
+    "scene_description_en": [
+      "the back of the chair"
+    ],
+    "scene_description_cn": [
+      "椅子的背面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "U[7:a>7J5D<N1O2N1O2O0O2O1N2O0O2O0O2O0O2O0O101N101O0O1O2O1]DBb8>oFc0^8_OVGY1]8e2RN]J^Je5^5_JaJa5]5bJaJ`5]5bJbJ^5]5cJbJ^5]5dJbJ\\5^5eJ`J\\5_5fJ`JZ5_5hJ_JY5`5iJ_JW5`5jJ`JV5_5lJ_JU5`5lJ`JT5_5nJ_JS5a5nJ^JR5a5oJ_JQ5`5QK^JP5b5QK]Jo4b5SK\\Jn4c5SK]Jm4b5UK\\Jl4c5UK]Jk4c5VK\\Jj4c5WK\\Jj4d5WK[Ji4e5XKYJi4f5XKZJh4e5ZKZJf4f5[KXJf4h5ZKXJe4h5]KVJd4j5\\KUJe4k5\\KSJe4m5\\KRJd4o5\\KoIe4Q6\\KmIe4S6]KiIe4X6R20O001O001O001O001N@fG]JY8a5lG\\JT8`5RH_Jm7_5VHaJi7^5YHaJh7]5YHdJf7Z5]HeJc7Z5_HeJa7[5_HfJ`7[5`HeJ_7[5aHeJ_7[5bHdJ^7]5bHcJ]7]5dHcJ[7o4oGQKg0OZ7k4UHVKa0OY7h4ZHXK=0Y7h4ZHYK=OX7g4]HZK:0X7e4`H\\K7OX7e4bH]K4OY7c4dH^K4OW7b4gH_K11V7_4jH_K21S7`4mH^K11R7`4oH]K02R7X4UHcKk03O1Q7X4XIfKH1Q7X4YIeKG2Q7X4ZIdKG2P7Z4^JbKd5^4_2O10000O2O0O01000O100O10001N010O10000O1000mEjK\\9U4dFoKY9Q4gFPLX9o3iFQLW9o3jFPLV9P4jFPLV9o3lFPLT9P4n000O101N10O01000000O1000000O10000O10000O101N10000O100O1000O010000O10000O10001N10000O10000O100O10O10O100O2OO10O10000O10000O1000001N10O100000O10000001O001O1O1O100O1O1O1O0O2O1O1O001O1O001kE_Li8b3UGbLh8^3WGeLg8[3YGfLf8[3XGiLe8W3[GkLc8U3\\GnLa8R3`GQM^8n2aGVM\\8j2dGXMZ8g2fG\\MX8d2hG_MU8a2jGbMT8]2mGeMQ8[2nGhMP8W2QHkMm7U2SHmMk7R2UHQNi7o1WHSNg7l1ZHVNd7i1\\HZNb7d1`H^N^7_1cHfNZ7S1hHTOV7h0mH[OQ7e0nH^OP7c0oH_Oo6a0PIAo6`0PIAo6`0oHCo6=QIDn6<QIGm69RIIm67SIKk65SIOk61oH7o6IgHc0W7d3O2N1O1O2N2N2N2N2N2N2N1O2N1O1O2N2N2N2N2N1O1O2N2N2N2N2N2N1O1O2N1O2N2N2O0N3N2O0O1O2N1O2M3N2O1N1O1O2N2N2N3M1O2N2N1O2N2M2O2N2N2N2N2N1O2N1O2N2N1O2O1N1O2N1O2N1O2N2N2N1O2N2N2N2N2N1O2N1O2N2N1O2N2N1O2N2N1O2N1O2N1O1O2N2N1O2M2O2N2N2N1O2N2N3N1N1O2N2N1O2N2N1O2N2N1O2N2N1O2N1O2M2O2N2N2N1O2N1O1O2N1O1O1NQ[P10odoN3M1O1O10O0101N1O1O1O1O100O00101N100O1O1O1O00100O2N10O01O1O100O1O1O100O1O1O1O100O1O00100N200O1O100O1O1O2N1O1O1O100O1O002O0O100001O00001O1O3\\O]BWO0;d=`0^B^Ob=a0_B_Ob=>aBA_=1[BN:1\\=O[B0:0[=O[B1;0[=M\\B1:2Z=K^B29OBNh=N_B2IN?4ANQ>1_B1@NQ>1`B4`=JcBO^O2j>01O0O10O100001O000000000000Sof0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_back_of_the_table222222_in_front_of_the_door/1007_mask_rle.json b/Navigation/GroundDetection/the_back_of_the_table222222_in_front_of_the_door/1007_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b4ed75715b9b295165a88ba6f3fa6369a721107
--- /dev/null
+++ b/Navigation/GroundDetection/the_back_of_the_table222222_in_front_of_the_door/1007_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_back_of_the_table222222_in_front_of_the_door/1007_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the back of the table222222 in front of the door"
+    ],
+    "scene_description_en": [
+      "the back of the table",
+      "in front of the door"
+    ],
+    "scene_description_cn": [
+      "桌子的后方",
+      "门的前面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          600,
+          800
+        ],
+        "counts": "f?R3f?00000000000O1000000O1000000O1O1N2LiLg@W3U?8N20000O100O1000000000000O100000000O1000000N2M3O100O1O100000000000000O1000000000000O10000O100000000000000000000001O00001O000000000000001O00000000O1O10000O100O100KPLbAP4^>PLaAQ4_>oKaAQ4_>oKbAP4c>0000000000000O100O10000O100O10000O1000000O100000000O1000000NhKdAX4[>3O1O100O10000000000O10000O1000000001O000000001O00000000002N2N3M000000O100O100000000O100L4O1N2O10000O10000O1000000O10000000000O100000000000000004cKlAn3`>O0000001O00K5D<M300O1000000000000001O1O1O1O1O001O1O001O001O001O001O00001O00001N101jKeAl3\\>SLhAj3Y>SLoAR1JX1k>bN[Ai0EgNR?<]Ad0KkNl>;bAd0FnNj>NPALT17fN3VT8Gn]H3n]O1Pb0=g^OES`0;h_OOZODa`0>__OB:h0V`0F__OI3e0\\`0W1O10O00000O100O100O101N10001N10000O101O0O1000000O10000000000001O00WO`_OYOa`0d0d_OZO]`0c0h_OYOZ`0c0l_OXOX`0=U_O@Vb02Ya:0jlD2aa04V^O5=NY`0d0Z_OIc`0U11O01001O0000O1000O10i@TNb=l1e10i@UNa=k1^BWN`=j1`BVN`=j1_BWN`=j1`BVN`=j1_BWNa=i1^BXNb=i1]BWNc=i1\\BXNc=i1\\BXNd=h1[BYNd=h1\\BXNd=h1[BYNd=h1\\BXNc=i1dAmM5;W>h1eAoM19Z>h1eAoM19Y>j1[BWNe=i1[BWNd=j1\\BVNd=k1[BUNe==YA?R1TOe=:`A>k0XOd=:dA<i0YOd=8gA8j0@_=K[AMe0=e0K\\=GfB306j`0O00000000000O100000O1000O_LIbD8];O`B3mNFm08e=5UBb03YOh=7mAg09SOj=;eAg03gND8e>;_Ak03YO]>m1[AXNd>n2000000O100FSLiAm3V>ULhAl3X>TLiAk3X>SLiAm3X>RLhAn3X>RLhAn3X>RLhAn3X>QLiAo3W>QLhAP4X>PLgAQ4`>01OJPLdAP4\\>PLdAP4\\>PLcAQ4]>oKcAQ4b>0O100000000O1M300O100000000000000001O0000000000000000000000001SL`A`3`>^LcAa3]>^LdAb3\\>^LeAa3\\>]LeAc3[>]LeAc3[>\\LgAc3Z>ZLhAf3e>0000000000000001O0000000000001O000000001O000000000000001O0000000000000000O10000O100B\\LgAe3X>]LgAc3Y>^LeAc3Z>^LfAb3Z>^LeAc3[>_LbAb3_>;00000000000000001O00000000000000000000000000000000001O0000001O0000000000000000001O000000000000000000001O00000000000000000000001O000000001O00000000001O0000000000001O1O2N00000000O1000000000000O10000000000001O000000000000001O0000001O000000001OO10000000000001O00000000001O001O1O1O00001O001O0000000000:F7I1O001O000000000000000000O1O1O1L4O10000000000000000O100O100000000000000O10000000000000000000000000000000000000000000000000000001O000000000000001O00001O00001O00000000000000000000000000O1001O0000O100000000001O0000001O00000000001O000000000000001O000000001O001O00001O00000000000000000000001O003M0\\OS@]N"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_bottom_left_area_of_the_dark_brown_wooden_floor__located_at_the_lower_left_of_the_white_hallway_pillar_on_the_left_side_of_the_frame/row_1056_col_image_mask_rle.json b/Navigation/GroundDetection/the_bottom_left_area_of_the_dark_brown_wooden_floor__located_at_the_lower_left_of_the_white_hallway_pillar_on_the_left_side_of_the_frame/row_1056_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3cb269599ae02e6cb8a7b504594089a8259972d
--- /dev/null
+++ b/Navigation/GroundDetection/the_bottom_left_area_of_the_dark_brown_wooden_floor__located_at_the_lower_left_of_the_white_hallway_pillar_on_the_left_side_of_the_frame/row_1056_col_image_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_bottom_left_area_of_the_dark_brown_wooden_floor__located_at_the_lower_left_of_the_white_hallway_pillar_on_the_left_side_of_the_frame/row_1056_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the bottom left area of the dark brown wooden floor, located at the lower left of the white hallway pillar on the left side of the frame."
+    ],
+    "scene_description_en": [
+      "the bottom left area of the dark brown wooden floor, located at the lower left of the white hallway pillar on the left side of the frame."
+    ],
+    "scene_description_cn": [
+      "位于画面左侧、走廊白色立柱左下方的深棕色木地板的左下角区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          576,
+          432
+        ],
+        "counts": "l>T3l>00000001O0000000000000000000000000000000000000000001O00O1000000001O00O11O0000003Me0[Oc0]O`0@e0ZO=BRhZ12hWeN7L3L4N2L4M3N2K5M3O1M3M3M3M3M2N4M2M3N2N200N2M3O1N2O1N2O1N2O100000000000000000000O1000000001O00O10000O10000N2M3H8^NfMdB_O8V3R=Y10000000000000000000000O100000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000O10O1001O0001O00000000000000000000000000000000000000000000O11O000000000000000000000000000000000000O1010O00O10010O2Nl0TO9G3M1O1O001O001O001O2N3M5K7I;Ed0\\O3M4L4L4L6J4L2N4L6I8I3LV`j1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_bottom_right_corner_of_the_red_cushion_on_the_grey_chair_near_the_refrigerator_on_the_left_side_of_the_frame/1186_mask_rle.json b/Navigation/GroundDetection/the_bottom_right_corner_of_the_red_cushion_on_the_grey_chair_near_the_refrigerator_on_the_left_side_of_the_frame/1186_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0f526e5f75fdcf49a9451262f987a6924e831ba
--- /dev/null
+++ b/Navigation/GroundDetection/the_bottom_right_corner_of_the_red_cushion_on_the_grey_chair_near_the_refrigerator_on_the_left_side_of_the_frame/1186_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_bottom_right_corner_of_the_red_cushion_on_the_grey_chair_near_the_refrigerator_on_the_left_side_of_the_frame/1186_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the bottom right corner of the red cushion on the grey chair near the refrigerator on the left side of the frame"
+    ],
+    "scene_description_en": [
+      "the bottom right corner of the red cushion on the grey chair near the refrigerator on the left side of the frame"
+    ],
+    "scene_description_cn": [
+      "位于画面左侧、靠近冰箱的灰色椅子上的红色坐垫的右下角"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          600,
+          800
+        ],
+        "counts": "l\\^5:ja0P1C>CV1iNa0@i0o@mKk=o4@P1QO7I3XDjIi:X6QEkIo:o60000000eJdDZ3];\\LnDb3R;SLYEm3g:oK]EQ4d:jK`EV4`:eKeE[4\\:ZK`DBX1V5]:iJmE[5d;4M3K5K5L4H8F:K5B>M3O100O100000000001O00000000000000000000001O00O100000000000000O1000000001O1O1O?A9G4L5K7I4L5K3M4L6JPNbKhE\\4W:kKcEU4^:QL[Eo3e:WLUEi3k:[LQEe3o:cLgD_3Y;P20000001O003lHbDh6W<@1bJRDP4n;aKhDX4Y;`KPE^4Q;ZKWEe4^<00000O1O1O1SOm0J6H8J6M3M3J6M3M3O1L4L4N2O1N2O1O1000000000000000000000000O1001O0000000VImDo5S;mIQES6o:eIZEZ6b;0=C2N0XKaCW3_<fLeCY3[<dLiC[3W<`LnC`3Q<^LRDb3j;^LZDb3f;ZL\\Dh3c;UL]Do3c;kK`DX4m<3L4N2M3M3O11OGPKkBo4`=OWOnJWCOc0R5R<WKnCh4Q=0eNPKnDP5\\<1O1K5M3J6J6N2I7F:L4G9G9O1O100000000000000001O2N3M8H4L1O2N3M2N5K2N1OSOPJREP6k:YJoDg5P;_JkDa5V;_JiDa5W;`JgDa5Z;^J^Dj5a<G5Kc0]O9G6J5K8H3M2N1O0000O1XOTLdBl3]=g0000000^NhKdDX4\\;SLYDm3g;XLSDi3m;a1000000000000001O00001O0000000000000cNPDRLP<l3XDnKh;o3^DnKc;a1oChM7OH1e1e0]:a0kCjNo3c0W81eHMV=M1O1O1O000000000N3O000000000000000000000O2OePU4"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_bottom_shelf_of_the_metal_rack_on_the_right_side_of_the_frame__to_the_left_of_the_black_cabin_door/1142_mask_rle.json b/Navigation/GroundDetection/the_bottom_shelf_of_the_metal_rack_on_the_right_side_of_the_frame__to_the_left_of_the_black_cabin_door/1142_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..e51eef082d5eef55a87e1cc0191540f365c94498
--- /dev/null
+++ b/Navigation/GroundDetection/the_bottom_shelf_of_the_metal_rack_on_the_right_side_of_the_frame__to_the_left_of_the_black_cabin_door/1142_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_bottom_shelf_of_the_metal_rack_on_the_right_side_of_the_frame__to_the_left_of_the_black_cabin_door/1142_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the bottom shelf of the metal rack on the right side of the frame, to the left of the black cabin door"
+    ],
+    "scene_description_en": [
+      "the bottom shelf of the metal rack on the right side of the frame, to the left of the black cabin door"
+    ],
+    "scene_description_cn": [
+      "位于画面右侧、黑色舱门左侧的金属架子最下层"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          427,
+          640
+        ],
+        "counts": "o;[1P<001O00O1000O10O1000O10000O01O100O100O10QDhNk;X1UDiNi;W1WDjNi;V1WDjNi;V1WDjNi;U1WDlNj;S1WDlNi;S1XDlNj;P1o0oNle60kYI5`C;Y<>M2jCSOl;m0SDWOk;h0UDZOi;f0VD[Oj;e0VD[Oj;f0TD[Ol;d0UD\\Ok;d0UD]Oj;c0UD]Ol;c0TD]Ol;c0TD]Ol;c0TD]Ol;b0TD_Ol;a0TD_Ol;`0UD@j;a0UD@k;?VDAh;a0XD_Ob;g0^DYOa;g0bDWO^;h0fDTOZ;l0c0I7L4N2O1000000O100001N101O1N5L1O2N0O100O1`DmNh:S1XEmNg:T1YEmNf:T1eDkNa01j:S1fDmN?0k:S1eDnN`0Oj:T1fDmN`0Oj:T1fDmN`0Ob:0RET1KnNa0Nb:1QEX1=fNc:3oDW1>fNk:Z1UEfNk:Z1UEfNk:Z1UEgNj:Y1VEgNj:Y1VEgNj:Y1VEgNj:Y1VEgNi:Z1WEfNh:[1XEeNf:]1ZEcNf:]1ZEcNf:T1iDROa0Ig:T1hDTOk;l0UDTOk;l0UDTOk;l0UDTOk;V1O10000gDaNf:_1d0O00000001O0O1001O0000001O0O100001O00000O1000000000O100000000O01001O001O1O:eNkCl0\\<M5XO\\Ca0g<O100O100O1000000000001O0O2NQ`<:eSCBS;c0_DYOL9c;Y100O100O10000O10000O100000000001O1O002N1O1O1O1O2N4Lg0gNUR<6baCJb00^:;gD525P;^1N1O10000O1000000O10000000000001^NYE>P<J4L1O00000000000000000000O1O1N2L4J6M3O1N2UOeNeE\\1[:dNeE\\1Z:fNeEZ1\\:eNdE[1\\:dNeE\\1^:aNbE_1U;000000000000000001O000000000000000000000000000000001O00000000001O00001O2NV1jNV`7NV_Hh0C;L4O1O1000000O10000001O0000000000000000000000001O00000000000000000000000000000000001O00001O4L8H2N2N2N1O1O0000000000000000O1O1I7D<N200O1O100O100O1O100O1O100O100O100O100O10000O11O00001O001O1O001O00O1O1N2M3N2O1O1O100O1O1O100O100O1O1O100O1N2N2N2A?O1O10000000000000000000000000000000000000000000000001O001O00001O001O00001O00001O0000000000O1O1L4N20000O100000000000000001O00000000000000000000000000000000000000O10000000000000000000000000000000000000000000000000000000000000000000000000000001O00e0RMUE5Md1_;O1O001O0000001O000O3M_l5"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_dining_table222222the_back_of_the_sofa/1159289_mask_rle.json b/Navigation/GroundDetection/the_dining_table222222the_back_of_the_sofa/1159289_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd22b7e51a56662c75362cffaf80483a2545ce71
--- /dev/null
+++ b/Navigation/GroundDetection/the_dining_table222222the_back_of_the_sofa/1159289_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_dining_table222222the_back_of_the_sofa/1159289_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the dining table222222the back of the sofa"
+    ],
+    "scene_description_en": [
+      "the dining table",
+      "the back of the sofa"
+    ],
+    "scene_description_cn": [
+      "餐桌",
+      "沙发的背面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          600,
+          800
+        ],
+        "counts": "^>Q1ga0000O1001O0O2O2N1N2O1O1N3N1N2O1N2O2N1O1O3LXnS2JoQlM2M3N1O1O001O001O1N101O001O0O2O1O1O001O1O0O2O1O1N101O1O1O1O0O2O1O001O0O2O001O001O001N1000O1M4L4J7Kak1_OSUN1N101O2N1N101O1O1N2O1O1O1N3N1O1O0O2O2N3M11K5Ja0]Oeh8k0eVG:G<D5K2O0O11N2N1O1O00001O001O00001O001O001O001O001O1O001O001O1O001O1O1O1O001O1O1O001O001O001O001O1O001O001O1O001O1O001O1O1O1O1O2N1O2N1O1O001O1O001O00001O000O2O001O000O2O1OoRa41ll^K8K3L3N2N2O1N101N1TBg0Y8ZObGR1V8nNZGg1a8ZNXGo1S8YMUEi0d2S2U8UMVEh0b2X2U8QMYEh0_2[2V8mL[Ei0S2XObMV3n:hL^Ej0m1m2c8ZL`Ei0g1U3g8RLcEi0_1\\3m8kKdEi0Z1c3P9dKgEh0S1k3U9\\KiEi0n0P4X9WKkEi0i0T4\\9QKmEj0c0Z4V:gKgE\\4Y:cKfE_4Z:aKdE`4\\:aKbE`4^:aK`E`4`:bK]E_4d:aK[E_4e:cKXE^4i:bKUE_4k:bKSE_4m:bKQE_4P;aKnD`4R;aKlD`4T;`KiDc4X;_KaDe4_;Z11O1O1O1O1O001O1O1O1O2N2N2N2N1O2N3M2NO1000000O1O1O1O1O1O100O100O1O1O1O1O1O1O1O10000O1000000O100000000000000001O00001O1O1O1O1O2N2N2N2N4L5K4LFTJiCk5W<UJiCk5Y<TJfCl5^<nIdCR6b<O0000001O001O000000001O0000000000001O00000000001O001O000eMXCfNh<Y1ZCfNg<X1ZChNf<W1\\ChNd<W1]CiNd<3gCTNHh1a<CYDbNYOj1_<ROiDSOiNk1_<bNXE@\\Nm1]<aNXE@^Nn1[<`NSF_1n9^NUFa1m9[NWFc1`=O1O0O11O000O100001O00000000001O000000001O000000001N1000000O100M4]Oc0DQki0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_door222222the_coffee_table/1125_mask_rle.json b/Navigation/GroundDetection/the_door222222the_coffee_table/1125_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..49091ff5c2f9ddcd687772c50f2617b44f177eac
--- /dev/null
+++ b/Navigation/GroundDetection/the_door222222the_coffee_table/1125_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_door222222the_coffee_table/1125_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the  door222222the coffee table"
+    ],
+    "scene_description_en": [
+      "the  door",
+      "the coffee table"
+    ],
+    "scene_description_cn": [
+      "门",
+      "茶几"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          691,
+          800
+        ],
+        "counts": "_a0:517K1U2Ra0oMe^O36J2U2g?kMP@23OOl0N\\O1o1n?R3O1000000N2N2O1O1N2O100O1O1O100O1O100O10000O1000000O10000000000KQJf@o5Y?6O1O10000001mIh@i5X?WJh@i5Y?TJi@l5`?OO10000O1000000O100000000000000MoLd@1[?Og@0X?1j@MU?3PAIP?7QASMG]2X??SAHm>8TAQMCb2Z?;TAIm>5RAMo>1QA0V?Hk@8g>YMSA^26:f>ZMTAZ26=e>[MUAV27?d>[MVAS25e0e>YMUAP27h0d>XMVAm17l0c>WMTAY1JoN=e2e>TMQAX13gN7Q3f>PMn@W1n0k1U>nLl@NOk0R1[2S>lLl@O0c0a0TO0_3c>kLl@O2??]OMZ3f>kLl@N5;>DJX3g>jLm@O75=0BS3n>hLm@N\\18gNS3Q?dLo@OZ1:eNT3Ua0mLj^OS3\\`0gMd_OY2[`0hMe_OX2Z`0iMe_OX2[`0]Mc_OWO2]3[`0\\Md_OUO2_3Z`0\\Mf_OQO2c3X`0\\Mo_Od2Q`0]Mn_Oc2S`0\\Mm_Od2T`0\\Mi_Of2V`0bLd_O<6R3U`0\\Mk_Od2U`0\\Mk_Od2U`0\\Mk_Od2U`0[Ml_Oe2T`0ZMl_Og2U`0VMm_Oj2T`0UMk_Ol2W`0QMj_Oo2W`0PMi_OP3Y`0ZL\\_O`0;U3g`0bLY_O^3g`0bLY_O^3g`0bLZ_O]3g`0aLZ_O_3f`0aLZ_O_3h`0]L[_Ob3\\a0O001O4L3TMQ^On1Vc0D5K1O1O1O00001O001O1O0000001O1O0000001[NV\\O_1kc042N00001OO10000001O0000001O00001O1O002N1O0000O10000001O001O000000001O0000O10000001O001O0000001O00001O001O00001O1O000000001O00001O00000000000000001O000000000000000000000000O10000O100O1000000O1O1N2O1N200O1N2O1O100O1O1O100O100O1O1O100N200N2O100N20000O1O100O10000O100O100O100O100O100O1O100O1O100O1O100O1O1O1O100WNPNo_OP2P`0UNc_OT2\\`0WNo^OT2Qa0W100O10000O1O1GaK]_O`4R`0dKi_On4U`09O1N20000KdJS@\\5l?600O1001OO100000000000000001O000000000000001O00000000001O000^KS@^3m?bLS@^3m?bLS@^3m?aLU@^3k?bLU@^3l?aLT@_3l?aLT@_3m?`LS@`3m?aLS@^3S`0[Ln_Oe3T`0dKh_O4403X4n`0O2N2N2N2N1OPNnK^BS4b=mK^BS4a?00000nNTL\\@m3`?[L[@f3_?cL\\@_3b?eL[@\\3d?hLU@\\3j?W100O100O1N20000O100O1O100O10000O10UJ\\@g5h?01O003M1O1O000000001OO1O1O11O000000kN]J[Bb5d=^J^Ba5k>O00eN`JdB_5[=aJgB^5h>O000000O100L4N2L31O1000O100OoLW@:i?h2O10000O100000000000000000000O1O10000O1O1O1O100O100O1O1O1oNmI`BU6_=oIZBU6e=mIYBT6f=PJVBQ6j=PJRBS6o=mIhA[6X>fIfA[6Y>`00000GhHWBX7g=lHWBT7i=lHWBT7i=iHZBW7R>O0000001O0000000000O10000000cKfAa1Z>^NfAc1Z>[NgAf1Y>YNgAh1Y>VNhAk1Y>TNfAm1Z>RNfAo1Z>e200O10000O100000000000000BhHaBX7_=iH`BW7`=iH`BW7`=iH`BW7n=0000000LiHlAW7Y>O001O1O000000000000O10000M3000000O1N2M300JdHTB]7j=700O100000000000000000000001O00000000001O000O1000001OO1O100O100000000000001O0000000000000000000001O00O1001O0000001O00000000000000000000000000000000000000000000000000001O000000000[KXB_1h=ZNeB`1[=XNSCb1m<^NXC]1h<cNWE^Oi:b0WE]Oj:d0VE[Oj:e0VE[Oj:e0WEZOi:f0WEZOi:f0XEYOi:f0XEYOh:g0YEXOg:g0ZEYOf:h0ZEWOf:i0[EVOf:oNSBQ1W3Oi:^NaBa1g20a;OaD0_;0bDO_;0cDN];2dDM\\;3fDK[;JYAiNW32fLY1j>IWE4j:I]EYOgK:m>;PFAR:ESA;2Dd45f:3e@Hdd05\\[OLfd02Z[ONU`1JYUO0da60Y^I0SXg2"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_front_of_the_bed222222the_front_of_thetaller_cabinet/1098_mask_rle.json b/Navigation/GroundDetection/the_front_of_the_bed222222the_front_of_thetaller_cabinet/1098_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..76ef24109c6139efdcd3f68edeb8ff269c5bafc6
--- /dev/null
+++ b/Navigation/GroundDetection/the_front_of_the_bed222222the_front_of_thetaller_cabinet/1098_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_front_of_the_bed222222the_front_of_thetaller_cabinet/1098_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the bed222222the front of thetaller cabinet"
+    ],
+    "scene_description_en": [
+      "the front of the bed",
+      "the front of thetaller cabinet"
+    ],
+    "scene_description_cn": [
+      "床的正面",
+      "更高的橱柜正前面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          463,
+          690
+        ],
+        "counts": "nSY21X3?\\7EaHa0Y7MYH4g70SH2l71PH2o72kG0T83dG4[80^G3a80[G2e82TG1l81kF6T9MgF`NROd1W:OcF^NVOc1W:6ZFXN_Oc1W:<RFRNGb1V:>PFRNJ`1V:b20000O100O100O1O100O001O100O11O0000O100MbKUF^4h960000000O11O00001O0000000000000000000000000O10O11N100O10000O10000000000O0100001O0000O11O0001O00001O001O001O1O1O1NM`K[F^4d9eK\\FY4c9hK`FV4_9jKdFR4]9nKcFR4]9nKcFR4]9oKcFQ4\\9oKdFQ4\\9oKeFP4[9PLeFP4[9PLfFo3Z9RLfFm3Z9SLfFm3[9RLeFn3\\9QLdFn3[9TLeFl3Q9lKmF82l3[9TLeFl3[9TLeFl3[9TL_FH0T4a9TL_FIOT4a9SL_FKOR4Y9kKlF8LT4a9lK_FT4a9lK_FT4a9lK`F:NS3a9cLbF44X3Z9dLbFL<`3R9dLbFJ?a3o8dL[G\\3f8`L^G_3j9dLUER3U;O1O0O101O000000001SMjD_2d;O1O0010O01O0O20O0001O001O001O0O6L1N001O0O20O01O2N2N2N1O2N1N2O1O1O1O001O10O01O1N110O1N3N001O1O001N10010O000001O000000000O1001O0O11O0000O2O00001O001O0O2O001O00010O000001O000000000O100O1O011O0000O0101O00000O100000000O1O100O10O10O100O100O1O1000000000000001O00001O000000000000O100O100O1000000000000000000000001OO10000000000000O10000000001O0O100O001O1N2O2O00000000000000000001O00000000O100O100O10000001O00000000O1O1O1O10000O1000000O10000000000O10000000000001O0000001O00O100O100O1O1O100O100O1000O10000001OO10000001O000000000000000000000000000000000O1000bNkCb0U<\\OnCc0S<XORDg0o;TOUDl0P<kNUDT1c<0000000O100O1O0M4O1M3N200001O1O1O2N1O1O1O2N1O1O2N4L6J1O4L4K4M:@dh63]WI3jAK;1T=k0O000001O00001O0000001O1O001O001O0000001O1O1O001O00001O00002N1O001O001O001O0O200O001O00001O001O00001OO100001O000O102N0O3Noi1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_front_of_the_chair222222the_back_and_side_of_the_table/1007_mask_rle.json b/Navigation/GroundDetection/the_front_of_the_chair222222the_back_and_side_of_the_table/1007_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec04a1bd0f05e1abfe33a8593f3aa169288a0e4f
--- /dev/null
+++ b/Navigation/GroundDetection/the_front_of_the_chair222222the_back_and_side_of_the_table/1007_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_front_of_the_chair222222the_back_and_side_of_the_table/1007_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the chair222222the back and side of the table"
+    ],
+    "scene_description_en": [
+      "the front of the chair",
+      "the back and side of the table"
+    ],
+    "scene_description_cn": [
+      "椅子的正面",
+      "桌子的斜后方"
+    ]
+  },
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_front_of_the_dark_brown_cabinet222222the_front_of_the_window/2190_mask_rle.json b/Navigation/GroundDetection/the_front_of_the_dark_brown_cabinet222222the_front_of_the_window/2190_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..05ed36bf2b5a6f30a89a8ba941d132d63509cda4
--- /dev/null
+++ b/Navigation/GroundDetection/the_front_of_the_dark_brown_cabinet222222the_front_of_the_window/2190_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_front_of_the_dark_brown_cabinet222222the_front_of_the_window/2190_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      " the front of the dark brown cabinet222222the front of the window"
+    ],
+    "scene_description_en": [
+      "the front of the dark brown cabinet",
+      "the front of the window"
+    ],
+    "scene_description_cn": [
+      "深棕色的橱柜",
+      "窗户的前面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          735,
+          800
+        ],
+        "counts": "_^83;7ie0g0I3M5K5K4M3L3M4L4L3M4Kj0WO4L5K4L6J6I6K6Ia0@7H:E7J5K5K=D1O2M2O1O1O1O2N2N001O00100O100001O1O1O001O1O001O001O1O0000001O000000000000010O000O1001O000000000000000001O0001O00O1000000000000O11O000000O100001N0100000O10000O100O100O1000000O10000O101O0O2O0O10O11N1O100O10O0100O10O01O100O1O1O100O1O1O1O1N2O1N2O1M3O1O1O100O100000001O001O00000001O00000000001O0000O10O100O10O100O1O100O100O100O100O100O100O1O100O1O100O100O100O100O100O1O1O100O1O1N2O1O1O1O1O1O100O1O100O1O1O100O1O100O1O100O100O1O100O100O1O100O100O2O0O100O1O100O1O010O100O100O1O100O100O100O100O100O10001N101N010O1O2O0O100O010O1O100O010O100O1O100O100O101N1O10000O1O100O100O1O1M2\\Oe0D<M3N20000O10000000000O10000O1000000000000000001O1O00000O10O1000000000000O10000001O00000000001OO2O0O10010O0O10000001O01O00000000000000000O1000001O01O0001O0O11O1N100O1000000000000001OO1000O11O00000O1O1N2O1O1O1O1O1O1O1O100O100O10000O1000000O100000000O1O1O1O1O1O1O001O00101N101N100O100O100O1O010O1O1O100O2N1O1O1O001O2N1O100O10000O100000000O100000000000000000000000000000000000O1000000000000O100001OO1000000000000000000iLTF[Il9`6ZF_If9_6]F`Ic9^6`FaI`9]6bFcI^9[6eFdI[9Z6gFfIY9X6jFgIV9W6mFhIS9U6PGkIP9R6TGlIm8Q6VGnIk8o5ZGgIn8V6o3N2N2M3M3N2N3M2N2N3M2kMi@`LY?l2]APMe>n2^AoLe>o2]AmLf>Q3]AkLf>T3\\AhLh>V3ZAgLh>X3[AeLf>Z3[AdLg>[3[AaLh>_3YA^Li>a3YA[Lk>c3WAZLj>f3XAWLj>h3XAULk>i3VAULk>k3XAQLk>n3VAnKm>Q4VAjKm>V4n1O100O101N100O2O0O10001N10000O2O001N101N100O2OO10O10000O10000O101O0O1O100M3O1N2M3N2O1N2N2N2N2N2N1N4I6L3O3L2N3N2M3M3N2M3N3O0O2O001N2O0O100O101N1O1O1O1O1O2N1N2N200001O00000001O01O01O0POUZOl0Uf0J1O2M3^OeYO3Zem2"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_front_of_the_fridge222222the_side_of_the_bed/107916_mask_rle.json b/Navigation/GroundDetection/the_front_of_the_fridge222222the_side_of_the_bed/107916_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d8a2d479a95ffebacd726ad2c295e9fec8b74b1
--- /dev/null
+++ b/Navigation/GroundDetection/the_front_of_the_fridge222222the_side_of_the_bed/107916_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_front_of_the_fridge222222the_side_of_the_bed/107916_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the fridge222222the side of the bed"
+    ],
+    "scene_description_en": [
+      "the front of the fridge",
+      "the side of the bed"
+    ],
+    "scene_description_cn": [
+      "冰箱的正面",
+      "床的侧面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          683,
+          1024
+        ],
+        "counts": "hPR26kd0:L5M2O100N2O1L4F:I7L4H8I7L4H8K5J6I7J6H8L4N2O1N22N2N2N00000000001O001O1O0O101O001O0000000000001O000000O11O00001O1O1O001O4L5K3M4L5K3M1O1O1O001OO100000000O1000000000000O101M2K5L4000O100000000000O100000000O100000001O00000O100000000000000O10000000000O1000000000000O100000000000000O010000000000000O101O0000000O1000000000000O10000000000000000O10000000000O10000000000000000O01001N100000000000000000000O10000000000000000O100000000O10000000O100001O0O01000O10000000000000000O100000000O1000001O0000000O10000000000O10000000000O10000000O1000000001O000O10000O10001O1O0000000000O00100000O1000000000000O10000000000000000000000O1O1jLYLYCOHi3e<mL_B:O_3X=S3K5N2H70100O10001N10000000000000000000000000000O100000000O1000000000000000001OO0100000000000000O2O00000000O1000000001O0O10000000001O00O100O1000O10000000000000000O1000000000000000000000000000000O10000O1000000000000000000000000O100000000000000O10000000000000000000000000000O2O1O0000000O010000000O2O00O100O1000000000000001OO10O10000000000O100000O10000000000000000000O01O1O1O2J5N2N2RHRC^7P=]HVC`7]=M4M2M3M4L3N1O1N3M3N1O2N2N2M2O2N2O1N3M3M1O1O2N2O0O2O2M1O102N2N001O2M2OO21N2N02N3OOO00O2N3N001N2N3M1O1O3M2N001O001O00O01000O0100000000001O0O100000000O1000O10000000000000000O20O00010O00000000001O00000001O0O1O10000000000001O0000000O101O00000O100O010000000000000O10O1000000000O101O0O101O0O100O10000O010O011O0O101N010O10O0100O10000000O0100O10O1O100O1O1O100O1O011O0O101N101N100O100O100O1O01000O00100O01000O010O010lNk_ORMl?UOT@f36QMb?CT@Z3=PM^?IT@V3`0PMZ?MU@R3d0nLU?4V@m2g0nLP?8Y@j2h0mLl>n3VAPLj>Q4WAnKf>U4[AjKb>Y4_AeKa>\\4`AcK^>^4dA`K\\>a4eA]K\\>c4dA\\K^>c4cA[K^>f4aAZK`>e4T1O2N1O1O100O1O101N100O2O0O10001O00000O20O00100O4L10N1O1O1O1O2N0O3N1O1O1O2M2O1N2O2N1O1O1N2N2O1O2N1N2O2XNn]O2Tb0b11]Nk]ONVb0c12M2O1O2N1N2O1O1N2O1O2N2N1N2O1N2O1O2N1O1N2O2N1N2O2M2O2M2N2O100O101M2O1O1O2N1O1N2O2N1O1O1O1N3N1O2N1O1N2O1O1O2N1O2N1O1O1O101N1O100O2N1O100O1O1O2NgRd1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_front_of_the_refrigerator222222table/064249_mask_rle.json b/Navigation/GroundDetection/the_front_of_the_refrigerator222222table/064249_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..1489b825bc809d3c1976543bc5fa0f15fcaeb3a6
--- /dev/null
+++ b/Navigation/GroundDetection/the_front_of_the_refrigerator222222table/064249_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_front_of_the_refrigerator222222table/064249_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the refrigerator222222table"
+    ],
+    "scene_description_en": [
+      "the front of the refrigerator",
+      "table"
+    ],
+    "scene_description_cn": [
+      "冰箱的正面",
+      "桌子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "Z^\\15]:3M2MGkE9U:IjE6V:KjE5V:6N00GlE3R:OnE0R:0nE1Q:OoE2P:9O2OCRF5l9;O0O2EWOhF9I7^9@gFn0X9SOfF:M8[9@fFn0Z9@eF4Z9\\OgFT1]9VObF=^9=00O1OQOdFf0\\9ZOdFf0\\9YOdFh00SOY95gFk0Y9TOgFn0X9ROhFo0W9POiFR1V9nNjFR1V9mNkF`0O0S9AmF`01NR9AmFb01M0_OOOm83SG_1j8aNWGa1g8_NXGc1f8^NZGc1X8YNRH4Fd1X8YNPH4Hc1X8[NmG2Lc1V8]NmG0Ld1V8aNjGI1g1U8bNmG_1S8a0O2O00O0100O100O10000OLoGfMR8Z2SNjMcKW2X4WN_Ki1bNcMl5e0UJ\\OW1\\2g4YNPJKj0l1V5XNPJ8:TOG]2o5WNPJ=0oN0d20\\Mm5c0SJ[3m5eLSJ[3m5f001OmKTJ^3X6QLmIo3]6O00001O00001O001O00001O002N1O3M1O1O1O001O001O001O001O001O00001O0000000000O100O100001O000000001O000nLPI`2b70O1O1O10010N10O10000RM]H0O00g2T8G1O0000000000HcMXH^2e7:00O1N2N2OSM\\Hl2d72M40N101O1O2N1O00000000O100001O00001O0000001O001O001O00001O001O001RNTHR1l7aNcH]1[8O001O0000O1O1M3[OXNmGO25Og1Q8c001O01O00001O0O1O2NjGfMT8X2lGjMU8T2kGmMV8Q2jGPNZ8j1fGXNZ8f1fG\\NZ8a1gGaNY8\\1fGhNY8W1gGkNY8S1gGoNX8P1hGROX8l0iGUOX8c10SOgG_OY8^10POgGD[89eGH\\87dGG_88aGHa85_GKc84]GLe82[GMg81YGOj8OVG1k8j03UORGLP94PGJR96nFIT97lFFV9:jFDY9<gFA[9?eF_O]9b0cF[O_9e0aFYOb9f0_FWOc9f0]FYOg9f05O0O2L3N2O2O0O1N3O0O2L3OZWZ1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_front_of_the_sink222222the_door/1159282_mask_rle.json b/Navigation/GroundDetection/the_front_of_the_sink222222the_door/1159282_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6f0d37520fb39450d4fa1747d1461eca6507f9a
--- /dev/null
+++ b/Navigation/GroundDetection/the_front_of_the_sink222222the_door/1159282_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_front_of_the_sink222222the_door/1159282_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the sink222222the door"
+    ],
+    "scene_description_en": [
+      "the front of the sink",
+      "the door"
+    ],
+    "scene_description_cn": [
+      "洗菜池的正前方",
+      "门"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          683,
+          1024
+        ],
+        "counts": "ko;1Ye02N3M1O2N3N1N2N2O1N1O1O100O1O10000O100O100O100O100O10O02O0O1000000O01000O2N0O2O1O1O10000O100O10O0100O100O1O100O101N101N100O100O100O1O100O1O100O100O1O100O100O100O10O01O100O100O100O100O100O1O100O00100O101N1O100O100O100O1O100O100O1O1O100O010O101N1O100O100O100O2O0O1O100O100O1O100O100O1O100O100O100O011N100O1O10O0100O2O0O100O1O100O100O1O010O1O2O0O100O100O010O101N100O1O10O01O100O100O100O100O1O10O01O100O2N1O1000O01O2O0O1O1O100O1O100O1O100O100O100O2O0O1O100O100O1O100O1O100O1O10000O1O10000O1O100O100O1O100O1O100O1O100O1O100O100O100O100O10O1000000000001O001O0000001O001O00;E2N001N2O1O001O000000001O0000001O01O000001O0000001O000000001O00000O101O010O01OO100O2O01O1O01O0000000N3O00000000001O0000000000001O000000001O000010000O001O001O00001O000000001O0O100000001O00000000001O000000001O0O100000010O00000O10010O0000001O00000010O000000000001O00000000001O0000000000001O00000O100000001O0000000O20O000010N100000000010O0000O10001O0000001O0000000000001O000000000000001O000000010O00000000001O000000000000001O000000001O0000001O000000001O0000001O0000001O000000001O000000000000001O000000001O0000000000000O101O00000O11O000010O00000000001O000000001O000O10001N1001O001OO101O000000000000001N100000001O0000000O2O3gNeel7fNl\\SH1N2N2N1O100O01O0100O0010O01O10O01O1O00010O1O001O1O001O1O01O01O000mA"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_front_of_the_toilet/2377881_mask_rle.json b/Navigation/GroundDetection/the_front_of_the_toilet/2377881_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..775fb6761007bc0b5b0e7919dee4a7b4e10d3cd9
--- /dev/null
+++ b/Navigation/GroundDetection/the_front_of_the_toilet/2377881_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_front_of_the_toilet/2377881_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the toilet"
+    ],
+    "scene_description_en": [
+      "the front of the toilet"
+    ],
+    "scene_description_cn": [
+      "马桶的正面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          500,
+          334
+        ],
+        "counts": "li72_?5M1000O1001OO1O2O[W69VhI9H8H9G8I7H7J6H:F9H7I8H8L3M1000O10000O1000000O10O10000000000000O010000000000000001O000O10001O000O2O01O01O1O0]F[LW7f3[20]FZLX7g3Z21O1O1O2M2O2N3L=D`0@7I6J1O1UFiJW9X5dFlJ\\9g5O0O10000000O11O0O10000000000000000O[JgFQ5Y9jJRGP5n8nJVGP5k8lJZGR5f9N2N1O1O1O1O1O1O001O1O001O1O001O0000001N11O000O1000O11O0000000000000O100000O0101O0O1O1O1N2N2N2oNQ1O1O011N1O100O1O1O100O10000O1000000000000000000O10000000000000O010001O000000000O10000000O11OO200O2M2O100O2N1O1O1N2O2N1O1O1O1O101N1O001O1O1O1O2N1O2N1N3N1O100O1O2N001N3N100O2N1O1O1N2O1O2N1O1O1O1O2N1O1O1O2N1O1O1O2N1O100O1O2N1kMaD2a;LdD1\\;MhDOZ;OmDLT;1nDNS;0nD0S;NoD1R;NnDgNZOR1i;6mDhNZOR1j;5kD5W;IhD8Y;GfD:[;EeD;\\;DcD=^;CaD=a;C[D?f;BUD`0m;APD`0Q<@nC`0S<_OnC`0S<^OnCb0S<]OmCkNJd1[<_OoCa0R<^OkCnNIc1]<_OnC`0S<CiC=X<DcChNOe1^<FaC;a<[11O1O1N3N1O1O2N1O1O100N2O2N1O2NkB"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_front_of_the_toilet/41069099_288.840_mask_rle.json b/Navigation/GroundDetection/the_front_of_the_toilet/41069099_288.840_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2a6fbe954b9c53f857b364caad6c6b4b0e84349
--- /dev/null
+++ b/Navigation/GroundDetection/the_front_of_the_toilet/41069099_288.840_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_front_of_the_toilet/41069099_288.840_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the toilet"
+    ],
+    "scene_description_en": [
+      "the front of the toilet"
+    ],
+    "scene_description_cn": [
+      "马桶的正面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "W\\d44k>4M3L4M3L2O1N100O100O100O100O100O100O1O100O100O100O100O100O101N1O101O0O2O1N1O100O2O0O101N100O2O0O2O0O1bFaN[5`1dJcNX5^1gJeNW5\\1gJhNU5Y1jJjNT5W1jJlNS5U1mJnNo4T1nJQOo4o0PKVOk4l0SKXOj4i0TK[Oh4f0WK]Og4d0WK@f4a0XKCd4?ZKEc4<[KHa4:]KIa48\\KM`45^KO_41`K4[4NcK5Z4McK7[4KbK7\\4L`K7_4K\\K8c4KXK8h4ITK:k4IQK8o4KiJ;W5GeJ;Z5I`J:`5H\\J:c5MQJ9o5KfI<Y6V400O100O100O100O100O100O1O100O100O100O100O100O100O10O0100O100O101N100O100O1O100O100O100O100O2O0O1O10000O100O00100O100O100O100O100O100O1O1000O0101N1O100O100O100O100O100O100O2OO01O100O100O100O100O100O100O1O2O0O100O010O100O100O100O1O100O100O100O100O100O100O100O100O1O100O100O1O10000O100O100O1O100O100O100O100O100O10O0100O100O1O100O100O100O1O100O2O0O1O100O100O100O100O1O100O100O100O2O0O100O100O010O1O100O101N100O1O100O100O100O1O100O10O01O100O101N01000O100O1O2O0O10O0100O100O010001nJRMPN1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_front_of_the_toilet/41097991_8697.217_mask_rle.json b/Navigation/GroundDetection/the_front_of_the_toilet/41097991_8697.217_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..33f21f6808aca4a9a859a79217f08a0b7c7f878b
--- /dev/null
+++ b/Navigation/GroundDetection/the_front_of_the_toilet/41097991_8697.217_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_front_of_the_toilet/41097991_8697.217_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the toilet"
+    ],
+    "scene_description_en": [
+      "the front of the toilet"
+    ],
+    "scene_description_cn": [
+      "马桶的正面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "Zai44k>3N3L3N2M2N3N3L2N4K4L4M3M3L4N2M2O2N2N3M2N1O3M1N4M1O2M3mMiMYGW2e8mMXGW2e8jMZGW2d8nMWGS2f6cMdI=DQ2f6dMdI>Dn1g6eMdI?Cm1i6eMbIa0Bk1l6dMaId0Ah1n6eM_If0@f1R7cM]Ij0^Od1W7`M[Im0\\Oc1[7_MXIQ1ZOa1^7_MWIR1XO_1c7_MSIU1VO]1h7^MRIV1TO]1j7^MQIW1QO\\1P8^MlHX1QO\\1S8^MiH\\1lNY1[8^MdH`4]7`KaHa4_7jKUHW4m7iKPHY4o7jKlGX4U8lKbGY4]8W1O001N2O1O2M1O2O1N2N2O1N2O002N1N2N2O1N2O1O1N2N2M3N2M3M3M3M3M3M3M3M3M3M3M4L2N3L4M3M3M3M3M3M2N3M4L3M3M3M2N3M3M3M3M3M4L3M2N3M3M3M3M3M3L4M3M3M3M2N3M3L3N2N2N1O1O1O1O0O2O1O1O1O1O1O1O1O1O1O1N2O1O001O1O1O1O1N2O1O1O1O1O1O1O001O1O1N2O001O1O1O1O1O1O1O001O1O1O1N2O1O1O1O1O001O1O1^OoA4R>KoA4R>LnA3R>NnA1S>OmA0T>0lAOU>0lAOU>1kAMW>3iALX>4hAKX>6hAIY>7gAHZ>8fAG[>9eAF\\>9eAG[>9eAF\\>:41000O1000O1000O1000O1000O10O100000O010000000O010000000O010000000O010000O0100000O01000O1000O1000O010000000O01000O01000O01000O10O1000O1000O0100000OSLEVI<h6HVI8j6JSI6m6MQI3n60bFFV1:X82_FIT16\\83^F<QOTO^1a0cNAX:?eFo0WOQOMb0NnNj9c0RGn2n8SMPGn2o8UMoFk2Q9UMoFk2P9WMmFk2S9WMkFi2T9YMjFh2V9YMhFh2W9[MfFf2Z9[MdFf2[9]McFc2]9_M_Fc2`9_M^Fb2a9_100O1O100O100O100O1O100O100O2OO"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_front_of_thecabinet/41125438_1314.734_mask_rle.json b/Navigation/GroundDetection/the_front_of_thecabinet/41125438_1314.734_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e0e1c20a0452e98da889bc7dd2ec45dbfd4b9de
--- /dev/null
+++ b/Navigation/GroundDetection/the_front_of_thecabinet/41125438_1314.734_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_front_of_thecabinet/41125438_1314.734_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of thecabinet"
+    ],
+    "scene_description_en": [
+      "the front of thecabinet"
+    ],
+    "scene_description_cn": [
+      "柜子的正面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "`[63l>4M1N3M2O1N2N3N0O2O2M2O1N2O2M2O1N2O2M2O1N2O1N2O0O101N101N4M2M3N2M2O2M3N2M3N1O1N3N1N3N1N2O2M2O1N2O2N1N3N2M2O2N1N2O2N1N3N1N2O1N3N1N2O1O1N3N1N3N2M2O2M3N1O2M3N1N3N1O1N2O1N2O2M2O1N3N1N2O2N1N2O1N2O1O2M2O1N3N1N3N1O1N3N1N2PIlIR5U6mJkIR5W6lJjIT5W6jJjIV5W6hJjIW5Y6gJgIY5Z6eJgI[5Z6dJfI\\5[6cJeI]5]6`JdI_5^6_JcIa5^6]JcId5]6ZJdIf5]6YJcIh5^6UJcIk5^6SJcIm5_6RJ`Io5j6fIVIZ6k6eIUI[6o6aIQI_6W7XIjHh6g700O100O100O100O100O100O100O10000O100O100O100O100O100O100O100O100O100O100O100O100O100O10000O100O100O1O10000O1O10000O1000000001O001O1O4L3M4L3M8H1O1O2N1O2N1O1O2N1O1O1O1O001O1O00001O00001O00001O00001O00001O001O00001O00001O001O00001O00001O001O00001O00001O001O001O00001O00001O00001O00001O00001O001O00001O000000O100O1O1O100O1O1O100O1O100O1O1O100O100001O001O1O1O1O4L=C6J:F5K1O1O1O001O00001O00000000O100O11OO100O14VJZGR5_9K4L7I6J4L1O2N001O000000O1O1O1JgKaE]4[:6O100O100O100O1O1O1O1O1001OMVKoEk4Q:2002N001O8H1O1O2N1O1O1O1O001O1O1O001O001O00001O00001O00001O000000000000O100M3M3O1O100001O00001O00001O00001O001O001O00001O001O1O000lLZEn1g:lM`ER2`:mMbER2^:mMdER2\\:lMgES2Z:iMiEW2X:eMkE[2U:aMPF^2R:ZMPE0Q1f2V;0O1000000O1O1A_M]Dc2_;a0N2N2K5N2N2O1N2M3O1O1001O1O1O1O1O001O001O001O001O00001O001O001O001O1O00001O00001O001O001O00001O001O00001O0000001O0000001O00000000O100O10000000000001O000000000O2O0000001O001O001N1N3N1O1O2N1O101NSDWMe;h2[DYMe;f2\\DZMe;d2[D]Me;b2[D_Me;`2[DaMf;]2ZDdMf;[2ZDfMg;X2YDiMg;W2XDjMi;T2WDmMi;R2WDoMi;Q2WDoMj;P2UDQNk;o1UDQNk;o1UDPNl;P2TDPNm;o1SDRNl;n1TDRNl;n1TDQNm;o1SDQNn;n1RDSNm;m1SDSNm;m1SDSNm;m1SDSNn;l1RDTNn;k1SDUNn;j1RDVNn;j1QDWNo;h1RDXNo;g1QDYNo;g1QDYNo;g1QDYNP<f1oC[NQ<d1PD\\NQ<<SD1LCQ<9ZD0EGQ<7aDM^OLR<5cDMZOOS<3gDJWO3R<2iDJUO4S<0lDHRO8R<0VDA83A<Q<OSDHf09W;OQDLf05Z;MPD0e03[;MPD0e03[;LQD2b03];KPD5a00`;IoC:?Mb;HQD;=Lb;HRD<G@=;k;GSD`0B@>9n;ETDi0NBn;EUDi0LBP<CVDk0IBh<>YCAg<>ZCBg<=YCBh<=YCCg<<ZCDf<;[CEf<8]CHb<6`CJa<5_CKc<2^CNc<0RCGJ9V=MPCKJ8X=HPC1H7l=JTB6k=KUB5j=LVB4i=MWB3h=NXB2f=0ZB0c=2^BN_=5aBK]=7cBIZ=:fBEZ=;gBFV=<jBDQ=EgBi07BP=e0oB[OQ=e0PCYOR=e0oB[OQ=e0oB[OH"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_frontof_the_toilet/41069162_1241.532_mask_rle.json b/Navigation/GroundDetection/the_frontof_the_toilet/41069162_1241.532_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dccd4d7eb1a264bd7a6b28e539772a14ed90a89
--- /dev/null
+++ b/Navigation/GroundDetection/the_frontof_the_toilet/41069162_1241.532_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_frontof_the_toilet/41069162_1241.532_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the frontof the toilet"
+    ],
+    "scene_description_en": [
+      "the frontof the toilet"
+    ],
+    "scene_description_cn": [
+      "马桶的正面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "3b2]<0010O001O100O100O1O100O1O100O1O100O10000O100O1O100O100O100O100O100O10000O10000O10000O100O100O10000O100O100O100O10000O1O100O1O100O1O100O1O100O1O100O100O100O100O100O100O100O100O10000O10000O100O100O10000O10000O10000O1000000O1000000O10000O1O100000000O10000OkAXOT>g030iAYOU>g0kAYOU>f030000O10000O100O100O100O10000O10000O10000O100O1000000000000000000000000000000000000000000000000O100000000001O0000O_AD`><`AD`><200002N2N1O001O1O001O001O1O001O1O1O001OO11O2iDXOR8j0PINT54mIj0R6WOkHk1U7VNfHo1Y7QNeHP2\\7QNaHQ2_7oM_HS2a7nMSGlNQ1Y3l7lMVHX2j7hMmGa2S8`M`Gl2`8XMYGk2g8f1100000000O10000O1000000000000000000001O00O1001OO100O10000O100O10000O100O1O1O1O1O100O1O100O1O100O100O1oM\\FfNd9Z310000O1O1O1O1O100O1O100O1O100O100O100O100O10000O10000O10000O1^MkE9U:Y200000O1000000000000000000kNjE`MV:e30lNjE_MU:f300000001O0000001O001O001O001O1O001O1O1O001O1O1O1O2NUOZF]Le9d3[F\\Ld9b4N00001O2N3M2N1O1OO18H2N3M1O3M2N1O3M3M0000O1001O000000000000001O0000010O001O00001O0O2O1O001O1O001O1O1O1O1O1O001O001QHRIj7o6UHRIj7`4VHjM1gMg7m6ZHQIg7P7_HoH[7d4]HhMm7m4VHgH]7a7M3M4KSKkH`2f6m202N2N2O0O1O1O001O001O01O0001OO1001N100010O01O000O2O0O]LiI_NW6V5O00]LjI\\NV6d1jI]NU6d1kI[NU6e1kI\\NT6e1lIZNT6Y501O001O00000000000000000000fLnIRM1mMQ6P5nITM1lMQ6P5nIhMR6c500000000001O0001O000O1000001O1O001O001O000000001O0000000000O1000000O10000O101N1O2O0O10O010O100000O1O100O100O100O10000O10000O10000O100O100O1O100O1O100O10000O1O100O101N101N10O010000O10000O100O100O010O100O2O0O1O1O100O100O1O10O0100O1O100O100O10000000000O100O100000000O10000O10000O1O100O100O1O100O100O10000O100O100O100O100O1O1000000MWHoHi7R4YHcL0Z10PNg7P4^HdLL[1OQNg7"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_left_side_of_the_table/40958767_2166.466_mask_rle.json b/Navigation/GroundDetection/the_left_side_of_the_table/40958767_2166.466_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..f711d0fcb543ae4bb030a22932046e619d3f3fc4
--- /dev/null
+++ b/Navigation/GroundDetection/the_left_side_of_the_table/40958767_2166.466_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_left_side_of_the_table/40958767_2166.466_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the left side of the table"
+    ],
+    "scene_description_en": [
+      "the left side of the table"
+    ],
+    "scene_description_cn": [
+      "桌子的左侧"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "Wd\\23k>6gN1XC5a<3XCOe<5WCOd<9UCIe<]1L3N2N2O1N2N2L4N2N2N2N3N10000001O1O10000001N2O1O25J3L3N2N100O1O1OkKfMbK[2Y4iMgKW2T4mMmKS2g3cM]H=m3P2a3\\N_Le1]3]NeLd1S3bNmL_1o2cNRM^1\\M^Mj3W1lN[1TMdMi3V1TOW1oLiMh3Q1ZOX1hLlMb3V1Go0dLoM\\3X11i0_LUNY3U1:f0ZLYNW3S1a0f0SL\\NW3P1f0f0oK^NV3m0\\19YKnNY3h0d17oJUO[3b0k1o1SNQNP2o1mMPNV2P2hMPNZ2Q2cMoM_2P2`MPNb2R2ZMnMh2R2VMmMl2U2QMkMQ3U2mLkMT3W2`JhKj1P2h3Z2WJnKL0e1h1Y4X3dKgL^4\\3^KeLb4\\3\\KdLf4`3TK`Lm4`3RK`Lm4nMnIb5T1`LQ5`3nJ`LR5b3lJ^LS5nMlIf5n0\\LY5d3fJ\\LZ5g3cJZL\\5j3`JVL`5m3]JTLc5m3[JTLd5n3ZJTLe5n3XJSLg5o3WJQLj5R4RJoKm5R4RJnKn5T4PJlKQ6T4nIoKo5R4PJoKo5Q4QJPLP6n3PJSLT6h3lIYLV6d3jI`LV6\\3jIdLX6[3gIfL]6U3cIkLa6Q3_IPMc6m2]ISMf6j2ZIVMh6h2XIYMi6e2WI[Mk6c2UI]Ml6b2TI^Mn6`2RIaMn6^2RIbMo6]2QIcMQ7[2oHeMS7Y2mHhMS7W2mHiMU7U2kHkMV7T2jHlMW7S2iHmMX7R2hHnMZ7P2fHPN[7o1eHQN\\7n1dHRN]7m1cHTN]7k1cHVN]7i1cHWN^7h1bHYN^7f1bHZN_7e1aH\\N_7c1aH]N`7b1`H_N`7`1`H`Na7_1_HaNb7^1^HcNb7\\1^HdNc7[1]HfNc7Y1]HgNc7Y1]HgNd7X1\\HhNd7X1\\HiNd7V1\\HmNb7R1^HQO_7o0aHTO]7k0cHWO[7i0eHYO1gLQ7o3nHFn6:RIIl66TI6`6J`I8_6GaI:^6FbI;^6DbI<_6CaI>`6@`I`0a6_O_Ia0a6_O_Ia0a6_O_Ia0b6^O^Ic0_6_OaIa0_6_OaIa0_6_OaIb0^6^ObIb0^6^ObIb0^6^ObIa0_6_OaIa0_6_OaIa0_6_OaI`0`6_OaIa0_6_OaIa0^6@bIa0]6\\OfIe0Y6WOkIi0U6TOnIm0Q6ROPJn0P6PORJP1n5oNSJR1l5lNVJT1j5kNWJU1i5iNVJeL@b4Y6iNUJhLB_4Y6gNSJnLD[4Y6eNTJQMCZ4X6dNVJSMBY4X6cNUJVMCW4X6cNTJWMDW4W6`NUJ[MDV4U6^NXJ]MCU4U6]NXJ`MBT4U6[NUJfMFo3T6\\NSJhMIm3S6[NQJkMLk3Q6[NRJkMMk3o5]OQJc0o5]OQJd0m5]OSJd0l5\\OTJe0j5\\OVJd0i5]OWJd0h5\\OXJe0f5\\OZJd0f5[O[Jf0c5[O]Jf0b5ZO^Jf0a5[O_Jf0_5[OaJe0^5\\ObJe0\\5\\OdJd0\\5[OeJf0Y5\\OfJd0Y5^OfJb0Z5b4O1O100O10000O101O000O1000001N10001O0O10000O2O0O2O1N100O2N101N101N101N1O2O1N2N2O1N2N2M3N3M2N3L4M5K2M4M2M4L4L4M3L5K4L4K4L6K5J9I5K7IfU1hN`kN3G9N2O1M3N2L4M3K5O11Bg0Cj`f0J__YO0000001O000000000000000000000000000000000000O10000000Pme1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_light_beige_bathroom_tile_area_located_to_the_rear_right_of_the_toilet_on_the_right_side_of_the_frame/row_161_col_image_mask_rle.json b/Navigation/GroundDetection/the_light_beige_bathroom_tile_area_located_to_the_rear_right_of_the_toilet_on_the_right_side_of_the_frame/row_161_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..6805e45a7ad17bae448840aae14df529f2391397
--- /dev/null
+++ b/Navigation/GroundDetection/the_light_beige_bathroom_tile_area_located_to_the_rear_right_of_the_toilet_on_the_right_side_of_the_frame/row_161_col_image_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_light_beige_bathroom_tile_area_located_to_the_rear_right_of_the_toilet_on_the_right_side_of_the_frame/row_161_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the light beige bathroom tile area located to the rear right of the toilet on the right side of the frame"
+    ],
+    "scene_description_en": [
+      "the light beige bathroom tile area located to the rear right of the toilet on the right side of the frame"
+    ],
+    "scene_description_cn": [
+      "于画面右侧、马桶右后方的浅米色浴室瓷砖区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          1368,
+          960
+        ],
+        "counts": "PXUd08`Z10O1N2O1O100O1O1N200O100O1O1O1O100O1O1N2O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1N2N2L4I7]Oc0K5N2J6K5M3N20000001O1O001O00001O00000000001O0000000000000000000000001O00000000000000001O000000000000000000000000000000000000000000000000O1000000000000000000000000000000O10000000000O10000000000O1000000O10000O1O1000000O1000000O100O1O100O10N22M1O100O1O1O1O1O1O1N2O1`McLbmN`3UR1RN^lNR2aS1cNgkNa1XT1`20000O100001O00000000001O000000000000000000001O000000000000000000001O00000000000000001O0000000000000000000000000000001O000000000000001O00000000001O0000000000001O0000001O00000000000000000000001O0000000000001O00000000001O0000000000000000001O00000000001O0000000000001O00000000001O000000000000000000000000001O000000000000000000001O00000000000000001O0000000000001O000000000000000000001O0000000000001O00000000000000001O000000000000001O00000000000000001O0000000000001O000000gKUKeROk4ol0bKPSO^4ll0gKSSOY4ll0hKTSOX4ll0hKTSOX4ll0hKTSOX4ll0iKSSOW4ml0iKSSOW4ml0iKSSOW4ml0iKSSOW4ml0iKSSOW4ml0jKRSOV4nl0jKSSOU4ml0kKSSOU4ml0kKSSOU4nl0jKRSOV4nl0jKRSOV4nl0jKRSOV4nl0kKRSOT4nl0lKRSOT4nl0lKRSOT4nl0lKRSOT4nl0lKRSOT4nl0lKRSOT4nl0lKRSOT4nl0lKRSOT4nl0lKRSOT4nl0lKSSOS4ml0mKSSOS4ml0mKSSOS4ml0mKSSOS4ml0mKSSOS4ml0mKSSOS4ml0nKRSOR4nl0nKRSOR4nl0nKRSOR4nl0nKRSOR4nl0nKSSOQ4nl0nKRSOR4nl0nKRSOR4nl0oKQSOQ4ol0oKQSOQ4ol0oKQSOQ4ol0oKQSOQ4ol0oKQSOQ4ol0PLQSOo3ol0QLQSOo3ol0RLPSOn3Pm0RLPSOn3Pm0RLPSOn3Pm0RLPSOn3Pm0RLQSOm3ol0SLQSOm3Pm0RLPSOn3Pm0RLPSOn3Pm0RLPSOn3Pm0RLPSOn3Pm0RLPSOn3Pm0RLPSOn3Pm0RLPSOn3Pm0RLPSOn3Pm0RLQSOm3ol0SLQSOm3ol0TLPSOl3Pm0TLPSOl3Qm0RLQSOm3ol0SLQSOm3Pm0RLPSOn3Pm0RLPSOn3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_light_gray_non-slip_tile_area_located_to_the_front_left_of_the_toilet_on_the_right_side_of_the_frame/row_1126_col_image_mask_rle.json b/Navigation/GroundDetection/the_light_gray_non-slip_tile_area_located_to_the_front_left_of_the_toilet_on_the_right_side_of_the_frame/row_1126_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..966c9b49a3c0694d5742f4fe87b24e21eb1d2293
--- /dev/null
+++ b/Navigation/GroundDetection/the_light_gray_non-slip_tile_area_located_to_the_front_left_of_the_toilet_on_the_right_side_of_the_frame/row_1126_col_image_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_light_gray_non-slip_tile_area_located_to_the_front_left_of_the_toilet_on_the_right_side_of_the_frame/row_1126_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the light gray non-slip tile area located to the front left of the toilet on the right side of the frame"
+    ],
+    "scene_description_en": [
+      "the light gray non-slip tile area located to the front left of the toilet on the right side of the frame"
+    ],
+    "scene_description_cn": [
+      "位于画面右侧、马桶左前方的浅灰色防滑地砖区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          375,
+          500
+        ],
+        "counts": "]\\R15a;;E8I8H6J1N1000000000000000000000000000000O1001OO10000000000000000000000000000000000O010000O1N2O1O1000`EnN[:R1dEoN\\:Q1dEoN\\:Q1dEoN\\:Q1dEoN[:R1eEnN[:R1eEnN[:R1eEnN[:R1eEnN[:R1eEmN\\:S1eElN[:T140aEmNZ:S1fEmNZ:T141O2N1O0O2O0000000001OO11O000000000000O100000000000000O1000000000O0101O00O10000000000000O11O2N3M1O000000001O001O001O0010O00000001O0000000000000000000O100000000000005POXEg0o:N0N1000O100O100O100O2N100O010O101N100O10000O1000O1000O100000000O101N010000000O10001O00O02O0O1O1N2G9K5O10000O1000O100001OO10000000000000O100000001O00000O10000000O1000O2OO100001OO1000O1001ZN\\FW1T:N1O2N2O0O1O1O2M3N100O1O1O1O1O1O1O1O1O001O0O2O0010OO2O01O0000O101O0001O0000000000O10O1000000O101N100POCeF>U97YFLf9R101O100O100O1O1O1O1O1O1O10001O0000000O10000000000000lNdFM[9OkF0V9HRG7n8FUG:k8DXG;h8DYG<h8BZG=g8BYG>h8@ZG>h8AXG?i8@WG`0i8_OXGa0o91O000000000000000O10000O1N2^Ob0M3001O1O1O0O2O1O001O1O1O010O1O1O1O001O1O1O1N20O01O1O1O1O002N0O2O1O1O001O1O1O1O1O1O1O001O1O1O1O001O1O1O1O1O001O100O0O2O^D"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_lower_oven222222the_front_of_the_fridge/107978_mask_rle.json b/Navigation/GroundDetection/the_lower_oven222222the_front_of_the_fridge/107978_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..37ab2b4bc60f16e2bb39b9de9b1890baa3da6f07
--- /dev/null
+++ b/Navigation/GroundDetection/the_lower_oven222222the_front_of_the_fridge/107978_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_lower_oven222222the_front_of_the_fridge/107978_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the lower oven222222the front of the fridge"
+    ],
+    "scene_description_en": [
+      "the lower oven",
+      "the front of the fridge"
+    ],
+    "scene_description_cn": [
+      "下层的烤箱",
+      "冰箱的正面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          1024,
+          681
+        ],
+        "counts": "Rk`3T1gn0=]QOSO^m0W2^Ob2_M4L4M3K5L4K5L4K5K5L4L4M3J6L4L4J6I7XOh0I7J6I7H8E;L4L4N2O1O100O10000O1000000O100O10000O1000000O10000O10000O10000O10000O1O100O100000000O10TIkZOm2Ue0PMnZOP3Qe0PMP[OP3Pe0oLQ[OQ3nd0oInZO0:l0NT5jd0mI^\\O;VOg5\\d0mIe\\ONXOT6Sd0mI\\^OR6ca0nI^^OR6ba0nI_^OQ6aa0nI`^OR6_a0nIb^OR6^a0nIb^OR6]a0nId^OR6\\a0mIe^OS6[a0mIe^OS6[a0hIk^OW6_e0000eKhIn^OX6Ra0oIg^OQ6Ya0oIg^OQ6Ya0oIg^OQ6Ya0oIg^OQ6Za0nIf^OR6Za0nIf^OR6[a0mIe^OS6[a0lIf^OT6Ya0mIg^OS6Ya0mIh^OR6Xa0oIg^OQ6Xa0QJg^Oo5Ya0SJe^Om5[a0SJe^Om5[a0SJd^On5\\a0RJd^On5\\a0RJd^On5\\a0RJd^On5\\a0RJd^On5\\a0RJd^On5\\a0SJc^Om5]a0TJb^Ol5^a0VJ`^Oj5_a0WJa^Oi5_a0WJa^Oi5_a0WJa^Oi5_a0WJa^Oi5_a0WJa^Oi5_a0UJc^Ok5]a0UJc^Ok5]a0UJc^Ok5]a0UJc^Ok5]a0TJd^Ol5\\a0TJd^Ol5\\a0TJd^Ol5\\a0TJd^Ol5\\a0TJd^Ol5[a0UJe^Ok5[a0UJe^Ok5[a0VJd^Oj5\\a0VJd^Oj5\\a0UJe^Ok5Za0VJf^Oj5[a0UJe^Ok5[a0UJe^Ok5[a0UJe^Ok5[a0UJe^Ok5[a0UJd^Ol5\\a0UJc^Ok5]a0UJc^Ok5]a0UJc^Ok5\\a0VJd^Oj5\\a0VJd^Oj5\\a0VJd^Oj5\\a0WJc^Oi5]a0WJc^Oi5]a0VJd^Oj5\\a0VJd^Oj5\\a0VJd^Oj5\\a0VJd^Oj5\\a0VJd^Oj5\\a0VJd^Oj5\\a0VJd^Oj5\\a0VJd^Oj5\\a0VJd^Oj5\\a0VJd^Oj5\\a0VJd^Oj5\\a0VJd^Oj5\\a0VJd^Oj5\\a0UJe^Ok5[a0UJe^Ok5[a0UJd^Ol5\\a0TJd^Ol5\\a0TJd^Ol5\\a0TJd^Ol5\\a0TJd^Ol5\\a0TJd^Ol5[a0UJe^Ok5[a0UJe^Ok5[a0UJe^Ok5[a0UJe^Ok5[a0UJe^Ok5\\a0TJd^Ol5\\a0TJd^Ol5[a0UJe^Ok5[a0UJe^Ok5[a0UJe^Ok5[a0TJf^Ol5Za0TJf^Ol5Za0TJe^Om5[a0SJe^Om5[a0SJe^Om5[a0SJe^Om5[a0SJe^Om5[a0SJe^Om5[a0SJe^Om5[a0SJe^Om5[a0SJe^Om5[a0SJe^Om5[a0SJe^Om5[a0SJe^Om5[a0SJe^Om5[a0SJd^On5\\a0RJd^On5\\a0SJc^Om5]a0SJc^Om5]a0SJc^Om5]a0SJc^Om5]a0SJc^Om5]a0SJc^Om5]a0SJc^Om5]a0SJc^Om5]a0SJc^Om5]a0SJc^Om5]a0TJb^Ol5^a0TJb^Ol5^a0TJb^Ol5]a0UJc^Ok5]a0VJb^Oj5^a0VJb^Oj5^a0WJa^Oi5_a0WJa^Oi5_a0XJ`^Oh5`a0XJ_^Oi5aa0XJ^^Oh5ba0XJP[OZOW3^6ia0aJU^O_5ka0eJQ^O[5oa0fJP^OZ5Pb0iJm]OW5Sb0lJj]OT5Vb0nJh]OR5Xb0PKf]OP5Zb0RKc]Oo4]b0SKa]Om4_b0UK_]Ok4ab0XK\\]Oh4db0[KY]Oe4gb0]KW]Oc4ib0aKS]O_4mb0dKP]O\\4Pc0gKl\\OZ4Tc0hKj\\OX4Vc0kKg\\OU4Yc0nKd\\OR4\\c0QLa\\Oo3_c0TL]\\Om3cc0UL[\\Ok3ec0VLZ\\Oj3fc0XLX\\Oh3hc0ZLV\\Of3jc0\\LS\\Oe3mc0]LQ\\Oc3oc0_Lo[Oa3Qd0aLm[O_3Sd0cLk[O]3Ud0eLh[O\\3Xd0gLe[OY3[d0kLa[OU3_d0mL^[OT3bd0PMY[OQ3gd0SMT[On2ld0S400000000000000O10000000000000000000000000000O100000000000000000000000000000000000000000000000000O10000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000O1000000000000000000000000000000O1N2L4J6N200O1000000000000O1000000M3I7J6B>F:F:G9N2N2FbBl]Od=ja0>N20000001O00001O00001O001O1^L]^OeHda0Y7`^OdH`a0[7d^ObH]a0\\7f^ObHZa0]7i^OaHXa0^7j^O`HVa0`7l^O^HUa0`7n^O^HRa0b7o^O]HRa0b7Q_O[Ho`0e7S_OYHn`0f7T_OXHl`0h7W_OUHj`0i7X_OVHh`0j7Z_OTHf`0l7\\_ORHe`0m7]_OQHc`0n7`_OPHa`0o7a_OoG``0P8b_OnG^`0R8c_OmG]`0S8e_OkG\\`0T8f_OhG\\`0W8g_OgGZ`0X8h_OfGX`0Z8i_OeGX`0Z8k_OcGU`0]8l_ObGU`0]8m_OaGT`0^8n_O`GS`0_8U@YGk?g8V@ZGi?d8X@\\Gh?d8Y@[Gh?d8Y@[Gh?d8X@\\Gi?c8X@\\Gi?c8X@\\Gi?c8Y@[Gh?d8Y@[Gg?e8[@WGh?h8Y@WGh?h8Z@VGg?i8[@UGf?j8[@UGe?j8^@TGc?k8_@SGb?k8a@SG`?l8a@SG`?l8b@RG_?l8d@RG]?m8d@QG^?n8c@PG^?P9c@nF_?Q9i3O100O001O1O10O01O0O2O2N2^KVYOJkf02YYOLif02ZYOLgf02[YOJif05YYO^ORg0a0PYOTO[g0k0gXOlN`g0T1`XOfNgg0Y1[XOgMdh0X2]WO_Mkh0a2VWOXMQi0g2QWOnLXi0R3iVOcLbi0\\3b1O1O001O1O002M2O001O2N001N2O2O0O1O002N1O1O001O00001O001O1O1O001O001O1O001O1N2O001O001O001O1O001O000000000O2O000000000000O010000000000000000O2O:hMiROOK:Uo0KXYO"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_nightstand_on_the_left_side_of_the_bed/2377963_mask_rle.json b/Navigation/GroundDetection/the_nightstand_on_the_left_side_of_the_bed/2377963_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..4740b7c9fd50fe4442d3eb30e2e16cb2da5ae0a1
--- /dev/null
+++ b/Navigation/GroundDetection/the_nightstand_on_the_left_side_of_the_bed/2377963_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_nightstand_on_the_left_side_of_the_bed/2377963_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the nightstand on the left side of the bed"
+    ],
+    "scene_description_en": [
+      "the nightstand on the left side of the bed"
+    ],
+    "scene_description_cn": [
+      "床左边的床头柜"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          332,
+          500
+        ],
+        "counts": "e8f1f8000O1000001`0_O1O1O0O2O1O00000001O01N11O000O1000O0100O100000000O100O1O1O1O1O1O1O1O10000O1000O10O10000O2O0000000O1000000O10000O1000000O10000000000000000000000000000000000000000I]NeGc1b8000O10000M\\N^Gd1d81\\O[NaHe1^7]N`Hd1`7`NVHf1i7?0000000000001O1O001O00000000O100000000O1000000O1001O1O002N1O1O1O1O1O1O1O1O1O1O1O1O1N200O1O1O1O1O1O2N1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O101N1O1N2O1O1O0[OgF7o9GWXb1Ojg]N2N100O100O100O100O100O100O100O100O1O10O0100O100O1O100O1O10000O1O100O100O100O2O0O100O100O100O1O10000O1O100O100O010O100O1O100O100O100O1O100O100O100O100O2O0O100O100O100O100O010O100O1O1O100O1O100O10000O1001O1O1O00001O00001O001O00001O0000001OO100O1O1O100I^NcGc1U8>F:J6E`McHN0g2Y7:N2N20001O00O1010O00O2O01O00O110O0O11OO2O0001O0001N10001O0000001O0O1O1iMbH_1`7^NcHa1]7^NeH6L30VO073"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_red_chair222222the_front_of_the_blackboard/1105_mask_rle.json b/Navigation/GroundDetection/the_red_chair222222the_front_of_the_blackboard/1105_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..6de7806fb0034ce397c4e0e0f183dfe214b31ad9
--- /dev/null
+++ b/Navigation/GroundDetection/the_red_chair222222the_front_of_the_blackboard/1105_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_red_chair222222the_front_of_the_blackboard/1105_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the red chair222222the front of the blackboard"
+    ],
+    "scene_description_en": [
+      "the red chair",
+      "the front of the blackboard"
+    ],
+    "scene_description_cn": [
+      "红色椅子",
+      "黑板的前方"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          545,
+          800
+        ],
+        "counts": "i`06k`0000O3N0000000000000O10000O100O10000O10000O10000O100O1O100N2L4L4O10000O1O1000000O100O100O100O1O1O1O1M300N2O1O1O1O10000O100000000O10000O1O100O100O100O1O1000000O10000O10000O1000000O1000000O1000000O100O100O10000O100O10O10O01000O101O000O2O00000O100O10000O10000O1000000O1000000O10000O1000000O10000O10000O100O10000O10000O10000O1000O10O0100000O2O1O000O10000O1000000O10000O10000O100O1000000O1000000O10000O10000O10000O10000O10000O1000000O100000O10O0100000O101O0O2O0O10000O1000000O10000O10000O10000O1000000O100O100000000000000000000000000000000000000000000O1000000O100O10000O100O01O0_OfB[M\\=1fBo1k=lM]BQ2AUN]>j1bAWN^>h1cASNb>m1^AQNe>n1ZAPNi>P2WAnMl>Q23N2N2N1N3N1O100O1O1O101N8H2O0O101N0100O010M3000O01001O00000000001O2N3M1O0010O000O101O0O1O1010ONkNY@T1g?lNX@U1h?200O10jNY@R1h?lNY@T1k?0O04L1O10O1O0QOSOiAo0T>_O_Ac0^>R1N1O2N2O1N3`AbMY>_2fAbMY>_2fAcMX>]2hAeMV>[2kAgMR>Z2oAgMo=Y2<3M9G8JOO0100O?A1O00000000O12N3M6I2O1N2O0000O010N2O1O010O101O000O011O00001^OkMTBW2c=h0L4K5O10000003L2O1M6H6J6XMjA_2b>dMbAh1S?I5J4VO_@Lg?0i@^Oe?5oQ29]nM0O100O1O100O1O1O001O001O1O1O001000000000001O010O001O1O001O00001O001O3M2N1O1O00O101O0000000O100000000000001OVCROlLOa<o0`F\\O]9c0gFZOY9f0mFPOW9P1]3000SCPOi9o0XFYOmL3V<d0nFER9;nFES9:mFYOlL4W<c0QGSOjL:U<c0WG\\Oi8d0j30000000000000001O0000000000001OUCZO[9f0`FBQMBV<l0hFJW96hFLW9CYG>g8_O[Gb0e8]O\\Gc0c8^O]Gb0c8]OmCLX3g0k8]O^Gd0a8\\O_Gd0a8\\O_Gd0a8[O`Ge0`8ZOaGf0_8ZOaGf0_8XOcGh0]8XOcGh0]8VOeGi0\\8VOeGj0Y<0QLWOfGj0Y8WOfGi0Z8XOeGh0[8YOfGe0Z8[OhGc0X8]OiGb0W8^OjGa0V8_OkG?V8AjG?V8AiG`0W8@iG`0W8@gGb0Y8^OeGd0[8]OcGd0]8\\ObGe0^8\\OaGd0_8\\OaGd0_8\\OaGd0_8\\OaGc0`8^OaDIT2i0[9^O_Gb0a8_O^Ga0b8@_DGV2h0\\9C\\DEX2h0\\96gFJY97fFIZ97fFIZ97fFJY96gFIZ98eFH\\97dFQOTM408Z<c0e3001O0000000000O1O1M3N2O101N10000O100OeC]OZ8c0dG_O\\8`0VG1h8OUG4l8KRG6o8JPG8o8HPG9P9GnF;R9EnF;R9EnF;R9EnF;S9DmFNnLIU<9nFGUMNm;;oFBYM2h;<fGCZ8>eGA\\8?dGA[8`0eG_O\\8a0dG_O\\8a0dG^O\\8d0aG^O_8b0`G^O`8c0`G]O_8d0aG[O_8f0bGXO^8j0aGWO^8i0aGZO]8g0bGYO]8h0dGXO[8i0dGXOZ8j0eGWOZ8i0fGWOY8l0eGTO[8m0dGSO[8o0_DlNc26n8`1PGaNo8a1aFYNkM7c;a1aFnN_9R1aFnN^9S1UDUNZ2h0`9T1VDUNY2g0`9V1VDUNX2e0b9V1WDUNW2d0b9W1XDRN00T2g0d9X1ZDTNQ2c0e9Z1XDVNT2=d9j1jDdMk0?[:P2dDcMW17V:h2QFQMP:l2T2D<M3N2J6M3N\\CVNU:h1hE`NU:^1kEmNl9R1TFROi9l0XFUOh9j0YFVOg9h0XFWNlMR1m;e0XF]Oh9b0YF^Og9a0]F\\Oc9c0^F]Ob9b0aF\\O_9c0gFXOY9g0kFVOU9i0oFSOR9l0ZGiNf8W1b3OXBkNf;U1UDTOg;l0SD]Oj;c0RDDk;<nCOn;2iC;R<FiCa0T<AbCl0FbMa<e4I7I5K1O0010O000001O000000O100001O0000000001O1O001O00001O00O100000000000000O1000000000000000000001O0000O10O100O1000000001O001O000000000000000001O000000000000000000001O000000000O1O1O1O1001O1O001O1O000000O10001O001O00001O0000O100O100O100000000000bNoClMQ<b300000bNPDjMR<_1nCjM1f0Q<_1oCkM1e0P<`1PDjM0f0P<`1PDiM1f0P<3oCL3[O1EL=0]OS<R1UD_O`0NJ1g;`0RD_O?NJ1f;b0QD_O?ML1A"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_right_side_of_the_round_table222222the_left_side_of_the_square_table/1007_mask_rle.json b/Navigation/GroundDetection/the_right_side_of_the_round_table222222the_left_side_of_the_square_table/1007_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..010b21a5a2192fa9e0111dec716db2f3fb81e553
--- /dev/null
+++ b/Navigation/GroundDetection/the_right_side_of_the_round_table222222the_left_side_of_the_square_table/1007_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_right_side_of_the_round_table222222the_left_side_of_the_square_table/1007_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the right side of the round table222222the left side of the square table"
+    ],
+    "scene_description_en": [
+      "the right side of the round table",
+      "the left side of the square table"
+    ],
+    "scene_description_cn": [
+      "圆桌的右侧",
+      "方桌的左侧"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          600,
+          800
+        ],
+        "counts": "f?R3f?00000000000O1000000O1000000O1O1N2LiLg@W3U?8N20000O100O1000000000000O100000000O1000000N2M3O100O1O100000000000000O1000000000000O10000O100000000O1O1O100O1O100O100O100O1O10000O100O100O10000O1000000O1000000O10000000000O1000000000000000000000000000000001O00000000001O0000001O00001O00O100O10000000000O10000O1000000001O000000001O00000000002N2N3M000000O100O100000000O100L4O1N2O10000O10000O1000000O10000000000O100000000000000004cKlAn3`>O0000001O00K5D<M300O1000000000000001O1O1O1O1O001O1O001O001O001O001O00001O00001O001iKfAn3Z>QLjAl3W>QLQBR1J[1h>_N^A^1c>^NaAd0B[On>KiAd0FVOb>FXALT17fN3e0Mga00000000000000000000000000QMJ]C5U<NSA1g21U<<kAEj0O[=<fAOZODY10g=>PAB:h0n0XOh=>o@I3e0T1TOj=S2VBlMj=U2UBkMl=T2TBlMl=T2^AiM33_>T2TBlMl=S2UBmMk=S2UBmMk=R2VBnMj=R2VBnMj=Q2WBoMi=Q2WBoMj=o1WBQNi=o1WBQNi=o1WBQNj=m1WBSNi=m1WBSNi=m1WBSNi=l1XBTNh=l1XBTNi=k1WBUNi=j1XBVNh=i1YBWNg=i1YBWNg=i1YBWNg=h1ZBXNf=h1ZBXNf=h1ZBXNf=g1[BYNe=g1[BYNe=g1[BYNe=g1[BYNe=g1[BYNe=f1\\BZNd=Q1SAVOY1Id=n0XAWOT1Ke=k0\\AWOo0Nf=g0aAXOi01h=<l@@[24U=NTC2i?00000000000000000000000000000000000cLNYA2W20_<4QA5=No0Ic=k0QAF\\1_Oc=g1]BYNc=g1]BYNb=h1^BXNb=h1^BXNc=g1]BYNc=g1]BYNc=g1]BYNb=h1^BXNb=h1^BXNb=h1^BXNb=h1^BXNb=h1]BYNc=g1]BYNc=g1\\BZNc=g1]BYNc=g1\\BZNc=g1]BYNc=g1]BYNc=g1]BYNc=h1[BYNe=g1[BYNd=h1[BYNe=g1[BYNd=h1\\BXNd=h1[BYNd=h1\\BXNc=i1\\BXNd=h1\\BXNd=h1\\BXNc=j1[BWNe=i1[BWNd=j1\\BVNd=k1ZBVNf=<YA?P1VOg=8`A>h0[Og=7dA<e0]Oh=4gA8e0Ed=F[AMe0=`00a=BfB3K;i`00O1N2O1O100O1O100O1000000kLZOXDf0g;AbB3mNFa0f0o=GWBb0GGR>IoAg0N@S>NgAg03\\OW>NaAk02[O]>k1\\AXNd>n2000000O100FSLiAm3V>ULhAl3X>TLiAk3X>SLiAm3X>RLhAn3X>RLhAn3X>RLhAn3X>QLiAo3W>QLhAP4X>PLgAQ4`>01OJPLdAP4\\>PLdAP4\\>PLcAQ4]>oKcAQ4b>0O100000000O1M300O100000000000000001O0000000000000000000000001SL`A`3`>^LcAa3]>^LdAb3\\>^LeAa3\\>]LeAc3[>]LeAc3[>\\LgAc3Z>ZLhAf3e>0000000000000001O0000000000001O000000001O000000000000001O0000000000000000O10000O100B\\LgAe3X>]LgAc3Y>^LeAc3Z>^LfAb3Z>^LeAc3[>_LbAb3_>;00000000000000001O00000000000000000000000000000000001O0000001O0000000000000000001O000000000000000000001O00000000000000000000001O000000001O00000000001O0000000000001O1ZLVA\\3U?N00000000001O0000000000000000000000000000000000001ON2KdLn@\\3Q?60000O100O100001OO10000000000001O00000000001O001O1O1O00001O001O0000000000:F7I001O00001O00000000000000O1O1O1L4O10000000000000000O100O100000000000000O10000000000000000000000000000000000000000000000000000001O000000000000001O00001O00001O00000000000000000000000000O1001O0000O100000000001O0000001O00000000001O000000000000001O000000001O001O00001O00000000000000000000001O003YOS@]Nm?c1S@]N"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_side_of_the_chair222222the_side_of_the_white_refrigerator/107915_mask_rle.json b/Navigation/GroundDetection/the_side_of_the_chair222222the_side_of_the_white_refrigerator/107915_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cd8ca405ad769e5e91f47be9c65d011b499133b
--- /dev/null
+++ b/Navigation/GroundDetection/the_side_of_the_chair222222the_side_of_the_white_refrigerator/107915_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_side_of_the_chair222222the_side_of_the_white_refrigerator/107915_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the side of the chair222222the side of the white refrigerator"
+    ],
+    "scene_description_en": [
+      "the side of the chair",
+      "the side of the white refrigerator"
+    ],
+    "scene_description_cn": [
+      "椅子侧面",
+      "白色冰箱侧面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          768,
+          1024
+        ],
+        "counts": "VnV:o0Pg0j0WO2M1001O0000000000001O0000001O0000000000000000O1001O000000000000O1O1001O1O0000000000001O000000000000000000001O0000001O00000000000000000000001O00000000000000000000000000001O000000000000001O0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000001O0000000000001O0000000000000000000000000000O1TOcNT[O^1ed0R1N2O10000000000001OO1000000000000O100N2O1M3F:G9L4N2O1O1O10000O10000O10000O100_OVLl\\Oj3Tc0XLi\\Oi3Vc0ZLg\\Og3Yc0^La\\Oc3^c0`000O1000000O10000gNhKj^OX4Va0iKi^OW4Wa0jKh^OV4Xa0kKg^OU4Za0jKf^OV4Za0jKf^OV4Za0iKg^OW4Ya0hKh^OX4Wa0hKj^OX4Va0fKk^O[4Ua0eKk^O[4Ua0dKl^O\\4Ta0bKn^O^4Ta0`Kk^Oa4Wa0\\Kj^Od4Yb00jN^Kn^Ob4Qa0_Ko^Oa4Qa0_Ko^Oa4Ra0]Ko^Oc4Ra0\\Ko^Oc4Wb00jN]Ko^Oc4o`0aKo^O_4Pa0cKP_O\\4Pa0dKP_O\\4Pa0dKP_O\\4Pa0dKP_O\\4Pa0dKg^OL\\O`4ma0dK\\^OJK2L`4na0cKX^OOMNM`4na0dKR^O42HO_4ma0gKn]O46FO_4ma0WLS^O[OO^4oa0VLQ^O]O0]4oa0VLQ^O]O0]4oa0VLQ^O^OO\\4Pb0VLQ^O^OO\\4Pb0VLQ^O^OO\\4Pb0VLQ^O^OO\\4Pb0WLP^O]O0\\4Pb0WLP^O^OO[4Qb0WLP^O^OO[4Qb0XLP^O\\OO\\4Qb0XLP^O[O0]4Pb0YLP^OYO0^4Pb0YLQ^OWO0`4oa0YLY^Og3ga0ZLX^Of3ia0YLV^Oh3ja0XLV^Oh3ja0YLU^Og3ka0YLU^Og3ja0[LU^Oe3ka0[LU^Oe3ka0[LT^Of3la0[LS^Oe3ma0[LR^Of3na0[LP^Of3Qb0ZLn]Of3Rb0T10000000000000000000000000000001O001OO1000000000000000000000000000000O100001O00000000000000000000000000000000O10000000000O100O100O100000000000000000000000000001O00000000001O000000000000001O00000000000000001O00001O009kJ`]O_Oe0Q4Yc0N1O001O0000001O001bMU\\Oe0lc0eNl\\OX1Uc0YNZ]Of1ad0O0000001O0000000000O100O1N2M3J6G9N2O100hN[MS\\OO44<b2Pc0[No\\Oe1lb0`NT]O`1lb0^NV]Ob1ib0^NX]Ob1la0^MU^Oo00c1ia0aMV^Ol01c1ha0bMV^Om01a1ia0bMV^On00`1ja0bMV^Oo0O_1ka0bMV^OP1N^1la0bMV^OP1N^1ma0aMU^OQ1N^1ma0aMU^OQ1O]1la0bMV^OP1N^1la0bMV^OP1N^1la0bMV^OQ1M]1la0cMW^OP1M]1la0cMW^OP1M]1la0cMW^OP1M]1la0dMV^Oo0N]1la0dMV^Oo0N]1la0dMV^Oo0N]1la0dMV^Oo0N]1la0dMV^Oo0N]1la0dMV^Oo0O\\1ka0eMV^On00]1ja0eMV^On00]1ja0fMU^On00\\1ka0fMU^On00\\1ka0fMU^On00\\1ka0fMU^On00\\1ka0gMT^Om01\\1ka0hMS^Oj04^1ia0iMR^Oh06_1ha0iMR^Oh06_1ia0hMQ^Oh08_1ga0iMQ^Oh08_1ga0iMQ^Oh08_1ga0iMQ^Oh08_1ga0hMR^Oi07_1ha0fMR^Ok06_1ha0gMQ^Oj07_1ha0gMQ^Oi08`1ga0gMQ^Oi08`1ga0gMQ^Oi08`1ga0hMP^Oh09`1ga0hMP^Oi08_1ha0hMP^Oj07^1ia0hMP^Ok06]1ja0iMo]Oj08\\1ia0jMo]Ok07[1ja0jMo]Ol06Z1ka0jMo]Ol06Z1la0iMn]Om06Z1la0iMn]On05Y1ma0iMn]On05Y1ma0iMn]On05Y1ma0iMn]On05Y1ma0hMo]Oo04Y1ma0iMn]Oo04X1na0iMn]Oo04X1na0iMn]Oo04X1na0iMn]OP13W1oa0hMo]OQ12W1oa0hMo]OQ12W1oa0hMo]OQ12W1oa0gMP^OR11W1oa0fMQ^OT1OV1Qb0cMR^OW1MV1Qb0cMR^OW1MV1Qb0cMR^OW1NU1Pb0dMR^OW1NU1Pb0dMR^OV1OV1oa0dMR^OV1OV1Pb0cMQ^OV10W1oa0cMQ^OV10W1oa0cMQ^OV10W1oa0eMo]OU11V1oa0fMQ^OT1OV1Pb0fMQ^OT1OV1Qb0dMQ^OV1NV1Qb0cMR^OV1NW1Pb0cMR^OU1OX1oa0cMR^OV1NW1Pb0cMR^OW1NU1Pb0dMR^OX1MT1Qb0eMQ^OW1NT1Qb0dMR^OX1MT1Qb0dMR^OX1MT1Qb0dMR^OY1LS1Rb0dMR^OY1LS1Sb0cMQ^OY1MT1Rb0cMQ^OY1MT1Sb0bMo]O[1NS1Sb0aMQ^O[1LT1Tb0`MP^O\\1LT1Tb0_MQ^O]1KT1lb0lNT]OT1lb0kNV]OT1jb0lNV]OT1jb0lNV]OT1lb0kNS]OU1Sc0eNm\\O[1]c0[Nc\\Oe1_c0YNa\\Og1ac0XN^\\Oh1cc0WN]\\Oi1cc0WN]\\Oi1dc0WN[\\Oi1ec0WN[\\Oi1ec0XNZ\\Oh1gc0WNY\\Oi1gc0WNZ\\Oh1fc0WN[\\Oi1ec0WN[\\Oi1ec0WN[\\Oi1ec0VN\\\\Oj1cc0WN]\\Oi1ac0YN_\\Og1`c0ZN`\\Of1^c0\\Nb\\Od1Wc0cNi\\O]1ib0QOW]Oo0`b0ZO`]Of0^b0\\Ob]Od0]b0]Oc]Oc0_b0[Oa]Oe0`b0ZO`]Of0ab0YO_]Og0cb0WO]]Oi0fb0TOZ]Ol0hb0QOY]Oo0gb0QOY]Oo0ib0nNX]OR1jb0jNY]OU1ib0hNX]OX1jb0dNY]O[1kb0TNh]Of1id0@5K1O1O1O00000000O1O1O1O0O3L3L4N2G9I7I6N3L5TOXMj[O\\3lc0a0K5N2_Oa01O2N3L1O10d\\O"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_side_of_the_table222222the_side_of_the_bed/1994_mask_rle.json b/Navigation/GroundDetection/the_side_of_the_table222222the_side_of_the_bed/1994_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..b87ac34c7b50de3161988fe9b03c5056407d3027
--- /dev/null
+++ b/Navigation/GroundDetection/the_side_of_the_table222222the_side_of_the_bed/1994_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_side_of_the_table222222the_side_of_the_bed/1994_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the side of the table222222the side of the bed"
+    ],
+    "scene_description_en": [
+      "the side of the table",
+      "the side of the bed"
+    ],
+    "scene_description_cn": [
+      "桌子的侧面",
+      "床的侧面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          600,
+          800
+        ],
+        "counts": "Sh13db02N2O0O1O1O100O1O100O1O100O1O100O1O10O01O100O1O100O1O100O100O1O1O1O2N100O1O100O1O1O010O1O2N100O1O1O1O1O100N2O1O1O100O1O011O0O10O01O101K4I7O10000000000001O000000000O2O01O0000O1010O00000000000O10000000O100000000000001O0000000000000000001O0000000000001O0000000000000000000000000000000000O100O1O100O1O1O1O100O1O1O100O1O1O100O1O1O100O1O1O1O100O1O100O1O2N001O100O1O100O1O1O1O100O1O1O1O2O0O1O100O1O1O1O1O100O1O100O001O1O100O1O1O1O100O1O100O1O2N10O01O101N10000O10000O100O010O10000O100O100O10000O100GPLiAQ4V>PLjAP4U>QLkAo3T>SLkAm3T>TLkAm3U>SLkAm3T>TLlAl3S>ULlAl3S>ULmAk3S>ULmAk3R>ULoAk3P>VLPBj3P>VLoAk3P>VLPBj3o=WLQBi3n=WLSBi3m=WLSBi3l=XLSBj3k=VLVBj3j=VLVBj3i=WLVBj3i=VLXBj3g=VLZBj3f=VLYBk3e=VL\\Bj3d=UL\\Bl3c=UL]Bk3b=VL\\Bl3c=e0O100O1O1O1O1O00100O1O2N010O1O101N1O1O1O001O1O1O1O100O1O1O100O1O1O2N1O1N1O3PO[J`DP6_;e0O001O101N1O100O002N1O100O1O1O1O10O01O100O1O100O1O100O2N1O1O1O100O1O1O100O1O100O1O100O00100O10000O1000000001O01O0000000001O00000O10001O0000000001O00O2O01O000001N100000000000000lNXEYJg:N]E_42`Kb:IdEc4ObK^:_OnEm4HbK`;\\4cDcK^;Z4eDeK[;Y4iDeKV;[4lDdKT;Z4oDeKQ;Y4QEgKn:Y4UEdKk:[4XEdKg:[4[EeKa:]4cEaKV:d4mE[Ko9g4TFXKg9k4]FSKW9X5jFhJU9W5nFhJQ9W5RGhJn8V5UGhJl8U5YGiJg8U5\\GjJd8T5_GkJa8S5bGkJ_8R5fGlJ[8Q5n2G3M2L5L3M3N2M3O0N3N1O1N011O1O2N2N2M3M3M3M3L5L3M3N2N2N2N2N2N2N2N2O2N1O1O1N2O1O1N3M2O1N2O1O1O1O1N3N1N2N2O1O1N2N2N3N1O1M3O1N2N3M2N2N2O1N2N2O1N3M2O1N2O1O1O1O1O2N1O1MfoX5"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_sideof_the_single_sofa/2377918_mask_rle.json b/Navigation/GroundDetection/the_sideof_the_single_sofa/2377918_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f6b777a740d0e68d4544206134b3a5cc321d4b5
--- /dev/null
+++ b/Navigation/GroundDetection/the_sideof_the_single_sofa/2377918_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_sideof_the_single_sofa/2377918_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the sideof the single sofa"
+    ],
+    "scene_description_en": [
+      "the sideof the single sofa"
+    ],
+    "scene_description_cn": [
+      "单人沙发的侧面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          332,
+          500
+        ],
+        "counts": "YUX11[:0nc10Q\\N2O1N101O001O001O1O00100O1O1O1O1O1O1O101N4L7I7I00000010O0SOiFe0W9ZOjFf0W9WOkFh0]9000N2O1O1O1O100001O0000000000000000000000O1000000O100O10000O100O10000O100O101N100O100O100O1O10O02O0O10O01YNhNYJY1f5jNWJW1h5kNVJW1i5jNUJW1k5lNmIY1R6QO[IY1e6W1001O1O001ZMlHQ2U7lMPIR2P7mMSIQ2n6mMSIS2m6lMUIS2k6mMVIR2j6mMWIS2i6mMXIR2h6mMYIS2g6mMYIS2g6lM[IS2e6mM[IS2e6lM]IS2c6mM]IS2c6mM^IR2^70001O000000001O0000001O1O1O1]NkGm0Z8kNcGH6[1i80`0eNcFg0S:^OaQ:NYnE8O10010O000000000000000001O1NnV41RiK1O001O00O_l3EjiK6`9N`F3^9NbF1m904Lla23STM5[9JfF60Jl80TG6OLl8NUG6OLl8NUG6OLl8MVG8MKm8MVG8MKm8MVG8MKm8MVG8MKm8MVG8MKm8MVG7OJl8OUG7OKk8OUG7OJl8OUG7OJl8NVG8NJl8NVG8NJl8NVG7OKk8OUG60Kk8OUG60Kk8OUG60Kk8OUG60Kk8OUG60Kk8NVG60Lj8NWG5OMj8NWG5OLk8OVG41Lj8NWG5OMZ92fFNk911O000O100O2OYl29]iL0e9h0D0000000001O0NfFROh9;X`n0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/trash_can/41069054_819.314_mask_rle.json b/Navigation/GroundDetection/trash_can/41069054_819.314_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0f28f7dc7f28529b52c12e6b6f6ba4e811beee7
--- /dev/null
+++ b/Navigation/GroundDetection/trash_can/41069054_819.314_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/trash_can/41069054_819.314_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "trash can"
+    ],
+    "scene_description_en": [
+      "trash can"
+    ],
+    "scene_description_cn": [
+      "垃圾桶"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "jX[386:0E?KS;e0\\Dh1g:f1TOnKUFg4Y9i0VOj0YOdIVHP7`6PIcIW8m5f0N2O100O10000000000000000O10000O100000000O10000000000000000000000O1000000000000000000000000000000O1001OO100000000000000O1000000000000000000000000O100000000000000000000O1000000000000000000000000O10000000000000000O100000000000000000000000000O100000000000000000000O10000000000000000O100000000000000O100000000000000000000O1000000000000000000000000O1000000000000000000O100000000000000000000O100000000000000000000O10000000000000aGmJQ7S5lHTKP7k4PIXKn6h4PI[Ko6e4oH^KP7b4oHaKo6_4oHdKP7\\4nHgKQ7Y4mHjKR7V4mHlKR7T4lHoKS7Q4kHRLT7m3kHVLT7j3jHZLT7f3jH]LU7c3jH`LT7`3jHcLU7]3iHhLT7Y3iHjLV7V3iHmLU7`5O2N1O1O1O001O00001O0000000000000000000000O100000000000000000000000000O10000O100000000O10000O10000O10000000000O1001O1O1O2N1O1O2N1O1O1O1O2N1O2N1O1O2N1O1O2N1O2N1O2N1O1O2N1O2N2N1O2N2N1O2N1O2N2N2N1O2N1O1O2N1O2N1O2N2N1O1O2N1O2N2N1O2N1O2N1O2N2N1O1O2N2N2N2N2N2N2N2N1O1O1O1O001O00001O00O100O100O1000000O10000O1000000O1000000O100O100O1000000O100O1O1000000"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/trash_can/41069162_1242.032_mask_rle.json b/Navigation/GroundDetection/trash_can/41069162_1242.032_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..25586d58985d877edce5b05297dbace48df4b81b
--- /dev/null
+++ b/Navigation/GroundDetection/trash_can/41069162_1242.032_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/trash_can/41069162_1242.032_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "trash can"
+    ],
+    "scene_description_en": [
+      "trash can"
+    ],
+    "scene_description_cn": [
+      "垃圾桶"
+    ]
+  },
+  "mask_annotation": {
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/trash_can/41127016_6600.112_mask_rle.json b/Navigation/GroundDetection/trash_can/41127016_6600.112_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..956f486409ec87560a9f8779df06ce73c50075ef
--- /dev/null
+++ b/Navigation/GroundDetection/trash_can/41127016_6600.112_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/trash_can/41127016_6600.112_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "trash can"
+    ],
+    "scene_description_en": [
+      "trash can"
+    ],
+    "scene_description_cn": [
+      "垃圾桶"
+    ]
+  },
+  "mask_annotation": {
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+      {
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+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/trash_can/41159586_50576.769_mask_rle.json b/Navigation/GroundDetection/trash_can/41159586_50576.769_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..52db101ed5901900dac78fb7c8bfbe84d4eead6b
--- /dev/null
+++ b/Navigation/GroundDetection/trash_can/41159586_50576.769_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/trash_can/41159586_50576.769_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "trash can"
+    ],
+    "scene_description_en": [
+      "trash can"
+    ],
+    "scene_description_cn": [
+      "垃圾桶"
+    ]
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+          480,
+          640
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/vase/41069130_4347.202_mask_rle.json b/Navigation/GroundDetection/vase/41069130_4347.202_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c692820cf1788d0674830ccf2ec17110cab98d0
--- /dev/null
+++ b/Navigation/GroundDetection/vase/41069130_4347.202_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/vase/41069130_4347.202_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "vase"
+    ],
+    "scene_description_en": [
+      "vase"
+    ],
+    "scene_description_cn": [
+      "花瓶"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "jQg59c>5K5K4N3J5M3L5K4L5K4L4M4_CUNh;n1XDSNd;P2\\DQN`;R2_DoM\\;W2cDiMY;[2gDfMU;]2kDcMR;a2mD`Mn:d2RE\\Mk:g2UEZMg:i2YEWMc:n2\\ESM`:P3`EPM[:U3dEmLW:X3hEhLT:\\3lEdLP:a3PF_Ll9d3TF\\Li9g3WFYLe9k3ZFWL`9n3`FRL^9P4bFQLX9T4hFlKU9W4kFiKQ9[4oFfKm8^4RGcKi8a4WG_Kd8f4\\GZKb8h4^GXK]8m4bGUK\\8m4cGSK\\8o4cGQK]8o4cGRKQ8@oG_5OQKQ8BoG^5OPKl7BoGO7`5LQKk7GYHQ6g7oIXHR6h7nIXHS6f7nIZHR6f7nIZHS6e7mI[HS6e7mI[HS6d7nI[HT6d7lI\\HT6d7lI\\HT6c7lI^HT6b7lI^HU6a7kI_HU6a7kI_HV6`7jI`HV6_7kI`HW6c0`Im59`IX6<fIS61bIZ67hIW6NbI[62lIZ6IeI[6OnI\\6GeI]6JPJ`6CeI[7[6dHfI]7X6dHhI\\7X6dHhI]7W6bHjI^7V6aHkI`7T6_HlIb7T6^HlIc7T6[HmIe7S6VHRJk7a60O101O001O0O2O1O001O1O0O2O001O00001N1YOiGeJX8Z5jGdJV8[5lGdJU8[5mGcJS8\\5oGcJR8\\5nGdJR8[5PHcJR8\\5oGbJR8^5PH^JR8b5g0N101O1O001O1N101O0O2O001O0O2O00001O1N101O00001N101O000O2O001O001N2O001O1O0O101O001O0O2O001O1O0O101O001O001N101O001O001N101O001O0O2O00001O00001N2O001O001O001O001N101O001O001O1O001N101O0000001O00001N101O001O001O001O001O0O101O001O001O001O000O2O00001O00001O001O001O1O001O001O00001N20N100eFYMf4JYJc1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/vegetable_washing_sink/41159382_2478.537_mask_rle.json b/Navigation/GroundDetection/vegetable_washing_sink/41159382_2478.537_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc1ded618718f98c92f835e353465d8d69956139
--- /dev/null
+++ b/Navigation/GroundDetection/vegetable_washing_sink/41159382_2478.537_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/vegetable_washing_sink/41159382_2478.537_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "vegetable washing sink"
+    ],
+    "scene_description_en": [
+      "vegetable washing sink"
+    ],
+    "scene_description_cn": [
+      "洗菜池"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "PXj01o>00000P_?0Pa@000_ag33[^XL8J4L6J5J6K6J7I5J4M2N2O1O001O001O0000001O1O001O2bCSNe;o1WD\\N`;g1[D_Na;g2I7I2N5K6J7I5K6J6J6J2N:F7I5K5K6J7I6J6J3M4L7I6J4aIgHo4^7kJnHj4V7QKQIi4Q7UKSIg4n6WKXId4i6[K[Ia4e6^KdIZ4]6dKhIX4Y6eKlIX4Z6aKmIY4Y6^KkIa4[8O001O0000001O00001O0000001O1O002N2N2jKWEQ4R;J3M8H6J5K6J5K6J7I5K4M1N2M2O1O1O000000000000000001OO10001O001O001O1O001O1O001O1O1O1O2N1O1O1O3Md0\\O1O1O1\\OhA>^>KbAFn^?OoaG0P^I0000000Pj_10PV`N1O"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/washbasin/41048247_4159.362_mask_rle.json b/Navigation/GroundDetection/washbasin/41048247_4159.362_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..62cd6fda07c400d7d43bb28bc702ae68564a2ed5
--- /dev/null
+++ b/Navigation/GroundDetection/washbasin/41048247_4159.362_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/washbasin/41048247_4159.362_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "washbasin"
+    ],
+    "scene_description_en": [
+      "washbasin"
+    ],
+    "scene_description_cn": [
+      "洗手池"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "ado4=T>`0YOg0E:N2]NYNlEi1o9\\NQFc1m9`NRF`1m9bNRF^1m9cNSF]1m9cNSF^1l9bNTF^1m9aNSF_1m9aNSF_1m9bNRF^1n9bNRF_1m9aNRF`1n9`NRF`1n9`NQFa1o9_NQFa1o9`NoEb1P:^NPFb1P:^NoEc1Q:]NoEc1P:^NoEc1Q:^NmEd1Q:]NoEc1Q:]NnEd1Q:^NmEc1R:^NnEc1Q:]NnEd1Q:]NnEd1R:]NmEc1l8aMbGm0@d1l8aMbGl0Ad1m8aMaGm0_Oc1o8bM`Gm0^Oc1Q9cM_Gl0]Ob1T9cM]GP4a8SL]Gm3c8VLYGk3f8\\LRGf3n8]LmFe3R9^LiFf3V9R1O10001N100O100O101O0O10000O1OWJoFf5P9ZJPGf5P95O2OSJRGh5n85O2O0O1O10001N10000O2O0O100O101N10000O100O2O0O100O2O000O10001O0O100O101N10000O101O0O100O2O0O100O101O0O100O10001N101O0O2O1N1PMlH[K0b2T7d1bI\\N_6T1QJjNP64gH`MS2\\2W5]OgKc0Y4iN[LV1g3^NdLb1\\3\\NfLc1\\3[NeLe1\\3YNeLf1e3iMcLW2S800O10000O100O10000O1O100O1000000O100O100O100O100O100O100O100000000O10000O100O10000O10000O10000O100O1000000O10000O10000O10000O100O1000000O100O10000O100O10000O10000O10000O100000000O10000O1000000O1000000O10000O1000000O10000O10000O1000000O1000000O1000000O1000000O1000000O1000000O100000000O100000000O100000000O100000000O10000000000"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/washbasin/41097991_8703.717_mask_rle.json b/Navigation/GroundDetection/washbasin/41097991_8703.717_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..962808415c2f4ec540261f3c32aec53506be97ee
--- /dev/null
+++ b/Navigation/GroundDetection/washbasin/41097991_8703.717_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/washbasin/41097991_8703.717_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "washbasin"
+    ],
+    "scene_description_en": [
+      "washbasin"
+    ],
+    "scene_description_cn": [
+      "洗脸池"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "a]P52m>2O1O1N101O1N1O2O001O1N2N2O001N2O1O0^F_Od4c0ZK@d4`0\\KAb4a0[KBd4>\\KCc4>[KCe4=[KCd4?[K@e4b0ZK^Of4c0XK_Og4a0YK@f4a0XK@g4b0XK^Oh4b0WK_Oi4b0VK^Oh4i0TKVOl4T1QG]N91Q3>mL@]8e2\\G\\Md2e0^M]Oa8a3_GgLN=2XO6R1Y8]5M3SHfIP7[6mHiIQ7X6jHnIS7U6eHRJZ7j6O2O001N103M0mHVHo6o7O0SIQHO0f6P87002M3N00O0101O0OO2O03N1N10O\\IhGb6X8]IiGb6[80000O101O2cI`GU6a85000O1gI^GT6b8401O11N3N2M2OO10O100O2O001N2O001N10001N3N1O1O0O2ZJhFb5\\9O1N2N2O1O1N2O2N2M3N2VLWFY2k9cMYFZ2j9aMZF^2k9ZMZFc2o9PMWFo2P;L3N2N2M3N2N3L3N4K3N4L8G2O0O10000O101O0O10000O10000O10000O10000O10000O10000O10000O100O1000000O01000O2O000O10000O10000O10000O10000O10000O1000000O10000O100000O0100000000O100O2O00000O10000O1000000O1000000O10000O100000000O1000000O1000O10O100000000O2O0000000O1000000O1000000O10000000000000000O100000000O100000XMYOWGg0e8^OYGc0d8A[G>d8D\\G<b8G]G9a8I`G6_8KaG5]8McG3[8OeG1Z81eGOZ82fGNY83gGMX84hGKX87gGIX88hGHW89iGFX8:hGFW8;iGEV8<jGDU8>jGBU8?kGAU8?kGAT8`0lG@S8a0mG^OT8b0lG^OS8c0mG^OR8b0mG@l2ZOGY1SLgN2f0S4[OGY1TLgN1N"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/washing_machine/41048223_7179.234_mask_rle.json b/Navigation/GroundDetection/washing_machine/41048223_7179.234_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..59cad207c8025e5b4d16ab0ed60f3ac383a47a98
--- /dev/null
+++ b/Navigation/GroundDetection/washing_machine/41048223_7179.234_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/washing_machine/41048223_7179.234_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "washing machine"
+    ],
+    "scene_description_en": [
+      "washing machine"
+    ],
+    "scene_description_cn": [
+      "洗衣机"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "mdY33k>4L3K5K6J5H9I6I7K5K5J6K5ZOPNUDV2c;TNVDR2b;j0J6L4F:L4J6K5J6H9H7J6M3M3L3O2L4I7K5K5I7G9D<O1N2O1N3N1O2N1O1O002N1O1O1O1O1O1O1O1O1O1O1O2N2N1O1O001O001O10O0000O1000000000000000O1000000000000000000000000000000000000000000000000O100000000O100O100O1000000000000O10000001O00000000000000000000000000O100000000000000000000000gITH^5k7aJXH^5h7bJYH]5g7bJ[Hb0J`3k7nK\\H`0L`3g7PL_H>Kb3f7PL_H=Mb3c7QLbH<Kc3c7QLdH9Jf3b7QLfH7Jf3`7TLfH4Lg3^7ULgH3Lg3\\7XLhH0Nf3Z7ZLiHONf3Y7ZLkHNNg3W7[LkHM0g3T7\\LnHK0h3R7]LnHJ2h3P7]LoHK2g3o6^LoHJ5f3l6_LPIJ6f3i6aLQIH9e3f6bLSIH8e3e6cLSIG:e3c6dLUID:g3`6fLXI@:i3^6gLZI]O:k3^6fLiJY3X5cLlJ\\3V5_LnJ`3S5]LPKb3Q5\\LPKd3Q5YLRKf3V8N001O1O2N1O1O2N1O1O001O1O001O1O1O1O1O1O1O1O2N001O1O1O1O001O001O1O1O1O1O1O2N1O1O001O1O1O1O001O001O1O2N3M2N2N1O1O1O2N1O001O1O001O00001O00000000O10000O100O100O1O1N2N2N2L4N2N2N2N2N2M3O1N2N2N2N2O1N2N2N2O1O1N2N2O1N2N2N2M3O1O1N2N2N2N2M3M3O1001O0000000000000000000000000iMSE;m:@]E;c:CaE;`:@eE?\\:]OhEb0Y:[OjEd0X:YOjEf0W:XOkEg0V:WOkEi0V:UOlEKRO1T;@nDNo0=VO2n:^OTENj02ROO6a0k:^O_F0XO`0Z:]OaF0XOb0Z=O2N2N1O1O1O1O1O001O00001O1O1O001O001O001O001OPX;0PS60od^O1O1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/yellow_long_food_display_tray_inside_the_sandwich_counter_on_the_right_side_of_the_frame/1140_mask_rle.json b/Navigation/GroundDetection/yellow_long_food_display_tray_inside_the_sandwich_counter_on_the_right_side_of_the_frame/1140_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b21120f42399a9c5a7f60f2b01c0d0da51d4375
--- /dev/null
+++ b/Navigation/GroundDetection/yellow_long_food_display_tray_inside_the_sandwich_counter_on_the_right_side_of_the_frame/1140_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/yellow_long_food_display_tray_inside_the_sandwich_counter_on_the_right_side_of_the_frame/1140_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "yellow long food display tray inside the sandwich counter on the right side of the frame"
+    ],
+    "scene_description_en": [
+      "yellow long food display tray inside the sandwich counter on the right side of the frame"
+    ],
+    "scene_description_cn": [
+      "位于画面右侧三明治柜台内的黄色长条食物展示托盘"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "iPc03k>3N2J5L4L4N3L3O2O0101O01N1O3N1O0O1GoN`BS1^=800003M0_O[BGe=7`BF`=9cBE`=7cBG^=7f0O10K400102M7I8HZok2Z2jaSMWNk;g2nNiL[El3a:XL^Ei3a:XL]Ei3P;M1O001O000000000000\\O_LiEa3S:cLmE]3S:YLdE1=f3n9ZLeEO>g3o9]LQFc3Q:[LoEe3Q:[LoEe3R:[LmEe3g:0000000000000000000000000YOZLTFf3j9^LTFb3i9VLhE:0G:j3n9gLoEY3Q:gLoEY3Q:gLoEY3R:fLnEZ3Q:hLnEX3R:hLnEX3S:^LgEL8f3S:UL[Fk3^:O2N6J4L1O0000O1N2WObLeEi3S:ULeE]4U::M3O100001]KmEW4i:E2N3M1O1O1O1O1O002N0000O1O1001O7I3M4L6J1O1O0000O100L4ChLmD]3o:<O1O1000000000000]OULQFk3n9VLRFj3b:000001O0000000000001OO100O1N2\\OULcE[4W:dKiEc4V:41O0000004L9G3M6jKTEl3T;L8H2N001O0000001O2N6J1O2N1OO100O1\\OVMmDo2d:n0B>dN\\1N2M3O1O1O100001O00001O00001O000000001O00000000001O00001O000000001O0000001O0000001O000000001O000000001O000000001O00000000000000001O00000000001O0000001O0000001O0000001O0000001O0000001O00000000001O000000000000001O0000001O5K6J2N001O00001O001O00001O001O00001O00000000000000001O0000000000000000001O0000001O00O1000000000000000000001O1OO10000O10000O1000000000000001O1O001O1O001O001O00001O1O1O001O001O001O001O1O1O001O001O001O1O001O001O1O001O2M3MUE"
+      }
+    ]
+  }
+}