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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/Bed_222222_The_table_farthest_from_the_camera/101131_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/Bed_222222_The_table_farthest_from_the_camera/101131_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbfaacd9bcb382e4f9edbc87ead8bff9140253c3
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/Bed_222222_The_table_farthest_from_the_camera/101131_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/Bed_222222_The_table_farthest_from_the_camera/101131_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Bed 222222 The table farthest from the camera."
+    ],
+    "target_area_description_en": [
+      "Bed",
+      "The table farthest from the camera."
+    ],
+    "target_area_description_cn": [
+      "床",
+      "离镜头最远的桌子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          341,
+          512
+        ],
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+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          341,
+          512
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/Multiple-person_sofa222222television/065800_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/Multiple-person_sofa222222television/065800_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..740f0fd123070f363c1c9fdf6300c3c3245ea470
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/Multiple-person_sofa222222television/065800_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/Multiple-person_sofa222222television/065800_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Multiple-person sofa222222television"
+    ],
+    "target_area_description_en": [
+      "Multiple-person sofa",
+      "television"
+    ],
+    "target_area_description_cn": [
+      "多人沙发",
+      "电视机"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "_k?3a:3M3N2M101N1O101N1O1O1O2N1O1O2O0O100O101N10000O2O2M7J4L6I8I9G4K8I6J5K6I2OUNcH>\\7CeH=Z7BgH>Y7AiH>V7ClH;T7DoH:P7FRI:m6EUI;j6DWI=g6DYI=f6B[I`0b6@`I`0_6@aIa0^6]OdIc0[6\\OgId0Y6[OhIe0W6[OjIe0V6[OjIe0U6ZOmIf0S6ZOmIe0S6\\OmId0S6YOoHTOo0c1R6XOQJh0n5XOSJh0m5WOTJi0l5WOTJi0k5XOUJh0k5XOUJh0j5ZOVJd0k5\\OUJd0k5]OTJc0k5_OTJa0l5@SJ`0m5ARJ?m5CRJ=n5DRJ;m5FgIjNG`1b6GRJ9m5IRJ8m5IRJ7m5KRJ5n5LQJ4o5MQJ2n50QJ0o51PJ0o51PJOo52QJNo53PJMP64oILP66oIKP66oIJP68oIHQ69nIGR6;mIDR6?lIBS6?lIAS6a0lI_OT6b0kI^OU6d0iI\\OV6g0gI[OX6oNcIR111[6nNgIh2Y6YMfIg2Z6XMkIe2S6\\MRJ`2m5`MUJb2f5_M[Jg2^5XMdJn2U5QMmJQ3P5oLPK]O^Oa3_5SMZKl2e4SMaKi2]4XMcKi2\\4VMhKh2W4XMjKg2U4ZMnKb2S4]MoKa2Q4`MPLl1dNoM]55PLh1POhMQ5?QLf1d4YN_Ke1b4[N]Ke1c4[N]Ke1d4[N[Ke1e4\\N[Kc1e4]N\\Kb1d4_N[Ka1f4`NXK`1h4cNVK\\1k4gNQKY1o4kNmJT1U5oNgJR1Y5QOcJo0]5TOaJk0`5WO]Jh0e5\\OVJd0k5]OTJb0n5_NaI`0:S1V6[NdIa04S1[6YNdId0NT1_6WNdIe0JV1c6TNeIn2]6PMeIn2\\6QMfIl2]6RMdIm2]6RMhIi2Z6UMjIf2X6XMkIf2S7ZMSHa2T8L4L0O2O1O1O00001O0O2O001O00001N10YOQNjHn1n701O00_OTNZHl1f7WNXHh1i7YNUHg1l7[NRHd1o7_NmG`1U8cNgG]1Z8>1O1O1N2O1N2O1O1N2O1O1N2O1O1O1O1O1O1O1O1O1O1O2N1N2O1N;F1O1O1O1N3N100O1O2N2K9G_mg10TRXN6WFK_9?_FCW9h0fFYOZ8R2NIhGTNW8l1iGTNV8W2O00010O00001O00001O010O0000000001O00000000001O0O101O0O2N2UOiGnNa8=X1]OXW?"
+      }
+    ],
+    "masklet_path": [
+      {
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+          341,
+          512
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/Stove_222222_Socket/062521_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/Stove_222222_Socket/062521_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fceaad08c5d6589d7519e372ad2af25bdf062f7
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/Stove_222222_Socket/062521_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/Stove_222222_Socket/062521_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Stove 222222 Socket"
+    ],
+    "target_area_description_en": [
+      "Stove",
+      "Socket"
+    ],
+    "target_area_description_cn": [
+      "火炉",
+      "插座"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          770,
+          512
+        ],
+        "counts": "lc6>]g0d0_O9G4001O0O5J6K4C=I=E`fY5d1nWfJ6I7JO001O10000a0_O1O00000000O1N2N2N2M3L4M300O10000O10O1@`0SOm0POP1@`0O1000000000000000O100000000O100nLn]O4Rb0mNn^OR1Qd0000O2O00O100000000O10000000000000001N1M3B?N1O10001N101M3E;\\OWX\\4"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          770,
+          512
+        ],
+        "counts": "```0:fg05K4L3N2N2N2O1N2N103L4M1O000O100000000000000000000O1000000000000O100O10000O1000000O100000000O100000000000000000000O1000000O10000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000O100000000O1000000000000000000000000O100000000000000000000000000000000000000000000000000O10000O10000000000WH`NPI`1l6gNQIY1m6kNPIV1o6mNoHS1o6POPIP1o6SOoHm0P7TOoHm0P7UOoHk0Q7VOnHj0Q7XOnHh0R7XOmHi0R7YOmHg0S7ZOlHf0T7[OkHe0T7\\OlHd0T7]OkHc0U7]OkHc0U7^OjHa0W7_OiHa0W7@hH`0X7@hH`0X7AgH?Y7AfH`0[7@dH?]7BbH>^7BbH>_7B`H>`7C^H=d7B\\H>e7BZH>g7AYH?g7BXH>i7AVH`0j7AUH?l7@TH`0l7ASH?n7APH`0P8AoG?R8@nG`0S8@lG?U8BjG>W8BgG?Z8AeG>\\8CcG=^8CaG=_8D`G;b8E]G;c8F\\G:d8F\\G:e8FZG:f8GXG:i8FVG9k8HSG9n8GQG9o8HoF9R9FnF:R9GmF8T9IjF8V9IiF7W9JhF6X9KfF6Z9KeF4]9LbF4^9M`F4`9M_F2b9O]F1c90[F1f9OYF1g90XF0h91WFNj93UFMk94TFLm94QFMo94PFKQ:6mEKS:6lEJU:7hEIY:8fEHZ:9dEG^:9aEG_::_EFc:;ZEFf:<XEDi:<UEDl:>QECP;=nDDR;=mDBU;>iDCX;>eDC[;>cDC^;=aDB`;`0]DAd;?ZDBg;a0TD@m;a0PD_OR<b0kC_OV<b0fC@[<b0`C@b<?[CBg<c0RC^Oo<d0lB^OU=c0gB^O[=c0`B@a=f0UB]Om=f0jA]OX>f0aA]O`>n0l@YOV?j0`@\\Ob?`4101N2O1N3N1O1N2O1O1N2O2M2O1N2N2O2M2N2N2O1N3M2N2O1N3M3M3M3M3M2N2M4M2M4M2N3M2M3M4L4L3M5J5K4L5L4K5L4K4J7K5K6K4J6F;H9F9K6G8B?GhSQ1VOa[F"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/The_area_at_the_bottom_of_the_curtain_behind_the_chair222222The_right_corner_of_the_table_directly_in_front_of_the_camera_that_is_closest_to_the_camera/1159695_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/The_area_at_the_bottom_of_the_curtain_behind_the_chair222222The_right_corner_of_the_table_directly_in_front_of_the_camera_that_is_closest_to_the_camera/1159695_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f4c900a276be56975fcd1626c3273b7993c9fdc
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_area_at_the_bottom_of_the_curtain_behind_the_chair222222The_right_corner_of_the_table_directly_in_front_of_the_camera_that_is_closest_to_the_camera/1159695_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/The_area_at_the_bottom_of_the_curtain_behind_the_chair222222The_right_corner_of_the_table_directly_in_front_of_the_camera_that_is_closest_to_the_camera/1159695_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The area at the bottom of the curtain behind the chair222222The right corner of the table directly in front of the camera that is closest to the camera"
+    ],
+    "target_area_description_en": [
+      "The area at the bottom of the curtain behind the chair",
+      "The right corner of the table directly in front of the camera that is closest to the camera"
+    ],
+    "target_area_description_cn": [
+      "椅子背后窗帘底部区域",
+      "镜头正前方的桌子离镜头最近的右桌角"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          768,
+          1024
+        ],
+        "counts": "bn:7U1_1gc0eNo[Oi1ic0ZNm[OS2nc0PNe[O_2Vd0i0M1N2O1N2O009G3M2M3N1O1O1O1O001O0000001O000000PLg\\O[3Wc0j0M1O1O1O1O001O00000000000O10O100O1O1O1O1O2O001N101N2O1N2O2M5K4L9H>A6I9H9E<mNY^a=SOXm]BM]d0P2J5L7I<D5L4K3M2O1O1N2O001O000010O001O001O1O1N2O1O2M3N7Hi0WOh0XOj0VO:E`Wi7"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          768,
+          1024
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/The_chair_closest_to_the_camera_222222_the_chair_farthest_from_the_camera/001625_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/The_chair_closest_to_the_camera_222222_the_chair_farthest_from_the_camera/001625_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..2470e12194c14be7fd7ae9b2a708be0ae39c00bc
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_chair_closest_to_the_camera_222222_the_chair_farthest_from_the_camera/001625_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/The_chair_closest_to_the_camera_222222_the_chair_farthest_from_the_camera/001625_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The chair closest to the camera 222222 the chair farthest from the camera."
+    ],
+    "target_area_description_en": [
+      "The chair closest to the camera",
+      "the chair farthest from the camera."
+    ],
+    "target_area_description_cn": [
+      "离镜头最近的椅子",
+      "离镜头最远的椅子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          968,
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+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/The_left_part_of_the_floor_222222_the_area_around_the_right_leg_of_the_table/000257_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/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..ab219bab192e7f89d63bd2859d821e739f0b5acb
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_left_part_of_the_floor_222222_the_area_around_the_right_leg_of_the_table/000257_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/The_left_part_of_the_floor_222222_the_area_around_the_right_leg_of_the_table/000257_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The left part of the floor 222222 the area around the right leg of the table"
+    ],
+    "target_area_description_en": [
+      "The left part of the floor",
+      "the area around the right leg of the table"
+    ],
+    "target_area_description_cn": [
+      "地面的左边部分",
+      "桌子的右侧桌腿周围部分"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "^a89Y:5M3M2N3M3N2M4L7I1O101N2O001O000001O00000O01O010O01O1O100O1O010O100O100O100O1O2O1N2O3L6K6I4MoY\\3IoecLa0F3O1N2M2N2O101N101O1O00O2O1N01000O1O100O100O2N1000001O0O101N1O2O2M3N1N2O1KZPi0"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "^a8<V:7K3M3M3M2O1N2N5L00001O1O0O2O00000O100000O11O1O001O001O00001O01O00000001O01O01O000010O00000010O01O010O0001O01O010O01N100010O001O01O00002OO00000010O0001O0010O00010O0000010O00000010O000001O00010O001O010O001O01O01O00010O010O00010O0001O001O00001O000010O0001O01O0001O00010O00000010O00010O0001O00000000010O1O0001O01O01O0010O0000010O0000000000001O00000000001O00001O00001O01O01O00001O000001O0000000010O0001O01O000010O00001O0010O0001O1O01O01O0001O01O01O001O010O0000001O01O01O00000000010OMgNjFY1Y90NgNhFY1X9hNhFW1Y9201O0000000000010O00000010O0001O0001O01O00000001O01O00010O000001O01O001O000010O00000010O0001O0001O01O0001O01O010O0001O00010O000010O000000001O000000001N10000O100O110O000000001O000000000001O000001O0000000001O0000010O00001O01O01O0001O01O0001O00001O01O000001O000001O00000001O0000000000000000001O0O10001N101O11NO2N2N2N1N2O2N1O2O2M3N1N2O1KZPi0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/The_lower_left_area_of_the_door222222The_corner_of_the_table_closest_to_the_camera/107932_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/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..4c1c9d5e77b68aa6dfcb32f0bad3667a5b40929e
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_lower_left_area_of_the_door222222The_corner_of_the_table_closest_to_the_camera/107932_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/The_lower_left_area_of_the_door222222The_corner_of_the_table_closest_to_the_camera/107932_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The lower left area of the door222222The corner of the table closest to the camera"
+    ],
+    "target_area_description_en": [
+      "The lower left area of the door",
+      "The corner of the table closest to the camera"
+    ],
+    "target_area_description_cn": [
+      "门的左下角区域",
+      "离镜头最近的桌角"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          684,
+          1024
+        ],
+        "counts": "Ud[7>Xd0KR\\O;gc0MS\\O7hc0j0L4L3N2N3M1N3O1N2N2N101N1O2O001N100O101O0000000O10000000000000000000000000000000000000000000000000000000000000000000000000000000000000000001O000000001N10001O0O101N2O0O2O1N2N2O1N2N2N3M2M5L3nNX\\O:oc0]OW\\O?_d0J8FSll28gSSM6J5M3L4M2M3N2N2N2O1N2M2M4M3M2O1O2M2O2N100O1O1O2O0O100O10001N1000000O2O0000000000001O00001O00001O001O0001O00010O001O00001O0O2O001O1O0O2O1O1N2O001N3N1N2N3N2M2N2N2N2N3M2N3L4L3M4L5J6JjWS7"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          684,
+          1024
+        ],
+        "counts": "_Qm73Te0;G5L4M3L3N2N4L3M3N1N3M2O1N101O1N101O1O00001O00000000001OO11O0000001O1O1O001O1O1O1O1O1O1O1O1O1O001O1O1O1O1O1O1O1O001O001O010O001O01O01O00001O001N2O001O1O1O001N101O00001O000O2O1O001O1O0O1100O10O010O01O01000O01O10O1O010O10O01O0010O01O010O010O0010O100O1O100O100O1O100O100O010O010O100O010O0010O01O010O1O010O10O010O00010O10O010O01O01O01O01O01O010O001O001O00001O00001O00001O00001O00001O1O001O00001O00001O00001O001O000000001O001O0000001O000000001O1O001O00001O00001O00000000001O00001O001O001O001O0000001O0000001O001O001O001O001O00001O00001O0000001O00009TNe\\OU1[d0^O1O1O2M4J6J_jc7"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/bag222222table/003172_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/bag222222table/003172_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd371995833582bec027396cf0fbd8e4bd28e3e4
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/bag222222table/003172_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/bag222222table/003172_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bag222222table"
+    ],
+    "target_area_description_en": [
+      "bag",
+      "table"
+    ],
+    "target_area_description_cn": [
+      "书包",
+      "桌子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          968,
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+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/bed222222_The_table_farthest_from_the_camera/102576_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/bed222222_The_table_farthest_from_the_camera/102576_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..5245a664bffe34ea25438442c06f014f0c9c67a3
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/bed222222_The_table_farthest_from_the_camera/102576_mask_rle.json
@@ -0,0 +1,47 @@
+{
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+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/bed222222_The_table_farthest_from_the_camera/102576_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bed222222 The table farthest from the camera"
+    ],
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+      "bed",
+      "The table farthest from the camera"
+    ],
+    "target_area_description_cn": [
+      "床",
+      "离镜头最远的桌子"
+    ],
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+      true
+    ],
+    "precise_description": [
+      true
+    ]
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+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_big_carpet/101643_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_big_carpet/101643_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..2418e6a6b4751d084ba1b95c4e38046a4cf91123
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_big_carpet/101643_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_big_carpet/101643_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bed 222222 big carpet"
+    ],
+    "target_area_description_en": [
+      "bed",
+      "big carpet"
+    ],
+    "target_area_description_cn": [
+      "床",
+      "大柜子"
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+      true
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+      true
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+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_door/101439_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_door/101439_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..584e9beec658e29dd1112c8fd0cdf3ef1cfce789
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_door/101439_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_door/101439_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bed 222222 door"
+    ],
+    "target_area_description_en": [
+      "bed",
+      "door"
+    ],
+    "target_area_description_cn": [
+      "床",
+      "门"
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+        "counts": "lmf21c:001O1O001O1O001O1O001O1O00100O001O001O1O1O1O1O1O1O2N1O1O2O0O1O1O2N2[FUO^9P100000000000000001O0000000000000000000000000000001O000000001O00000000001O00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000001O1O1O1O2N1O1O1O2N00001O001O1O001O1O1O1O001O001O001O1O001O1O00001O001O0O2O1O001O00Po="
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_door/101456_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_door/101456_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc77b27a4d43849549056f1d9781055d1d1fc490
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_door/101456_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_door/101456_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bed 222222 door"
+    ],
+    "target_area_description_en": [
+      "bed",
+      "door"
+    ],
+    "target_area_description_cn": [
+      "床",
+      "门"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
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+          384,
+          512
+        ],
+        "counts": "n1o7R4N10001O001O0O1O2N1O2O0O100O2N101OO02O001N10001O00000O2O0O101O0O2O00001O001O00001N10001O00001N101O0O101N101N10001N1000002Mc1eIXIU1l0_O_`:WOYjE2N3N1N2O1N101O1O1N2O1O0O2O1N2M3O1N2N2O1O1N101O1O1N2O2M2O5K2N2O1N2N3N3L6J3N2M3M2O1N1O1O100O10000O010O10000O01001O001O0O2O001N102M2O2N:E2O00000O1000000O100000O10O1000O02O1O001N2O1O1O1O2N0O0100000O0100001O0O101O1N101O0O2O2N3L2O2M101O0O1000001N2O1O0000000O0100O100O1O1O10O101O1O2N1O2N001O1O00002N010O000000000000O1000000000000000001O0000000000000000000000000000000000000000001O0000000000000000000000000O10001O0000000000000000001O00000000000001O0000000000000000000001O00000000000000000000000000000000000000001O000000000001O0000000000O100001O0000000000000000000001N10000000O2N1J501N2O1O1O100O1O1O1O1O10000O1O1O1O2O0O1O100O1O100O100O100O100O100000000O0100000O100ZOcJhJ^5m4P1N2O100O1O1O1N2O1O1N2O1M3M3L4N2O1O1N2O1O1O1O1M3M3M3O1O100O100O1000000001O00000000000000000000000000000000001O001O1O2N1O1O1O1O0000000000000oLhKZNX4g40YMhKfMY4Y2gKgMY4P51O001O1O1O2N001O1O0000O1O[LbKXM0^1]4X1iKoLJ^O2Y2[4X1nK_LEL278V2R4VOdK<>RNH65U2R4UOeKdNM04S1m0hN_O[2o3VNbK00F3MNN5Q1`1\\OZNZ10"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          384,
+          512
+        ],
+        "counts": "o9d0\\;00O010000O100O10000O10000O10000O10000O10000O10000O10000O10000O10000O10000O100O10000O10000O10000O10000000000O1001O0000001O00001O0000000000001O000000000010O000001O0001O00000000POVEj0Q;O00001O0000O1000001O000000000O10000000000000001O0001O002N1O1O002N4L4L2N2N2N3M2N1O00000000000000O10000000000000000001O00001O00[eV4"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_wardrobe/102050_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_wardrobe/102050_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d6ef481b6ae12ff18667aac7124825e2cf062e2
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_wardrobe/102050_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_wardrobe/102050_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bed 222222 wardrobe"
+    ],
+    "target_area_description_en": [
+      "bed",
+      "wardrobe"
+    ],
+    "target_area_description_cn": [
+      "床",
+      "衣柜"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "alb02`:5K3L5M2L4M3N3M3L4M3L4M3M2N3M3M2N4L2L3N3J5O1M3M3G9D;O2N2fMPMnLR3Q3XM_Lo2a3UMjK\\3V4gLcK]3]4fL[K^3f4dLTK`3l4U1O000000000000000000000O10000000000000000O100000000000001O000000`KQK[3n4U1100000000O10000O100O010O100O100O1O100O100O100O010O100O100O100O10000O1O100O010O100O100O1O1O100O100O100O10O0100O1O100O10O0100O1O10000O1O100O010O100O100O2O2N8G6jKdIj3d6O0O10D`LdI`3\\6aLdI^3\\6cLdI^3Y6cLgIa3U6`LkId3o5]LRJc3l5_LSJb3l5^LUJa3k5`LTJ`3l5bLSJ\\3n5dLSJ[3l5gLSJi26hLi5?QJc2c6^M]I`2d6`M\\I`2d6aM\\I]2e6cM[I\\2g6dMYI[2g6h02N1PMVIV2j6i02QMTIS2m6mMTIR2h7N101N2O0O2O1N2N2O1N2N101N2O1N1O2O1N2N3N0O2O1N2O0O1O2N101N2O0O2O1N101N2N101N2O1O0O3O0O04L2N1O0O2O0TOiN[HW1U7[OhHe0l6ISI3d6;ZI]Ob6P1^InNX6^1hIaNn5k1SJPNe5\\2\\JZM_OFf5a3l0<G8L5O0O2O001N1010O01O001O01O01O1O0O2N101N2KVK^Jj4a56O0O2O001O0O2O001N2O1N101N10001N101O001N2O001N101O001N101O0O2O001N101O0O2O001N2O001N101O001O1O000011N2O0O01O0000O1O10O0JoIkKP6V46001N2JdKRJ^4m55K5L40O01FTKiJo4T5:N101O1O1O001O1O0O2O1O001L4M3M2M4L4L3M4N2L4L3N3K5M3L4M3L4L4M3L5J6K5L3L5L4K5I7L4J6L4L5I6L4K5K5J7Kb`j0"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "aVf22b:1O001O0O2O1O000O2O001O000O1000O010001O000O101O00001O0O3N1O1O1N2O10;D10N2O1N3M101O1N100O2O001N2O0O2O1N2O0O2N101N101N101N1O2O1N1O_Vn1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_wardrobe/102178_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_wardrobe/102178_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..1434e8fee6a0662dfabe7ee58e6112414fad69a3
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_wardrobe/102178_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_wardrobe/102178_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bed 222222 wardrobe"
+    ],
+    "target_area_description_en": [
+      "bed",
+      "wardrobe"
+    ],
+    "target_area_description_cn": [
+      "床",
+      "衣柜"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "Znc05^:?A6K>B`0@4K3N1O1O1O1O001O2N2N9QHkMEO1HO180i5]5POh0XOc0]OR1nN>B8Ha0_O4L4M5J7I1O000000hHYOc4g0YKCcMDl6i0`KLZ44fKo0W3QOiLk1[2VNdMm1Y2SNgMn1W2SNiMm1W2SNiMm17XMhN?gN>Z2j1Y1SOgNm0V1VOjNj0U1WOkNh0V1XOjNh0V1XOkNf0U1[OkNd0V1]OiNb0X1^OhNa0Y1_OgN`0Z1@fN?[1AeN>\\1BdN<^1DbN:`1F`N9a1G_N8a1J^N4d1L\\N3e1M[N2f1NZN1g1OYN1g1OYN0h10XNOi11WNNi13WNKk15VNIk17UNIk17UNHl19SNFn1:RNFn1:RNFn1:RNFm1;SNEm1;SNEm1;SNEm1;SNEm1;SNEm1;SNEm1;SNEm1;SNEl1=SNCm1=SNCm1=SNCm1=SNCm1=SNCm1=SNCm1=SNCm1>RNBn1>RNBn1>RNBm1?SNAm1?SNAm1?SNAm1?SNAm1?SNAm1?SN@n1a0QN_Oo1a0QN_Oo1a0QN_Oo1a0QN@m1a0SN_Om1a0SN_Om1a0SN@l1`0TN@l1a0SN@l1`0TNBj1>VNBj1>WNBg1?YNBf1>ZNBf1>ZNCe1=[NCe1=[NEb1<^NEa1;_NF`1:`NH^18bNI]18bNI]17dNI[17eNKX16hNKW15iNLV14jNMU13kNNT12lNNT12lNOS12lNOR12nNNR12nNNR12nNNR12nNOQ11oNOQ11oNOQ11oN0o01QO1m0OSO1m0OTO1k00TO0l00TOUNjMC1E1T1o2`1VOoM^O\\Od1e2RO\\MeM2Z5b2c20000001N1\\JgMm2Y2PMRNoMXOc4f2]MlNnM]No3g2SN0SNkMN^Ok1g23R1LnN4R1KPO3R1LnN4R1LnN3T1LlN4T1LlN3U1MkN3V1LjN3W1LjN4W1KiN4X1LiN3W1MiN2Y1MgN3Y1LhN3Y1MgN2[1MeN2\\1NdN2]1McN2^1NbN2_1MaN2`1NaN1_1NbN1_1OaN1`1N`N1a1O_N0b10^N0b10^NOd10\\NOe11\\NNe11[NNf12ZNMh12XNNh12XNMi13WNMi13WNLk13UNMk12VNMk13VNLk13UNLl14TNLm12TNMn12RNNo11QNNQ21oMOT2OlMOV20jM0Y2MgM3lMPOTOk02SOm2m014bM\\1\\OcMl17XNb0LYO9MZ2T1dMl11ZMj06oN7O]O8L[2f5fMQKGM1A5L]2[7^M^IX2a7N4L:F4MTH]Ne6c1YIdNc6[1YIPO`6P1_IXOCSOX6e1SJ0f50SJ=f5DWJZ1B\\M0Dk4h1bK\\2FlKj3m1_LV3GUKh1IdNV2L^3Y1WMfNm2V1TMiNa3KeI8Q3MV7N2M4MXeb01hZ]O2M2O1O1O1O1N3N2N3Mc0]Od0[OS1nNn0[HVLg00S5i4N001N100000000O100000000O2O00000O101O000O10001N10001O0O1000001O0O10001O000O2O00001N10001O0O10001O0O101O000O101O00001N1000001O000O101O000ORKYKQ4g4fKjKG^Oo3i4ZLfLJcNi2h4]MdM_OeN0\\O0X5a0Y4000O10000000000000000001O0000000001O0000000001O0000000000000000000O2M2O1N2N2N3McU?"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "eck24P:c0M000O1000000000000O10000000000000000O100000000000000000000000000000O1000000000O10000O100000O10000000000000000000000000O1000O100000O10000O1000O0100O10O010O100O1000000O1000000O1000O10000000000O1000000O10000O10000O10O0100O0101O000O2O0000001O0000001O0O10001N10001N10001N1000000O2O000O101O0O101O2MbXm0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222bed/000550_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222bed/000550_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1df3c05c954eb19dc7b86e350990136e53b806f
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222bed/000550_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222bed/000550_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair222222bed"
+    ],
+    "target_area_description_en": [
+      "chair",
+      "bed"
+    ],
+    "target_area_description_cn": [
+      "椅子",
+      "床"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          968,
+          1296
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222doorway/row_101_col_image_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222doorway/row_101_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b522d4b73fd5c4e283812b9fe9724b99a354fa4
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222doorway/row_101_col_image_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222doorway/row_101_col_image_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair222222doorway"
+    ],
+    "target_area_description_en": [
+      "chair",
+      "doorway"
+    ],
+    "target_area_description_cn": [
+      "椅子",
+      "门口"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
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+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/coffee_table222222single_sofa/000502_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/coffee_table222222single_sofa/000502_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..f47560b57bb3aa555d8bec64fb62442c13a45baa
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/coffee_table222222single_sofa/000502_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/coffee_table222222single_sofa/000502_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
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+      "coffee table222222single sofa"
+    ],
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/floor_lamp222222the_front_of_the_TV_stand/2020_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/floor_lamp222222the_front_of_the_TV_stand/2020_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..c835da5fed6d0dc59b129ade207137bf7a77a276
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/floor_lamp222222the_front_of_the_TV_stand/2020_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/floor_lamp222222the_front_of_the_TV_stand/2020_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "floor lamp222222the front of the TV  stand"
+    ],
+    "target_area_description_en": [
+      "floor lamp",
+      "the front of the TV  stand"
+    ],
+    "target_area_description_cn": [
+      "落地灯",
+      "电视柜的前方"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
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+          800
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/red_sofa_222222_bookshelf/063486_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/red_sofa_222222_bookshelf/063486_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..df5f495db38397ffd3f0f5c9cd13322820117cb1
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/red_sofa_222222_bookshelf/063486_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/red_sofa_222222_bookshelf/063486_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "red sofa 222222 bookshelf"
+    ],
+    "target_area_description_en": [
+      "red sofa",
+      "bookshelf"
+    ],
+    "target_area_description_cn": [
+      "沙发",
+      "书架"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
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+          384,
+          512
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+      }
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+          384,
+          512
+        ],
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+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222The_bed_closest_to_the_camera/001438_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222The_bed_closest_to_the_camera/001438_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..e554cec75aa1ee63a89ffae766831a720e87a25f
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222The_bed_closest_to_the_camera/001438_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222The_bed_closest_to_the_camera/001438_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "sofa222222The bed closest to the camera"
+    ],
+    "target_area_description_en": [
+      "sofa",
+      "The bed closest to the camera"
+    ],
+    "target_area_description_cn": [
+      "沙发",
+      "离镜头最近的床"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          968,
+          1296
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222The_taller_table/000486_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222The_taller_table/000486_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..3918da815111ed0e2ff3078a0de81ee6a9ba977a
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222The_taller_table/000486_mask_rle.json
@@ -0,0 +1,47 @@
+{
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+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222The_taller_table/000486_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "sofa222222The taller table"
+    ],
+    "target_area_description_en": [
+      "sofa",
+      "The taller table"
+    ],
+    "target_area_description_cn": [
+      "沙发",
+      "较高的桌子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222sofa/000570_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222sofa/000570_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..47282c7bd9edd4bef35ec403f4d7f4539a80cb2a
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222sofa/000570_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222sofa/000570_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "sofa222222sofa"
+    ],
+    "target_area_description_en": [
+      "sofa",
+      "sofa"
+    ],
+    "target_area_description_cn": [
+      "沙发",
+      "沙发"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
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+          340,
+          512
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+      {
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+          340,
+          512
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/stool222222The_single_sofa_on_the_right/000952_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/stool222222The_single_sofa_on_the_right/000952_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..93613fcf5c256b3fb65facfe229797706563248a
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/stool222222The_single_sofa_on_the_right/000952_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/stool222222The_single_sofa_on_the_right/000952_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "stool222222The single sofa on the right."
+    ],
+    "target_area_description_en": [
+      "stool",
+      "The single sofa on the right."
+    ],
+    "target_area_description_cn": [
+      "凳子",
+      "右边的单人沙发"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
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+          341,
+          512
+        ],
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+          341,
+          512
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/stool222222stool/taskonomy_foyil_point_428_view_3_domain_rgb_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/stool222222stool/taskonomy_foyil_point_428_view_3_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..b87dfec2c102a24ca4eb5e51b8ddc02ad103fd5d
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/stool222222stool/taskonomy_foyil_point_428_view_3_domain_rgb_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/stool222222stool/taskonomy_foyil_point_428_view_3_domain_rgb_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "stool222222stool"
+    ],
+    "target_area_description_en": [
+      "stool",
+      "stool"
+    ],
+    "target_area_description_cn": [
+      "凳子",
+      "凳子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
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+          512,
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/table222222chair/000502_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/table222222chair/000502_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b0349b13253116434928a1c0bde2dc315f444fb
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/table222222chair/000502_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/table222222chair/000502_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "table222222chair"
+    ],
+    "target_area_description_en": [
+      "table",
+      "chair"
+    ],
+    "target_area_description_cn": [
+      "桌子",
+      "椅子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      false
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
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+          341,
+          512
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+      }
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+      }
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+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/table222222television/063256_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/table222222television/063256_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f612dc65845f9b3db35c7f7fe1f3757d1916c17
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/table222222television/063256_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/table222222television/063256_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "table222222television"
+    ],
+    "target_area_description_en": [
+      "table",
+      "television"
+    ],
+    "target_area_description_cn": [
+      "桌子",
+      "电视机"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
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+          384,
+          512
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/the_dining_table222222the_back_of_the_sofa/1159289_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/the_dining_table222222the_back_of_the_sofa/1159289_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc1ef80fbff478e6c3cc8eff1dab3a15aa46fb80
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/the_dining_table222222the_back_of_the_sofa/1159289_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/the_dining_table222222the_back_of_the_sofa/1159289_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the dining table222222the back of the sofa"
+    ],
+    "target_area_description_en": [
+      "the dining table",
+      "the back of the sofa"
+    ],
+    "target_area_description_cn": [
+      "餐桌",
+      "沙发的背面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          600,
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/the_door222222the_coffee_table/1125_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/the_door222222the_coffee_table/1125_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8b34780ba0dfd2187d31e01d9637062aa588aed
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/the_door222222the_coffee_table/1125_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/the_door222222the_coffee_table/1125_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the  door222222the coffee table"
+    ],
+    "target_area_description_en": [
+      "the  door",
+      "the coffee table"
+    ],
+    "target_area_description_cn": [
+      "门",
+      "茶几"
+    ],
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+      true
+    ],
+    "precise_description": [
+      true
+    ]
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+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_chair222222the_back_and_side_of_the_table/1007_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_chair222222the_back_and_side_of_the_table/1007_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fb24eb928d28e8df481c06f5719da5ff6d062d4
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_chair222222the_back_and_side_of_the_table/1007_mask_rle.json
@@ -0,0 +1,47 @@
+{
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+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_chair222222the_back_and_side_of_the_table/1007_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the chair222222the back and side of the table"
+    ],
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+      "the front of the chair",
+      "the back and side of the table"
+    ],
+    "target_area_description_cn": [
+      "椅子的正面",
+      "桌子的斜后方"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_sink222222the_door/1159282_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_sink222222the_door/1159282_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..c69b512cc22a741868b59d6908c3624cf65186a9
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_sink222222the_door/1159282_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_sink222222the_door/1159282_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the sink222222the door"
+    ],
+    "target_area_description_en": [
+      "the front of the sink",
+      "the door"
+    ],
+    "target_area_description_cn": [
+      "洗菜池的正前方",
+      "门"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
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+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/the_lower_oven222222the_front_of_the_fridge/107978_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/the_lower_oven222222the_front_of_the_fridge/107978_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..13831ef270fdec09fe7199293d24384319464db3
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/the_lower_oven222222the_front_of_the_fridge/107978_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/the_lower_oven222222the_front_of_the_fridge/107978_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the lower oven222222the front of the fridge"
+    ],
+    "target_area_description_en": [
+      "the lower oven",
+      "the front of the fridge"
+    ],
+    "target_area_description_cn": [
+      "下层的烤箱",
+      "冰箱的正面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/the_red_chair222222the_front_of_the_blackboard/1105_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/the_red_chair222222the_front_of_the_blackboard/1105_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..675d3cb4d8e2201d5514d53b42bc5d0182bd6aba
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/the_red_chair222222the_front_of_the_blackboard/1105_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/the_red_chair222222the_front_of_the_blackboard/1105_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the red chair222222the front of the blackboard"
+    ],
+    "target_area_description_en": [
+      "the red chair",
+      "the front of the blackboard"
+    ],
+    "target_area_description_cn": [
+      "红色椅子",
+      "黑板的前方"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
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+          800
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+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/tiger_doll222222the_front_of_the_window/1099_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/tiger_doll222222the_front_of_the_window/1099_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..abf41aa223bdf51a94b8df2b46d6a60079190247
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/tiger_doll222222the_front_of_the_window/1099_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/tiger_doll222222the_front_of_the_window/1099_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "tiger doll222222the front of the window"
+    ],
+    "target_area_description_en": [
+      "tiger doll",
+      "the front of the window"
+    ],
+    "target_area_description_cn": [
+      "老虎玩偶",
+      "窗户的前面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
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+          459,
+          690
+        ],
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+      }
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+    "masklet_path": [
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+          459,
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/Arcade_racing_seat/1004_mask_rle.json b/Navigation/GroundDetection/Arcade_racing_seat/1004_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..562d77d0bceddb0f714d9d6de3d11f083ab8974b
--- /dev/null
+++ b/Navigation/GroundDetection/Arcade_racing_seat/1004_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/Arcade_racing_seat/1004_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Arcade racing seat"
+    ],
+    "scene_description_en": [
+      "Arcade racing seat"
+    ],
+    "scene_description_cn": [
+      "街机赛车座椅"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
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+          600,
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/At_the_bottom_of_the_wall_at_the_upper_right_corner_of_the_light_wooden_staircase_steps_located_on_the_left_side_of_the_picture__next_to_the_wooden_railing/row_100_col_image_mask_rle.json b/Navigation/GroundDetection/At_the_bottom_of_the_wall_at_the_upper_right_corner_of_the_light_wooden_staircase_steps_located_on_the_left_side_of_the_picture__next_to_the_wooden_railing/row_100_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..d031868bcec46e8a7b769f9eb46e8fea747c226a
--- /dev/null
+++ b/Navigation/GroundDetection/At_the_bottom_of_the_wall_at_the_upper_right_corner_of_the_light_wooden_staircase_steps_located_on_the_left_side_of_the_picture__next_to_the_wooden_railing/row_100_col_image_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/At_the_bottom_of_the_wall_at_the_upper_right_corner_of_the_light_wooden_staircase_steps_located_on_the_left_side_of_the_picture__next_to_the_wooden_railing/row_100_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "At the bottom of the wall at the upper right corner of the light wooden staircase steps located on the left side of the picture, next to the wooden railing"
+    ],
+    "scene_description_en": [
+      "At the bottom of the wall at the upper right corner of the light wooden staircase steps located on the left side of the picture, next to the wooden railing"
+    ],
+    "scene_description_cn": [
+      "位于画面左侧、木质栏杆旁的浅木色楼梯台阶的右上角的墙的底部"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          375,
+          500
+        ],
+        "counts": "T:_1X:2M2O00001OO100000000000O100000000000000000000000000000000000000000000001OO1000000O10000000000000000O10000000000000000000000000000000000O100000000000000000000O100000000000000000000000000O100000000000000000000000000O100000000000000000000O10000000000000000O100000000001O001O0000000000O1B_NeFb1Z9>O1000000000000001O0000000000O100O10000O10000000001O00000000O10O10000000000000000000000000000000000000000001O000000001O000010O01O001N101O0010OO2O010O1O1O1O1N10000000001O0000001O001O01OO2O1O001O001O001O001O001O001O001O001O001O001O001O001O001O001O1O001O001O001O001O001O00001O001O00001O00010O0O101O00001O001O1O001O00001O001O001O001O00001O001O00001O001O00001O001O0000001O001O00001O001O001O00001O001O001O001O001O001O001O1O1O00001O00001O001O001O1N^Ra1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/At_the_handle_of_the_refrigerator222222The_area_at_the_bottom_of_the_door/107978_mask_rle.json b/Navigation/GroundDetection/At_the_handle_of_the_refrigerator222222The_area_at_the_bottom_of_the_door/107978_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3b3adac8b870fd8c947e7114d764d9116978078
--- /dev/null
+++ b/Navigation/GroundDetection/At_the_handle_of_the_refrigerator222222The_area_at_the_bottom_of_the_door/107978_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/At_the_handle_of_the_refrigerator222222The_area_at_the_bottom_of_the_door/107978_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "At the handle of the refrigerator222222The area at the bottom of the door"
+    ],
+    "scene_description_en": [
+      "At the handle of the refrigerator",
+      "The area at the bottom of the door"
+    ],
+    "scene_description_cn": [
+      "冰箱把手处",
+      "门底部区域"
+    ]
+  },
+  "mask_annotation": {
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+      {
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+          1024,
+          681
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/In_front_of_the_black_stool/40966448_524.024_mask_rle.json b/Navigation/GroundDetection/In_front_of_the_black_stool/40966448_524.024_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..f51e21331581a69a129979ff34f9178e44f85494
--- /dev/null
+++ b/Navigation/GroundDetection/In_front_of_the_black_stool/40966448_524.024_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/In_front_of_the_black_stool/40966448_524.024_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "In front of the black stool"
+    ],
+    "scene_description_en": [
+      "In front of the black stool"
+    ],
+    "scene_description_cn": [
+      "黑色凳子面前"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/In_front_of_the_dark-colored_chair/41048068_3149.044_mask_rle.json b/Navigation/GroundDetection/In_front_of_the_dark-colored_chair/41048068_3149.044_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..55a4ef4271e4163a630c60e852e354b172bc6571
--- /dev/null
+++ b/Navigation/GroundDetection/In_front_of_the_dark-colored_chair/41048068_3149.044_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/In_front_of_the_dark-colored_chair/41048068_3149.044_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "In front of the dark-colored chair"
+    ],
+    "scene_description_en": [
+      "In front of the dark-colored chair"
+    ],
+    "scene_description_cn": [
+      "深色椅子前"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/In_front_of_the_kettle/41007602_5317.888_mask_rle.json b/Navigation/GroundDetection/In_front_of_the_kettle/41007602_5317.888_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcdb68a10fc6176010c9775f3b1bc29094d9a605
--- /dev/null
+++ b/Navigation/GroundDetection/In_front_of_the_kettle/41007602_5317.888_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/In_front_of_the_kettle/41007602_5317.888_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "In front of the kettle"
+    ],
+    "scene_description_en": [
+      "In front of the kettle"
+    ],
+    "scene_description_cn": [
+      "水壶前"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "kan34i>3O1N2_NGYD<f;EVD>i;CVD>i;CTD`0k;BSD?l;BRD`0m;AQD`0o;AoCa0P<@nCb0Q<@lCb0S<_OkCc0T<_OiCc0V<_OgCc0X<@dCb0\\<@_Cc0`<o0O100N201N001O1O2N1N1O201O00O2O000001O0000O2O0000000000001O00000000001O000000001O000000000000001O000000000000001O01O0000000001O0000000O10001O0000001O0000000000001O000000000000001O00000000000010O00O1000001O00000000001O000001O000001O00000O1000001O0000000000001O000000000000001O00000000001O00000000001O01O00000000000001O00000000001N100001O0001N100001OO10000000001O0000000000001O000000001O00000000000000001O0001O00000000000001O00000O100001O01N11O000000O101O0000000000000000000000001O000000000000000000000000001O00000001OO1000000000001O000000001O001O1O1O001O0000001O0001O000001O000000000000000O10O1000000000000000000000000000000O100000000000001O0000000000O1000000000O10000000000000000O1000000000001O000000O10`B"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/In_front_of_the_mirror/1058_mask_rle.json b/Navigation/GroundDetection/In_front_of_the_mirror/1058_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..712342438aa16d61fffa258220c4ced5bef0b86c
--- /dev/null
+++ b/Navigation/GroundDetection/In_front_of_the_mirror/1058_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/In_front_of_the_mirror/1058_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "In front of the mirror"
+    ],
+    "scene_description_en": [
+      "In front of the mirror"
+    ],
+    "scene_description_cn": [
+      "镜子前面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          547,
+          674
+        ],
+        "counts": "_`0b0a`001O1O1O1O001O1O1O1O1N2O1O2N2MoQ`43om_K1O1O0O1O20O0000O03Kge21YZM3N1O2O00000O20O001O7HmmR21kQmM8O10000000000000000000000O1O1O1N2O1O1N2N2I7N2O1O10000O100O100fLnNcFR1]9oNbFQ1^9POaFP1^9RO`Fo0`9RO_Fn0a9SO^Fm0a9UO]Fl0c9WOZFi0f9XOYFh0g9[OUFf0k9^OQFb0o9@nEa0Q:AbE[OSNU1[<A[EP1e:QOVES1j:nNTES1k:POSEP1m:QOQEP1o:ROmDP1S;ROgDR1Y;oN\\D[1d;gNWD\\1i;eNRD_1n;bNmCb1S<aNfCc1Z<c1O100000000O10000O10000O10000O100O100O100O1O100O10000000000001O000000001O0000001O00001O001O0000^OhKYDX4P;Y100000000000000000000000000000000000000000000001OO10000000000001O000000000000000000000000000000000000000000001O00000000000000000000001O0000000000000000000000001O0000000000000000000000000000001O0000000000001O000000000000001O00000000000000000000000000O12NXO]JSF`5m9bJQF0]OV5"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/In_front_of_the_table/41048129_9817.362_mask_rle.json b/Navigation/GroundDetection/In_front_of_the_table/41048129_9817.362_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bae7bdfba58fca380bc236e592d37bd62d17aa0
--- /dev/null
+++ b/Navigation/GroundDetection/In_front_of_the_table/41048129_9817.362_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/In_front_of_the_table/41048129_9817.362_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "In front of the table"
+    ],
+    "scene_description_en": [
+      "In front of the table"
+    ],
+    "scene_description_cn": [
+      "桌子前方"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "]Uo43l>2M2O2N2N1N2O1O1O000O2O000gFAR4?lKNi32XL>W3BiLe0P3\\OPMg0l2YOUMj0f2WOZMm0b2SO_Mn0_2ROeKC]N[1m5ROfKIXNU1Q6ROhKNQNQ1W6POiK4kMl0[6POkK9eMg0^6ROmK<`Mb0b6ROoKa0YM>g6QOPLg0TM7l6ROQLl0nL2P7SORLP1hLOT7QOULk2j3UMWLk2h3UMYLk2f3UM[Lk2c3VM^Lj2a3VM`Lj2_3WM`Lj2^3VMdLj2\\3VMeLi2Z3WMgLi2X3WMiLi2V3WMkLi2T3WMmLi2Q3YMoLg2P3YMQMg2n2YMSMf2m2ZMTMf2k2ZMVMf2i2ZMXMf2g2ZMZMf2e2ZM\\Mf2c2[M]Me2b2[M_Me2_2[McMe2\\2[MeMe2Z2\\MeMe2Z2[MgMe2X2[MiMe2V2\\MjMd2U2\\MkMe2T2[MmMe2R2[MoMe2P2[MPNf2n1[MSNe2l1[MUNe2j1[MVNf2i1[MWNe2h1[MYNe2f1[M[Ne2d1[M\\Nf2c1ZM^Nf2`1[MaNe2^1[McNe2\\1[MdNf2[1ZMfNf2Y1[MgNe2X1[MiNe2V1[MjNf2U1[MkNe2S1\\MnNd2Q1\\MoNe2P1[MQOe2n0\\MROd2m0\\MSOe2l0[MUOe2j0\\MVOd2i0]MVOd2h0^MXOb2g0_MYOa2f0`MZO`2e0bMZO^2e0cM[O]2d0dM\\O\\2c0eM\\O\\2c0fM\\OZ2b0hM^OX2a0iM_OW2`0jM_OW2`0kM_OU2?mMAS2>nMBR2=oMBR2=oMCQ2<PNDP2;QNEo1:RNEo1:RNFn18TNHl17UNIk16VNIk16VNJj15WNKi14XNKj13XNLh13YNMf12\\NNd11]NNe10[N1d1O]N1c1[MQLm0]2h1b1UMYLP1V2j1b1TM]LiNEl1\\2X2b1QMiLe0f1Z2a1oLlLe0d1[2a1oLmLc0d1^2_1mLPMc0b1`2^1lLRMb0b1a2\\1lLVM`0^1c2]1kLYM?\\1e2[1kL]M;Z1j2Y1jLbM7W1n2W1jLdM6W1n2V1jLgM5V1o2S1kLkM2T1R3Q1kLoMOR1U3o0kLRNLS1V3l0nLRNJU1V3i0oLVNGT1X3f0PM[NCR1[3c0RMaNZOQ1a3?TM\\2j2dMUM_2i2aMWMa2g2_MYMc2e2]MZMe2d2\\M\\Mf2b2ZM]Mi2a2WM_Mj2_2XM`Mj2^2VMbMl2\\2TMeMm2X2TMhMn2V2RMkMo2S2QMnMo2Q2QMoMQ3o1oLSNQ3j1PMWNQ3g1oLZNR3d1mL^NT3_1mLbNT3\\1lLdNU3[1kLfNW3V1jLjNW3U1iLkNZ3R1fLnN\\3o0eLRO]3k0cLUO_3i0aLWOa3g0_LYOc3d0^L\\Oc3c0]L]Oe3`0\\L_Og3?YLAi3=WLBl3;ULDn3:RLDR4:nKPOgK7a8f0iKSOk4k0UKTOm4k0SKUOo4i0QKWOQ5g0oJYOS5e0mJ[OU5b0lJ^OU5a0kJ_OW5?iJAY5<hJDZ5:fJF\\58dJH_54bJLY:00OQ]10QRO0o@000000001O000O011O000000O1000000000000000000000000000000000000000000000000000000000000000000000000000000000O2OO2O00000000000000000001O00000000O1000000000000000000001O004L000010O0001O1O1O0O3N1O2N1O0O101hI@nM`0]N^OcL0SO0K0Z11SO1D5f0LYO1j33lLJ"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/In_front_of_the_toilet/41007591_2647.224_mask_rle.json b/Navigation/GroundDetection/In_front_of_the_toilet/41007591_2647.224_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f0bc72b3429ed35bd7e1c81a729aa86f1606c3c
--- /dev/null
+++ b/Navigation/GroundDetection/In_front_of_the_toilet/41007591_2647.224_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/In_front_of_the_toilet/41007591_2647.224_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "In front of the toilet"
+    ],
+    "scene_description_en": [
+      "In front of the toilet"
+    ],
+    "scene_description_cn": [
+      "马桶前"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "m^[21m>3M2N2N2O1N2N2O1O1N2O1N3M2O1O1N2O1N2O1N2O1N2O1N2O1O1N1O2O1N2N2O1N2O1N2O1O1N2N2N2O1N2O1O1O1N2O1N3M2O1N2O1O1O1O1O1O1N2O1O1O1N2N2N2N2O1O1N2O1N2O1N101N2O2M2O1N2O1O0O2O1O2M101N2O1O1O1O1O10000O01001O000O10000010O00001O00001O001O1O001O001O001O1O001O00001O00001O001O001O00001O000000001O00000000000000000000000000000000000000000000O1000000O10000O10000000000O100O10O0101O0O100O1O1O10O01O100O1O100O1O2N1O1O1O1O1O1O1O1O1N2N2O1N2N2N2O1N2O1N2dNPKfHR5X7VK`Hl4^7ZKWHm4h7YKkGo4T8o0O1N2N2M3N2M3O1L4M3O1N2N2N2M3N2O1O10000001O0000001O00001O001O001O001O000000001O000000001O00001O00001O001O00001O001O001O001O001O0000001O00000000001O00001O00001O00001O001N110O001O1O1O001O0O110O0000000000001O0000001O00001O000O101O000O2N1L5I6K5I8C<H9H8E;H8G8J6D<G9^Oc0F9C=G9J6VOoB^OY=9[li1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/In_front_of_the_toolbox/41048071_4523.607_mask_rle.json b/Navigation/GroundDetection/In_front_of_the_toolbox/41048071_4523.607_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..daa7613fb4bbd1e82af48a37f99f75bdc7f99ff6
--- /dev/null
+++ b/Navigation/GroundDetection/In_front_of_the_toolbox/41048071_4523.607_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/In_front_of_the_toolbox/41048071_4523.607_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "In front of the toolbox"
+    ],
+    "scene_description_en": [
+      "In front of the toolbox"
+    ],
+    "scene_description_cn": [
+      "工具箱前"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "R9\\3e;eL\\DX3g;O00;D010OLUMTDl2P<O100O100O2OK5N1O2M2M4N2L3N3O1N20O10O1000O1000000O1000000O01000O1000000O10000000000O10000O1O01000000000000000000000000000000000000O10000000000000001O000000000000000000000010O00001O100O01O001N100O2N101O001O1O01000O10kLjD^2W;_MlDa2S;]MPEc2P;XMUEh2b;0O10000O2O001fEoLb8Q3[GRMe8n2UGXMk8g2RG]Mn8c2nF`MR9`2lFbMU9]2jFeMV9Z2iFgMX9X2eFkM[9U2cFnM]9R2aFoM`9P2^FSNk0UOm6h2RHYNo0QOP7f2oG\\Nl0ROU7b2lG^Nm0SOV7`2kG`Nk0RO[7b2dG^Nn0SO]7W4`HjK`7X4\\HkKd7V4XHmKh7S4VHnKj7S4THoKl7P4RHRLo7m3PHTLQ8k3mGXLR8h3lGZLU8f3iG[LW8e3gG]LZ8b3dG`L\\8`3cGaL]8_3bGbL_8]3^GfLd8X3[GiLf8i4O01O001O1O002N2N001O1O001O01XJSJ\\2l5aMXJ_2g5^M\\Jc2d5YM_Jh2a5UMbJj2^5RMfJo2Z5mLjJR3W5iLmJX3S5cLQK]3P5`LRKa3n4[LVKd3k4YLWKh3i4SL[Kn3f4nK]KQ4d4kK_KU4c4fK`KZ4a4bKcK\\4`4_KcK`4_4]KdKa4^4\\KdKc4^4[KcKc4a4ZK`Kd4c4\\K\\Ka4g4_KYK_4j4aKVK[4n4dKRKZ4Q5fKnJY4T5gKkJW4X5hKhJW4Z5iKeJV4^5iKaJW4`5iK^JX4c5hK\\JW4f5hKZJX4g5gKYJX4i5gKWJY4i5hKWJV4k5jKTJV4m5iKSJW4n5iKRJU4P6jKPJV4Q6jKoIT4R6mKmIS4T6mKlIQ4U6oKkIQ4U6PLjIo3X6PLiIo3X6PLhIP4X6PLiIo3W6QLiIn3Y6oKiIQ4Y6hKlIX4W6bKmI\\4\\801N100O2O001N101N10001N1O1O2N000O2O1O2N1O7I5K4H8K4K5L3J6L3N3M3M2N3L3O2M2N2N3L3M3N2N3M2N2N3N1O2M4L4M3L3M4K4KV`7LP`H5L4L3L3N3M3M5K3M5L3L3M2O2M3M4M3L3N2M3N2N1N3N1O2M3N2N2M2O0O3M2O1N1O1O1O1000O010000O100O100O1N2O1N200O100O01O01O1O010O1O1O100O100O100O10O1000O0100O10000O100O101O0O2O1N2O1O3L3N2M2O2M2N2N2O0O3L5L4M3L2O2N2N101N001O4K3N2N2M3N1N2M3H9I7J>DYZ<NaeCb0F7I4L5L3M4K5L3M3N2M3N1O2N2N2O2N0O2O1N10001N101eDeMo9[2oEfMQ:Z2nEfMS:[2kEeMV:\\2hEdMY:^2dEbM\\:`2bE`M_:S3mDmLU;S3iDmLX;V3cDkL_;Z31O0000001O1O1O2N1O1O1O002N1O2N2N1O2N2N2N2N2N2N1O2N1O1O1O1O1O1O1O1O1O1O001O001O001O001O001O0000TLUNcJk1[5_N^J`1_5eN_J[1X4]NWI9`2Z1P4gN]I4`2U1o3mN^I1b2Q1m3SO]IOe2n0m3VOYI0i2j0m3YOVI0l2g0l3@oHMU3c0k3n0ULQOi3Q1WLoNh3R1YLmNe3V1ZLjNe3W1[LiNc3Y1^LfNb3Z1^LfNa3[1_LeNa3[1`LdN`3\\1`LdNa3[1_LeNa3[1_LeNa3[1`LdNa3[1_LeNa3[1_LeNb3Z1^LfNb3Z1^LfNc3Y1]LgNd3W1]LiNc3W1]LiNc3W1]LiNd3V1\\LjNd3V1\\LjNe3U1\\LjNe3V1ZLjNf3V1ZLjNg3U1YLkNg3U1ZLjNg3V1XLjNh3V1XLjNi3U1WLkNj3U1VLjNk3U1ULkNl3T1TLlNm3T1RLlNn3T1SLkNn3T1RLlNo3T1PLlNQ4S1PLlNQ4S1oKmNR4S1nKlNS4S1mKmNT4S1kKmNV4R1kKmNV4R1jKnNW4R1hKnNY4R1gKmNZ4R1fKnNZ4R1fKnN[4Q1eKoN\\4Q1dKnN]4Q1cKoN^4P1bKPO_4o0aKQO`4n0aKQO`4o0_KQOb4n0^KROb4o0]KQOd4n0\\KROd4n0\\KROe4m0\\KROd4n0\\KROe4n0ZKROj4fNnGP2X3ZOR5b0oJ]OQ5c0oJ]OQ5c0PK\\OP5d0PK\\OP5d0PK\\OP5d0PK\\OP5d0QK[Oo4e0QK[Oo4e0QK[On4f0SKYOm4h0RKXOn4h0RKXOn4i0QKWOn4j0RKVOn4k0QKUOo4k0RKTOn4m0QKSOo4m0QKSOo4n0QKQOo4o0QKQOn4Q1QKoNo4R1QKmNo4S1QKmNo4T1PKlNo4U1QKkNo4U1QKkNo4V1QKiNo4X1PKhNo4Y1QKgNo4Z1PKfNP5[1oJeNQ5[1PKdNP5]1oJcNQ5]1oJcNQ5^1nJbNR5^1nJbNQ5`1nJ`NR5`1oJ_NQ5b1nJ^NR5b1nJ^NR5b1nJ^NQ5d1nJ\\NR5d1nJ\\NQ5g1mJYNR5i1mJWN"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/Located_in_the_area_on_the_left_side_of_the_screen__at_the_lower_right_of_the_glass_sliding_door/row_1228_col_image_mask_rle.json b/Navigation/GroundDetection/Located_in_the_area_on_the_left_side_of_the_screen__at_the_lower_right_of_the_glass_sliding_door/row_1228_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3212babc2c9f35cd7f3ccc011c38c21a7217107
--- /dev/null
+++ b/Navigation/GroundDetection/Located_in_the_area_on_the_left_side_of_the_screen__at_the_lower_right_of_the_glass_sliding_door/row_1228_col_image_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/Located_in_the_area_on_the_left_side_of_the_screen__at_the_lower_right_of_the_glass_sliding_door/row_1228_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Located in the area on the left side of the screen, at the lower right of the glass sliding door"
+    ],
+    "scene_description_en": [
+      "Located in the area on the left side of the screen, at the lower right of the glass sliding door"
+    ],
+    "scene_description_cn": [
+      "位于画面左侧、玻璃推拉门右下方区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "VP7=b><D3N0000O10O1000000O1000000O1000000000000000O100HSB]Om=a0VB^Oj=?=L4N4HYW45fhK8I1102M2Kig3O[XL4K5K2N2N100O001000000O10000O100O1000000O1000000O10001O000O1O1O1N2O2N110O01O9^OmAEj>M`e31]ZL7K1N101N101O0O101O0O2O001N101N101O0O2O001N3N1O1N3N1N100O1000000O100000O1000O0100O100O00]DnNZ9Q1eFQO[9n0`FXO_9g0`F]O_9b0]FCc9<[FGd99ZFJf94XF0h9NTF8l9FRF>n9@QFd0n9[OoEi0P:WOlEn0T:QOgEU1Y:kNcEY1]:fNaE]1^:eN\\E`1d:`NVEf1j:[NQEi1n:ZNmDi1S;R10O1000000000000000001O000001O01O0O101O0001O01O0000001N1000010O0O100000001O00000000001O000001O01O000O101O01O00O110O000000001N100000001O000001O01O0O1000001O0000001O000000001O00000000001O000000001O000000001O000000001O00000000001O0000001O00001O0000001O00000010O00O10001O0000001O00000010O000001O0O1000001O0000001O000000001O000000001O000000001O000000001O000000001O00001O000001O0001O00000000000O2O0000001O000000001O00000000001O0000001O00000000001O00000000001O00000000001O000000001O000000001O0000001O01O0001O000000001O00000000001O00000O110O00000000001O0000001N100000001O0000001O000000001O0001O000001O0000001O00000000001O00000000001O0000001O000000001O0000001O0000001O0000001O000O1000001O0000001O000000001O000000001O01O00000001O000O1001O01O000000001O0000001N1000010O0000001O000000001O00000O10001O000000000010O00000001O0000001O000000001O000O10010O00000O2O000001O01O00000000001O00000O1010O000000O2O0000001O0000001O0000001O0O100OjA"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/On_the_table_on_the_right_side_of_the_second_row_of_the_room_(counting_from_front_to_back)/1111_mask_rle.json b/Navigation/GroundDetection/On_the_table_on_the_right_side_of_the_second_row_of_the_room_(counting_from_front_to_back)/1111_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b4765ffaf189ed8a635c16f67cef3ed850b7b0b
--- /dev/null
+++ b/Navigation/GroundDetection/On_the_table_on_the_right_side_of_the_second_row_of_the_room_(counting_from_front_to_back)/1111_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/On_the_table_on_the_right_side_of_the_second_row_of_the_room_(counting_from_front_to_back)/1111_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "On the table on the right side of the second row of the room (counting from front to back)"
+    ],
+    "scene_description_en": [
+      "On the table on the right side of the second row of the room (counting from front to back)"
+    ],
+    "scene_description_cn": [
+      "位于房间的第二排（从前往后数）右侧的桌子上"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          534,
+          800
+        ],
+        "counts": "]Sf41e`01O0000O1000O1\\O2R@M2:l?;O100000000000O1000000000000000000000000000000000000000001O0001O010O10O1O2N010O1O1OXT6@WlI2QOb0]@Eb?h00000000000001O1Nl0TOao8;TPG4c@CZ>_1N1N2O0001O001OXM]N^Fa1^9SOVFi0i9[O^F;`9HdFO`93a31N2TDVOj7[1SEg1]:bNTER2^:Z2I3M1O001O1O000000000000000000000000000000000000000000000O1000000000000000000000000000000000000000000000000000000000000002Na0_O3M2N2N1O3M2N2N1O1O1O1O1O00000000001nJ\\EP4g;N1O2N3M1O2N2N2N2N2N2N1O1O1O00000000O100O1000000000000000000000000000000000000001ZMkBYOb0i1d<YNYDc1`=M2N2N2N1O3MlMfNnDX1R;hNoDW1Z=N2N1O3M1O2N2N2N2N3M1O2N2N2N2N00000000000000O1O1O100O1O10000O10000O100O1000000O10000000000000000000000000000000000001O001O00O1O100O100O1O100O100SNYOVB<95F6f==UBD10T=g2O100O100000FoBoLQ=j2`0M4K5K5K=bMjA3M0KN2f0NAj?5`0Hfb2>P]M4M1O00000O1O1O1K5G9O100O101O00000000O10000000000O3nNf@KN=5@ed4o0kjK3M1O1OL4O1O1L4M3M3N200O1O1O1O100O100O2OO010000000000O1000000O1O2Lig5M]XJ001O0Qb_1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/Part_of_the_chair_222222_part_of_the_sofa/000175_mask_rle.json b/Navigation/GroundDetection/Part_of_the_chair_222222_part_of_the_sofa/000175_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c6d2dc6a091a2cb4d9ee0b24c8684a181b50c1e
--- /dev/null
+++ b/Navigation/GroundDetection/Part_of_the_chair_222222_part_of_the_sofa/000175_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/Part_of_the_chair_222222_part_of_the_sofa/000175_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Part of the chair 222222 part of the sofa."
+    ],
+    "scene_description_en": [
+      "Part of the chair",
+      "part of the sofa."
+    ],
+    "scene_description_cn": [
+      "椅子的一部分",
+      "沙发的一部分"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "gVc21c:1N3N1N3N1O1O2N2]FGg8;UGOc83YG4b8OYG5d8o0O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O100O1001O000000000000000000000000000000O100N2O1N2N2L4L4O1POZMPJg2m5`MoI`2P6aMPJ_2P6bMoI^2Q6bMoI^2Q6cMnI]2Q6dMoI\\2P6fMnI[2Q6hMmIX2S6iMlIW2S6jMlIW2T6jMjIW2V6iMfI[2Z6fMdI[2[6fMeIZ2\\6fMbI[2^6eMbI[2^6n000O1001O00001O0000000000O1000000O100000000001O1O001O00O100O100O1000000001OO1O11O1O00001O00002N2N00000000O1001O001O0000O100N200000000002N5K7I00001OO10000000000000000000000000000001O000000001O00000aMPIY1P7ZNdI_1]6^NiIMN6[6K[KLg41]KIg46m2O1N2O0NU]j0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/Part_of_the_curtain_on_the_right_side/000239_mask_rle.json b/Navigation/GroundDetection/Part_of_the_curtain_on_the_right_side/000239_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6e0798367c67b1ba4b6eb813b381e3f0e5770b4
--- /dev/null
+++ b/Navigation/GroundDetection/Part_of_the_curtain_on_the_right_side/000239_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/Part_of_the_curtain_on_the_right_side/000239_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Part of the curtain on the right side"
+    ],
+    "scene_description_en": [
+      "Part of the curtain on the right side"
+    ],
+    "scene_description_cn": [
+      "右侧窗帘的一部分"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          341,
+          512
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/Red_Mirror_Ball_Amusement_Decoration_Table/1013_mask_rle.json b/Navigation/GroundDetection/Red_Mirror_Ball_Amusement_Decoration_Table/1013_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..24b993f76d283c7a7946d9fd24a73b1231d20733
--- /dev/null
+++ b/Navigation/GroundDetection/Red_Mirror_Ball_Amusement_Decoration_Table/1013_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/Red_Mirror_Ball_Amusement_Decoration_Table/1013_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Red Mirror Ball Amusement Decoration Table"
+    ],
+    "scene_description_en": [
+      "Red Mirror Ball Amusement Decoration Table"
+    ],
+    "scene_description_cn": [
+      "红色镜面球游乐装饰台"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
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+          600,
+          800
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/Single_sofa_2222222_the_chair_closest_to_the_camera/taskonomy_galatia_point_471_view_7_domain_rgb_mask_rle.json b/Navigation/GroundDetection/Single_sofa_2222222_the_chair_closest_to_the_camera/taskonomy_galatia_point_471_view_7_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..c87d51bcfc4dd3a80e898309d9f1023c53f1807d
--- /dev/null
+++ b/Navigation/GroundDetection/Single_sofa_2222222_the_chair_closest_to_the_camera/taskonomy_galatia_point_471_view_7_domain_rgb_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/Single_sofa_2222222_the_chair_closest_to_the_camera/taskonomy_galatia_point_471_view_7_domain_rgb_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Single sofa 2222222 the chair closest to the camera."
+    ],
+    "scene_description_en": [
+      "Single sofa",
+      "the chair closest to the camera."
+    ],
+    "scene_description_cn": [
+      "单人沙发",
+      "离镜头最近的椅子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          512,
+          512
+        ],
+        "counts": "T]Q34d>2[B_1X<`NgC_2ZO^Mi;1lDn2S;QMlDP3T;oLlDR3P<1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1N200O1O1O1O1O1O1O1O1O1O1O1O1O1N2O1nNlKgEL0\\4Q:V10000O1000000001O00000000000O1O1O2M2N2N`EjJZ:T5fEoJY:o4gESKY:l4gEUKZ:h4fEZKZ:d4fE^KZ:_4gEcKZ:Z4fEhK[:T4eEoK[:o3eESL\\:j3cEYL^:e3`E^La:`3_EaLk:T3TEnLm:o2TERMl:i2WEYMi:d2XE^Mh:`2VEdMi:[2VEhMi:W2WEkMg:T2YEoMg:o1ZERNf:k1ZEXNf:f1ZE\\Ng:a1XEbNh:\\1XEfNi:W1WEkNi:S1WEoNj:n0VETOj:k0UEWOk:g0VEZOj:d0VE^Ok:>UEEk:9UEIk:4UEOk:OTE4l:JTE8l:FTE<l:CTE>l:@TEb0k:\\OWEe0i:fMWEn00_1j:\\M]ES1Gc1m:VM`EU1Cg1a;WN_Dk1a;SN`Do1_;oMaDR2_;lMbDV2];iMcDY2X;iMiDY2S;iMkD[2R;fMnD\\2o:eMQE]2m:cMSE_2k:aMUEa2j:^MVEd2j:[MUEg2k:VMVEl2i:SMXEo2g:oLXET3h:iLYEY3g:dLZE^3f:`LZEb3e:^LZEd3f:ZLYEi3g:TL[Em3e:oK]ES4c:kK\\EX4d:fK[E]4e:bKZE`4g:]KYEe4P;1N200002N1O2N3M2N1O1O001OO1VOeKoE[4l9oKnER4Q:SLiEo3V:n0000000001O2N0000O1O1K5M3N200O11O00001O00N2000000002N00O100000000001OO10000000000000000000000001O0000000000000000001O000000000000O100000O11O01O00000000000000001`KnEP3R:oLQFo2o9PMSFo2l9WLlE::^3j9WLQF66c3j9VLRF55d3i9VLTF45e3h9VLTF35g3h9TLUF43h3j9RLTF53h3^:WLcEh0Bj1m:\\MaEh0Fj1i:^MbEf0Gk1g:_MbEe0Ik1e:aMaEc0Lk1c:bMaEb0Nk1a:bMbEb0Nl1b:^McEd0Mm1[;SNfDl1Z;SNgDm1Z;RNgDm1Y;SNgDm1Y;RNiDm1W;SNiDm1X;RNhDn1X;QNjDn1V;RNjDn1V;RNjDn1V;RNkDm1U;SNkDm1U;RNlDn1T;RNlDn1T;RNmDm1S;RNnDn1R;PNPEP2Q;gMXEX2X<000001O000000001O0000000000000000001O00k0UO2N000000000000001O000000000000001O0O10000000oMiNZEU1g:kNYEU1g:kNYEU1g:kNYEU1g:jNZEV1f:jNZEV1i<OfNVO^Cj0UO"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/TV_cabinet/000570_mask_rle.json b/Navigation/GroundDetection/TV_cabinet/000570_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ef6cad12f48e92965380edf53cf809c06a760a1
--- /dev/null
+++ b/Navigation/GroundDetection/TV_cabinet/000570_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/TV_cabinet/000570_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "TV cabinet"
+    ],
+    "scene_description_en": [
+      "TV cabinet"
+    ],
+    "scene_description_cn": [
+      "电视柜"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "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/The_area_at_the_bottom_of_the_door_frame_column_located_on_the_right_side_of_the_screen_and_in_front_of_the_left_side_of_the_double_doors/row_1178_col_image_mask_rle.json b/Navigation/GroundDetection/The_area_at_the_bottom_of_the_door_frame_column_located_on_the_right_side_of_the_screen_and_in_front_of_the_left_side_of_the_double_doors/row_1178_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..847b92044273e0de7b932a8213c42049fa1181ec
--- /dev/null
+++ b/Navigation/GroundDetection/The_area_at_the_bottom_of_the_door_frame_column_located_on_the_right_side_of_the_screen_and_in_front_of_the_left_side_of_the_double_doors/row_1178_col_image_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_area_at_the_bottom_of_the_door_frame_column_located_on_the_right_side_of_the_screen_and_in_front_of_the_left_side_of_the_double_doors/row_1178_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The area at the bottom of the door frame column located on the right side of the screen and in front of the left side of the double doors"
+    ],
+    "scene_description_en": [
+      "The area at the bottom of the door frame column located on the right side of the screen and in front of the left side of the double doors"
+    ],
+    "scene_description_cn": [
+      "位于画面右侧、双开门左前方的门框柱底区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          680,
+          1000
+        ],
+        "counts": "bhX48Pe02N2N2N2N1O2N2O1N1O2N2N002N000001O0000000000000000000000000000000000O1000000000000000000000000O10000000000000000000000O10000O100O100000000000000O10O11O000O1000000000000O100000000O1000000O100000000O100000000O10000O1000000O10000O10000O100O10000O100M3O1K5O100O1000000000000O100000000000000O1000000000000000000O10000O10000O100000000O1000000O0100O10000000O10000000000O1000000000001O1O000001O0000001O00001O00001O00001O00001O001O0000001O00001O000O20O01O001N1QOb\\O4^c0Jf\\O3\\c0Bo\\O=nc001O001O00000000000000000001O0O101O000000000O1000000000000000000000000000@a[O7_d0Ia[O7_d0Ia[O7_d09O100000000O100000000000000O1000000000O1000O10000000000000000O2O00000000000000000O1000000000000O1000000000YOh[O>Xd0Bh[O>Wd0Ci[O=Wd0Bj[O>Vd0Bj[O>Vd0Bi[O?Wd090000000WOi[Oa0Wd0_Oi[Oa0Wd0_Oi[Oa0Wd0^Oj[Ob0Vd0^Oj[Ob0Ud0_Ok[Oa0Ud0_Ok[Oa0Ud0_Oj[Ob0Vd0]Ok[Oc0Td0^Ol[Ob0Td0^Ol[Ob0Sd0_Ol[Ob0Td0^Ol[Ob0Td090TOl[Od0Td0\\Ol[Od0Td0\\Ol[Od0Td0\\Ol[Od0Td0\\Ol[Od0Td08O1000000O1000000000O10OTOn[Od0Rd090ROn[Oe0Rd09000000000000000000O1001O002N00O1O1O101N100O100O2O00000O10000000000O100000000000000000000O10000000000O1000000000O010000000O1000O10000000000000000O1000000000000O1000000000000O100000000O10000000000O10001O1O0000000O100000000000000000000000000000000001O0000000000001O00000000000000000000000000001O00000000000000O10000000000O100000000O10O010000O2O0O10O010000O10000000000000000000000000001O00000000000000000000000000000000000001O000000000000000000000O100001O00000000000000000000000001O00000000000000000000001O0000000000001O00000000001O00001O0000000000001O00000000001O00000000000000001O0000000000001O0000000000001O0000000000000000000000001O000000000000000000000000000000000000000000000000000000001O00000000000000000000000000000000001O0000000000000O10001O00000000000O101O00001O2NP1PO2N2N001O0O]bh0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_beneath_the_picture_frame_that_is_farthest_from_the_camera_lens/row_11_col_image_mask_rle.json b/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_beneath_the_picture_frame_that_is_farthest_from_the_camera_lens/row_11_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f7c9e001d9eacfd94a41d72c05e7caf452fac81
--- /dev/null
+++ b/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_beneath_the_picture_frame_that_is_farthest_from_the_camera_lens/row_11_col_image_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_beneath_the_picture_frame_that_is_farthest_from_the_camera_lens/row_11_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The area at the bottom of the wall beneath the picture frame that is farthest from the camera lens"
+    ],
+    "scene_description_en": [
+      "The area at the bottom of the wall beneath the picture frame that is farthest from the camera lens"
+    ],
+    "scene_description_cn": [
+      "离镜头最远的画框下方的墙壁底部区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          225,
+          300
+        ],
+        "counts": "c`P11P700000O100000000000000000000000000O10000000000000000O1000000PO`0^JAa5P100000000000000000000O10000000000000000000000O10000000000000000000000O1000000000000000000O100000000000000O10000000000000000000000O10000000000000000O1000000000000000000000000O1000000000000000000001O00001O00001O0000001O000000000000O10000O10000"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_between_the_two_doors/row_140_col_image_mask_rle.json b/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_between_the_two_doors/row_140_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b830973486fea476bfebdcb2387e16db0d55711
--- /dev/null
+++ b/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_between_the_two_doors/row_140_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_two_doors/row_140_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The area at the bottom of the wall between the two doors"
+    ],
+    "scene_description_en": [
+      "The area at the bottom of the wall between the two doors"
+    ],
+    "scene_description_cn": [
+      "两扇门中间的墙壁底部区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          1600,
+          1068
+        ],
+        "counts": "aT1\\=dT1003M000O10000000000000000000000000000000000000000000000000000000000O10000000000001O000000000000000000000000O100000000000000000000000000O100000000000000000000000000000000001OO1000000000000000000000000000000000000O10000000000000000000000O10000000000000000000000000000000000000000000000000000000000000000000000000000000000000000O100000000000000000000000000000000000000001O000000000000000000001O1O1O3M1O1O001O000000000000000000000000000000000000000000000000000000000000000000001O003Mi0WO5K2N1O1O00000000001O00000000000000O100000000001O00000000000000O10000000000000000000000O10000000000000000O1000000000000000000000000O100000M30000003M000000000000000000000O100000000O1O1O1O1K5O10000O1000000000000000000000000000000000000000000000000O100000000000000000000000000O1001O00000000000000001O0000O10000O10000000000000M3000O100000000000O10000000000000000001O000000000000000O10O1000000000000000010O000000000O11O00012M02N3[EejNaN4P2NjMMJ326a5dU1ZKnkN^O[NNY2m4[Z1I3M1O1O1O00001O00000000001O000000001L301N=D=C=D7K0M2N2N2N1O1O1O001O001O000000000000000000000000O10000000000000000000000000000O10000000000000000000000O100001O000000001O002N2N3M3M4L5K5K5K4L5K4L4L3M5K5K5K6[Oi^N5ba1O1O1O2J]dfh0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_directly_below_the_toilet_paper/row_139_col_image_mask_rle.json b/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_directly_below_the_toilet_paper/row_139_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..6838260b951db56586b0c2209ca0d83de31acc74
--- /dev/null
+++ b/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_directly_below_the_toilet_paper/row_139_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_paper/row_139_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The area at the bottom of the wall directly below the toilet paper"
+    ],
+    "scene_description_en": [
+      "The area at the bottom of the wall directly below the toilet paper"
+    ],
+    "scene_description_cn": [
+      "卫生纸正下方的墙壁底部区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          1164,
+          1552
+        ],
+        "counts": "]mV62ZT10O2M200O2O0O100O100O100O100O100O100O1O10000O10000O1O100O10O10O100O100O1O100O10001N1O100O10000O10000O100O1O1000000O100O100O1O10000O10000O001O100O10000O100O1O101O0O100O10O01O10001O0O10000O100O100O10000O100O100O1O100O10000O100O1O10000O100O100O100O100O10000O100O100O10000O10O10O100O1O10O010000O100O100O10O0101N100O100O100O10000O100O2O0O10000O10000O100O1O2O0O10000O01000O100O100O100O10000O1O100O10000O100O100O100O100O101N100O100O100O100O100O100O10000O100O010O2O0O100O10000O100O1O1000O0100O100O1O10000O10000O100O1O10000O100O100O1O10000O100O100O100O10001N100O100O1O10000O100O100O100O10000O100O1O100O100O100O1O100O10000O100O100O1O01000O10000O100O10000O100O100O100O1O10000O100O10000O100O2O0O01000O10001N1O100kAhJUMY5k2hJTMX5l2iJSMW5m2kJPMV5o2lJPMS5Q3oJlLR5S3PKkLQ5U3PKjLP5U3SKhLo4W3RKhLn4W3UKfLl4Z3UKeLk4[3VKcLk4]3VKbLj4^3XK_Li4`3YK^Lh4b3ZK\\Lf4d3ZK\\Lf4d3[KZLf4f3\\KXLd4g3^KXLb4h3`KULa4k3`KTL_4l3cKRL^4n3cKQL]4n3eKPL\\4P4eKoK[4Q4gKlKZ4T4gKkKY4T4iKjKX4V4jKhKV4X4kKfKW4Y4kKeKU4[4lKcKU4\\4mKcKS4]4oK`KR4`4oK_KQ4`4RL]Ko3c4RL\\Kn3c4TL[Km3e4TLZKl3f4ULXKl3h4ULWKk3h4XLUKi3k4XLTKh3l4YLSKg3m4ZLQKg3o4ZLPKe3Q5]LlJd3S5^LlJb3T5_LjJb3V5_LiJb3U5`LjJ`3U5cLhJ^3X5cLgJ]3Y5dLeJ]3[5dLdJ\\3[5gLbJZ3^5hL`JX3`5iL^JW3c5jL\\JW3c5jL[JW3e5jLZJV3f5kLXJV3g5lLWJU3i5mLUJS3k5nLSJS3m5nLRJR3n5oLPJR3o5QMoIo2Q6RMmIn2T6SMkIm2T6UMkIk2U6VMiIk2W6VMhIj2X6XMeIi2[6YMcIg2]6ZMaIg2_6ZM`If2a6ZM]Ig2d6ZJn_Ok1\\9l3n7QLQHo3R8nKmGS4U8lKjGT4X8kKfGV4]8iKaGW4`8jK^GV4d8iKZGX4h8fKXGZ4j8eKTG\\4l8eKSG[4n8eKPG\\4Q9eKmF[4T9eKkF[4V9eKhF\\4Y9eKeF[4\\9fKaF[4`9fK]F[4e9dKZF\\4g9dKWF]4k9cKSF]4o9bKoE_4R:aKmE_4T:aKkE_4V:aKhE`4Z:`KdE`4]:aKaE_4`:cK\\E^4e:eKWE[4k:eKSE[4n:kKjDV4W;QLaDo3_;XLYDi3h;bLlC^3V<nL\\CR3e<^MiBc2W=jM\\BV2e=XNkAi1V>cN]A]1d>jNSAW1n>AX@`0h?Oi_O1Y`0g0l^OZOTa0P1a^OQO`a0V1V^OlNja0[1n]OfNSb0o1f\\ObNZc0X91O1O1O001O00001O1O001O00001O00001O001O0000001O00000000000000000000000000000000000001O00000000000O100000000O100O100000000O10000O100O1O1000O0100O1aMX_OYAi`0f>\\_OVAe`0g>d_OQA]`0n>j_Ok@W`0T?Q@d@P`0Z?W@a@i?^?]@\\@d?c?d@U@]?j?j@n_OX?Q`0PAe_OS?Y`0a200O1O1N2O1O1O1O100O1O002O000O1000000001O00002N1O001O1O1O1N2O001O1O1O010O001O1O1O1O001O1O1O1O1O1O1O1O001O1O1O1O002N1O001O1O1O001O1O1O1O1O001O1O1O001O0O2O1O1O100O001O1O1N2O001O1O2N001O1O1O1O1O1O1O1O001O1O1O001O1O1O1O001O1O1O1O1O001O1O1O001O001O1O1O1O001O1O1O1O1O1O1O1O1O1O1O1O1O001O1O1O1O1O1O001O1O001O1N201N1O001O1O001O1O1O001O1O1O1O001O1O1O1O1O002N1O001O1O1O1O1O001O1O1O1O001O001O1O1O1O0O3O0O1O1O1O001O1O1O1O001O1O001O1O1O1O1O001O1O001O1O1O001O1O1O1O1O001O1O1O1O001O1O1O1O001O2N1O001O1O1O1O001O1O1O2N002N001O1O1O001O1O1O1O1O001O001O1O1O001O1O1O1O001O1O001O1O1O1O002N1O001O1O1O1O1O001O1O1O1O001O1O1O001O1O1O1O1O1O1O1O1O001O1O1O1O1O001O1O1O1O1O001O1O1O1O1O010O1O1O1N10001O1O1O1O001O1O1O1O1O001O1O1O1O001O1O1O1O001O100O1O001O1O1O1O1O001O2M2O1O001O1O1O0bEQWO_9Pi0_FTWO^9mh0_FWWO_9jh0_FYWO_9hh0]F]WOl1VOPN:o6Ui0QI_WOf1MV5fh0PIaWOb11\\5ci0\\JeVOc5\\i0XJiVOg5Yi0RJmVOm5Ui0jISWOU6oh0dIWWO[6mh0\\IYWOc6Yk0O1O1O1O1O1O1O1O1O1O1O001N2O2N001O1O1O1O1O1O100O1O1O1O10O01O001O001O1O1O1O1O1O1O001O001O0000001O000000000O100001O00000000000O1000O1001O000O1000WL[QOk1en0mMiQOm1Wn0nMPROP2om0oMUROo1km0oMXROP2hm0nM\\ROP2dm0lMaROR2`m0kMeROS2Zm0jMlROT2Tm0jMoROU2Qm0iMQSOW2ol0fMVSOX2il0fM[SOY2el0dM_SO[2al0bMcSO]2\\l0bMgSO]2Zl0_MjSO`2Wl0ZMPTOd2mn0O1O1O1O1O1O1O1O001O1O1O001O001O1O001O001O1O001O00001O001O001O000000001O000000000000O100000000O1000000O100000000O100000000O100000000O10000O1000000O1000000O1000000O100O10000O101O000O10000O100O10000O100O10000O1O100O1000000O100O100O1O100O100O1O1O1O1O1O1N2N2O1O1O1N2N2N2O1N2N2M3M3N2N2N2N2L4N2N2O1M3O1N21O00001O00002N1O001O001O1O1O001O1O1O1O1O001O1O1O1O001O1O1O1O1O001O1O1N101O1O1O1O001O1O1O001O1O100O001O1O1O001O1O1O1O1O1O1O1O1O001O1O1N2O001O1O1O1O001O1O1O1O10O01O1O1O1N2O1O1O1O001O100O0O2O1O1O0O2O1O1N101O1N2O1O0O2O1O1O100O1O1O1O100O1O1O001O2N001O002O0O001O1O1O1O1O010O100O001O1O1O1O1O1O1O001O1N2O1O1O1O1O1O1O1O001N2O1O1O001O1O100O1O1O1O1O001O001O1N2NlQa0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_near_the_door/row_1224_col_image_mask_rle.json b/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_near_the_door/row_1224_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e279e8fa4d40e044ced45b473a8f2e9349ecde6
--- /dev/null
+++ b/Navigation/GroundDetection/The_area_at_the_bottom_of_the_wall_near_the_door/row_1224_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_door/row_1224_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The area at the bottom of the wall near the door"
+    ],
+    "scene_description_en": [
+      "The area at the bottom of the wall near the door"
+    ],
+    "scene_description_cn": [
+      "靠近门的墙壁底部区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          530,
+          341
+        ],
+        "counts": "\\`04\\`04M1O1O100O1O1O1O1O1O100O1O100O100O1O100O10O010001N1O1000000O10000O100000000O100O1O1O100O1O100O10O0100O100O10000O10000O1000000O10000O1O1O101N1O1O011XN\\OgBI2k0V=g111O0O10000000000000000O100000000000000000O1000000000O2OO100000000000O011O000000001O01O001O0000001O000000001O001O001O00001O0000001O001O000000001O0O110O00001O001O0000001O001O0000001O00001QN\\Bn0d=nNbBP1^=oNdBP1]=nNeBQ1[=oNfBP1Z=mNiBS1X=kNjBT1W=hNlBX1W>0000000O1O1O1M3C=C=1O00001O0000000000001O001O0000001O000000001O00001O001O001O00001O0000001O0000001O00001O2N4L1O1O00001O00000000O100O1O10000001O0SOeAC\\>8jAFV>8mAGS>6QBIo=3VBLk=1WBOk=KZB4R?00000O10000O1O1N2H]O_@e0f>F\\Ah0d>c0001O00000000000000001O001O00001O00001O1O001O001O00000000001O0000001O00001O00001O001O1O00001O001O00001O0000JjNSAS1X?N2N1O1O000000000000O10000O1O100O1002N"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_armrest_closest_to_the_camera/000472_mask_rle.json b/Navigation/GroundDetection/The_armrest_closest_to_the_camera/000472_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..047474775f8c6a9aa8e42b478475c5c2881b6e11
--- /dev/null
+++ b/Navigation/GroundDetection/The_armrest_closest_to_the_camera/000472_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_armrest_closest_to_the_camera/000472_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The armrest closest to the camera."
+    ],
+    "scene_description_en": [
+      "The armrest closest to the camera."
+    ],
+    "scene_description_cn": [
+      "离镜头最近的扶手"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "R8a2R8100000000O1000000000000O1000000001O1O001O00001O1O001O1O001O001O1O001O0000000000000000000000O10000000000O1000000000000O100000000O1000000000000O10000000000000000000000O100O1O100O10000O1000000O1000000O10000O100000000O100000000O100000000O1000000000000O1000000000000O100O100O1O10000O10000O1000000O100O10000O100O1O10000O10000O1N2O1O100000fNhHXOW7h0lHVOT7i0nHVOR7i0PIVOo6k0SISOm6l0VIROi6o0\\IkNf6S1^10001O0O2O001N101O001O0O101O000O10000O0100000O10O01000000O01000O10O0100000O010000O0100000O10000O01000O100O0100000O10O1000O100O10O010000O100000O010000O10001N100O101O0O101O000O2O0O2O000O2O0O10001N1000001N10001N01000O1000O010000O10O01000000000000000>BT9JlF<I6K1O0000000O1L4O10000000O101O1O1O2N000OQJ\\On1f0RN[Ok1g0TNZOi1i0VNXOi1i0WNWOi1i0VNXOk1g0UNYOk1g0TNZOl1f0SN[Om1d0TN\\Ol1d0SN]Om1c0SN]On1a0RN@n1>SNCm1:VNFo1GWJOT4:Q61001N6Kmd3OQ[L3J6L5@?L4N20000001O001O00001O001O001O00001N110O00001O0O2O001O00001O0O1N3M2O1O2M2O2N1O1N3N1O2N2M`aT1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_bed_farthest_from_the_camera222222_The_desk_closest_to_the_camera/101135_mask_rle.json b/Navigation/GroundDetection/The_bed_farthest_from_the_camera222222_The_desk_closest_to_the_camera/101135_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1389f6083a6d4bdbd4fe10558187c3f84136eb7
--- /dev/null
+++ b/Navigation/GroundDetection/The_bed_farthest_from_the_camera222222_The_desk_closest_to_the_camera/101135_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_bed_farthest_from_the_camera222222_The_desk_closest_to_the_camera/101135_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The bed farthest from the camera222222 The desk closest to the camera"
+    ],
+    "scene_description_en": [
+      "The bed farthest from the camera",
+      "The desk closest to the camera"
+    ],
+    "scene_description_cn": [
+      "离镜头最远的床",
+      "离镜头最近的书桌"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "cW93`:5M4K2O001OO01000O010000O0100000O0100O0100O10000O101N2O1N3M2O1N2N2O1O1N2O2M101N2N3N002M2O001O0O01N2N2K5L3N3K5N1L5O1L4O1N1O2O1N10100O00100O10O10000O1000000O100000000O2O00001O0O101O0O101O0O2O1O1O0O2O1O1O1O1N101O1O1O001gH\\O_4e0[K@e4a0TKEl4<nJIR58fJOZ52`J3`5NZJ7g5ITJ;o5_NYIk0c0j0^6VO[IP1f6POVIS1j6nNPIW1P7kNkHX1V7S100000000001O00001O00010N1000001O0000001O0000001O001O001O1O1O00000000001O0000001O1O2N1O001O0000001O001O1O1O1O1O1O0000001OO100000000O10000O1000000O100O1O1O1O1O1O10000O100O100O1O100O100O1O1000RMeHb2i7N2N000000O1O1O100000`MbHi1W8N1O1O1O0000001O0000001O0000001O00001O00001O0000001O00001O0000001O001O00001O00001O1O001O001O001O1O00001O00001O001O001O001O001O00001O001O1O1O001O1O0000001O0000000000000000000000001O00001O00001O001O001O00001O1O001O001O00001O001O001O0000001O001O001O001O001O001O001O001O1O001O001O001O001O001O1O00Uo86cPG7J7H3N1N2M3N2K5L4QOgN^H]1`7iNZHY1f7jNUHX1k7i0000000001O00001O0000001O00000000001O0000001O00001O0000001O00001O0000001O001O1O2N1O3M2N2N2N3M1O2N2N3M2N2N2N2N1O2N3M3M1O3M1O2N2N2N3M1O3M002N1O_E"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_bottom-left_corner_of_the_table222222Top_of_the_small_bookshelf/000333_mask_rle.json b/Navigation/GroundDetection/The_bottom-left_corner_of_the_table222222Top_of_the_small_bookshelf/000333_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4f56e5e6e355cd6796501522d8492cf6a7fe1ed
--- /dev/null
+++ b/Navigation/GroundDetection/The_bottom-left_corner_of_the_table222222Top_of_the_small_bookshelf/000333_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_bottom-left_corner_of_the_table222222Top_of_the_small_bookshelf/000333_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The bottom-left corner of the table222222Top of the small bookshelf"
+    ],
+    "scene_description_en": [
+      "The bottom-left corner of the table",
+      "Top of the small bookshelf"
+    ],
+    "scene_description_cn": [
+      "桌子的左下角桌角",
+      "小书架顶部"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "blg02a:2N2O0O2O1N2O1N1O2O000O2N2O0O2O0O2O0O100O100O101O0O100O100001O001OgL[OcLe0\\3C]L=d3FXL:h3MQL3P4OlK2T43fKN[46RJTOc0f0\\5:lIUOb0b0c5<gIWO<b0m5<bIUO<a0S6X1gIiNY6^1^IdNc6f21O001O1O001O1O001O1O001O1O1O002N1O1O1O001O1O001O1O1O001O1O1O001O1O001O1O1O001O1O1O1O1O1O1O1O1O001O1O001O1O001O1O1O1O001O1O001O001O1O1O001O1O001O1O001O0000000000O100O100O100O100O1000000001O<Cb0_O?@=\\ORFIfb01eGf0lFCf6h0WHPO3a0e7n1O1O100O100O100O100O100O100O1O100O100O100O1O100O100O100O1O100O100O100O1O100O100O100O100O1O100O100O100O100O100O1O100O100O1O10000O100O1O1O100O100O1O10000O100O1O100O100O100O1O100O100O1O100O100O10000OXMgIW1X6gNlIX1T6XN\\Jh1c5SNcJm1]5oMfJR2Z5cMQK]2P5ZMWKg2[6000O1N2M3I7H8H8G9I7I7J6N2O100O1O100O100O100O100O1O100O100O1O100O1O100O10000O1O100O100O100O1O100O100O10000000000001O0000000000001O000000000000001O000000001O1O2N001O1O00000000O1O1O1000000000000001O0000001O00001O000000001O000000001O000000O100O1O1O1O1000000001O0000001O00000000O1O10000O10000000000000000000000001O0000000000000000000000001O000000001O00001O0000001O00000000001O1O"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_bottom-right_area_of_the_fourth_tile_from_the_right_among_the_tiles_at_the_bottom_right/row_132_col_image_mask_rle.json b/Navigation/GroundDetection/The_bottom-right_area_of_the_fourth_tile_from_the_right_among_the_tiles_at_the_bottom_right/row_132_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc0ce8003bbab6bbd096cbc38c666331423dccaa
--- /dev/null
+++ b/Navigation/GroundDetection/The_bottom-right_area_of_the_fourth_tile_from_the_right_among_the_tiles_at_the_bottom_right/row_132_col_image_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_bottom-right_area_of_the_fourth_tile_from_the_right_among_the_tiles_at_the_bottom_right/row_132_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The bottom-right area of the fourth tile from the right among the tiles at the bottom right"
+    ],
+    "scene_description_en": [
+      "The bottom-right area of the fourth tile from the right among the tiles at the bottom right"
+    ],
+    "scene_description_cn": [
+      "右边底部瓷砖从右往左数第四个瓷砖右下角区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          1650,
+          2200
+        ],
+        "counts": "X[1i4`0SNmZ1m1SeNSNmZ1m1SeNSNmZ1m1SeNSNlZ1V2jdNlMU[1Z5M2O1N200O101OO0100O100O1O100O1000000O10001N00100O1O1O100O100O100O100O1O1O100O100O100O100O100O1O100O100O100O1O100O1O10O0100O100O1O100O100O100O100O2N100O100O2O000O4M0O100O100O1O100O10000O100O100O100O100O1ON30O100O100O1O100O4M0O1000M2100O10000O1O10O01O100O10000O100O00100O100O100O01000O100O1O1O1O1O1O100O2N100O2O0O2N103L1O100O100O1O100ON2100O100O100O100O00100O1O100O100O10000O101N100O1O100O100O10000O100O10003L100O1O100O1000M2103L100O100O100O100O1O100O1O100O100O1O100O100O100O1O100O100O100O100O1O100O10000O1O100O1O100O100O100O1O100O100O1O100O10M2100O1O4M0O100O100O100O10000O1O100O100O100O10000O100O100O100O10M2100O1O100O100O1O100O100O1O100O1O100O100O100O100O1O10O0100O100O100O100O1O100O100O100O10000O100O1O1O2O0O1O100O1O1O100O1O1O100O1O1O1O103L1O1000000O1000000O10000ON3000O10000O100O1O100O01000O2O000O10000O103LN2100O100O1O103L100O1O100O100O100O1O1O100ON3000O100O100O010O100O100O100O100O1O100O100O100O100O10000O100O100O1O1O100O100O100O1O100O100O1000O10O10000O010O1O101N1O100O100O10000O2O0O1001O2N1O1O101N1O1O2N30ON2N2N1O1O3M3M3M4L2K5N1O1O2N1O2N1O2N1O1O3M3M3M2SClkNX:UT1ZE]lN`:eS1YEflNb:[S1XEnlNd:RS1ZESmNc:oR1XEXmNd:iR1SEcmNi:`R1REgmNi:`R1nDfmNn:cU1L2N3M3M3M2N2N2M2O1O2N1O2N2N2N2N2N2N1O1O2N1O1O2N1O2N1O1O2N1O2O2M1O2N1O1O1O1O1O1O1O1O1O1O1O1O1O1O100O1O1O1O1O1O1O001O1O1O1O1O1O1O1N2O2N1O1O1O1O1O1O1O1O1O1O1O1O100O1O1O1O1O001O1O2N1O001O21NO1O1O1O1O1O001O1O001O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O001O1O1O001O1O001O001O001O1O001O1O1O1L301O1O1O1O001N101O1O1O100O001O1O1O001O1O1O001N2O001O00100O1O0012NO1O001O001O001O001O001O001O001O001O00001L30001O1O1O1O1O1O1O1O1O1O001O00001O001O001O03NO00001O001O00001O00001O1O001O00001O001O001O001O001O001O001O001O001O001O001O00001O001O001O001O1O001O1O001O00001O001O00001O001O00001O00001L30001O001O03M01O001O00001O00001O0000001O001O001O00001O001O00001O000M4O001O001O00001O0O10001O000000001O001O00001O0000001O0000001O000000001O0O1000001O0000001O0000001O0O10001O0000000010O0000001O000000010O0000003M0000000000000000000001O0000000000000000001O000000000000000000000M30000O100000000000000O10000000000000000000O101O000000000O101O0000000O103M000O1000000O10000ON3000O100O100O10000O100O100O100O103L100O100O100O1O100O1O1O100O1[IlLklNU3RS1VMelNk2ZS1\\M_lNe2`S1`M[lNa2dS1fMVlNZ2iS1lMQlNU2nS1QNlkNP2TT1WNdkNj1[T1[N`kNf1_T1_N\\kNb1cT1cNXkN^1hT1eNTkN\\1kT1iNPkNX1PU1mNjjNT1UU1QOfjNP1YU1WO_jNk0aU1YOZjNh0eU1\\OWjNe0hU1_OSjNc0mU1_OPjNb0oU1BliN`0TV1CgiN?XV1FbiN<]V1I]iN9cV12PiN0oV16jhNLUW17fhNLZW16bhNL]W19ZhNLeW1=kgNKTX1g52100O100O100O1O1O1O10O0100O1O1O1O1O1O1O1O101N1O1O1O1O1O1O1O1O1O0O2O1O1O2N1N2O1O1O1O1O1O1N2O1N2O1O1N2O1N2O1N2N2N2O1O1N2N2N2N2N2M3O1O1N2O1N2N5K2M3M3M3N2L4XM`BWoNg=bP1iBonN]=nP1mBbnNY=aQ1PChmNa=TR1o10000O100000000000000001O0M30001O001O1O001O001O001O001O00001O001O0012M01O1O1O1O1O001O001L33NO001O1O1O1O001O1O1O1O1O001O1O001O001O001O001O1O001O1L4O001O1O1O001O1O001O001O00001O0000001O12M01O1O001O001O001O001O1O001O1O1O001O1O1O001O1O001O1O001O001O1O1O001O001O1O001O001O1O0M4O001O00001O001O1N101O1O1O1O1O001O001O1O001O001O1O001O1O001O001O001O001O0O2O001O1O001O010O1O001N2O1O1O001O1N110O001O001O00100O001O001O10O01O001O12M01O001O001O001O001O1O001O1O001L4O1O1O001N101O001O1O1O001O1O001O1O1O001O0010O01O03NO001O001O1O1O001O001O001O00001O001O1O001O001O1O1O1O1O1O1O2N001O1O001O1O1L301O1O001O001O001O001O001O1O001O03NO1O1O001O001O001O001O001O1O001O001O001O001O1O001O001O1O001O1O001O001O001O1O1O001O001O001O1O001O001O001O1L301O001O001O001O1O001O001O1O03NO1O001L301O1O001O0012NO001O1O1O001O001O1O1O001O001O001O001O001O1O001O1O001O1O1O001O001O1O1O1O001O001O001O1O001O001O001O001O001O001O001O1O001O001O1O001O1O1O1O001O1O1O1O1O001O1O001O1O001O001O00001O001O00001O000000001O0000000000000000001O1O1O1O2N1O1O1O1O1O1O1O001O1O001O1O1O001O001O1O001O001O1O1O001O001O1O1O1O001O001O1O1O1O001O001O001O1O1O1O00001O001O001O1O001O1O001O001O001O1O001O1O001O001O1O1O1L4O001O001N2O001O1O1O001O001O00100O001O1N101O1O1O1O001O001O001O1O001O1O1O001O1O1O001O1O001O001O0O200O001O1O1O001O001O1O001O001O001O1O1N102N001O1O001O001O10O01O001O001O1O001O1O001O001O100O1O001O001O1O001O001O001O1O001O00001O0012M01O1O1O00001O001O001O1O001O001O00001O000000001O00000000000000000000001O0000001O001O4L2N2N1O1O2N1O1O1O1O1O001O1O001O001O1O001O1L3012M01O1O1O1O1O001O1O001O1O001O001O001O1O001O1O001O1O001O1O1O001O00001O1O001O1O001O1O001O1O001O001O001O1O00001O1O001O1O1O1O001O00001O1O001O001O00001O001O1O001O1O001O001O1O001O2N001O1O1O001O001O1O001O001O001O1O001O1O001O001O001O1O001O1L301O1O0O2O001O1O1N101O1O0O2O001NXS]8"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_bottom_area_of_the_side_of_the_wooden_bar_counter/row_174_col_image_mask_rle.json b/Navigation/GroundDetection/The_bottom_area_of_the_side_of_the_wooden_bar_counter/row_174_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..44f9fd0cf323a34a789487ea8122408e0519663d
--- /dev/null
+++ b/Navigation/GroundDetection/The_bottom_area_of_the_side_of_the_wooden_bar_counter/row_174_col_image_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_bottom_area_of_the_side_of_the_wooden_bar_counter/row_174_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The bottom area of the side of the wooden bar counter"
+    ],
+    "scene_description_en": [
+      "The bottom area of the side of the wooden bar counter"
+    ],
+    "scene_description_cn": [
+      "木质吧台侧面底部区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          256,
+          256
+        ],
+        "counts": "Qf035NL1d70bH1e71IM`H5]70_H2T7c0N3O1O001N2O1O1O001O1O0O2O1O1O1O1O1O1O1O2N1O1O1O1O1O21O3OM3L9jIPNj5T2O01O00000000001O000000001O00000000O11O000000000000001O00000000000000001O00O10000001O000O10000001N11O0000O100000000000000000000000000O1000000O10000O1HnMaJS2_5nM^JT2b550000001O001O00001O001O0000001O0000001O0000001O1mMWJm1Q6L200N110N110N10001O010O0000000000000000O100000000O10000000O010001O0O10000000000O10000000O1000O1000001O0000O10000000O10000000001O00000O10O1000000000000001O01O1O1O001N11OO11O01O0O10000001OO1000000000000000O101O0O100JVNUJk1j56000000O11O0O1OTJ"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_bottom_of_the_third_wall_on_the_left/row_1900_col_image_mask_rle.json b/Navigation/GroundDetection/The_bottom_of_the_third_wall_on_the_left/row_1900_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..442365c458e3a573a4737170f8d8542dbb23783e
--- /dev/null
+++ b/Navigation/GroundDetection/The_bottom_of_the_third_wall_on_the_left/row_1900_col_image_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_bottom_of_the_third_wall_on_the_left/row_1900_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The bottom of the third wall on the left"
+    ],
+    "scene_description_en": [
+      "The bottom of the third wall on the left"
+    ],
+    "scene_description_cn": [
+      "左边第三堵墙的底部"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          1200,
+          1600
+        ],
+        "counts": 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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_chair_closest_to_the_cabinet222222The_chair_closest_to_the_camera/000132_mask_rle.json b/Navigation/GroundDetection/The_chair_closest_to_the_cabinet222222The_chair_closest_to_the_camera/000132_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7adda1a6bf7c4023ccb1e397194d9aaa3dee5f8
--- /dev/null
+++ b/Navigation/GroundDetection/The_chair_closest_to_the_cabinet222222The_chair_closest_to_the_camera/000132_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_chair_closest_to_the_cabinet222222The_chair_closest_to_the_camera/000132_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The chair closest to the cabinet222222The chair closest to the camera."
+    ],
+    "scene_description_en": [
+      "The chair closest to the cabinet",
+      "The chair closest to the camera."
+    ],
+    "scene_description_cn": [
+      "离柜子最近的椅子",
+      "离镜头最近的椅子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          968,
+          1296
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_chair_closest_to_the_camera/000284_mask_rle.json b/Navigation/GroundDetection/The_chair_closest_to_the_camera/000284_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1d2f9dd21e4aee10faebb8df562a01adbca803c
--- /dev/null
+++ b/Navigation/GroundDetection/The_chair_closest_to_the_camera/000284_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_chair_closest_to_the_camera/000284_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The chair closest to the camera."
+    ],
+    "scene_description_en": [
+      "The chair closest to the camera."
+    ],
+    "scene_description_cn": [
+      "距离镜头最近的椅子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "c9b02Ja9e000O1000000O1001O00O10000O2O0000O10000000O100O100O100000000000000000000O100O100O1000000ONhFjNX9Y100O10000001O001O001O1O1O1O1O1O001O1O1O001O001O1O001O010O1O001O001O001N2O0010OO2O010O0O101O1O0000001O00000010O01O001O001O001O001N100000001O001O001O1O00001O1O1O1O1Nao31^PL11OYd8Oh[G000_W20`hM2O1O000]GOc62ZI1e6OiGMV16Q7MhG0W1LdN1^83gG2j9NRF8l9HTF9k9GTF:l9FTF:l9FUF:T2B^54_H9S2C^54_H9h9HXF8f9J[F6c9L\\F4c9M]FFM;d91_F1_91aFO]94bFLX9;gFFW9;iFEW9;iFWOO<X9=kFDT9<lFDU9<kFCW9;jFDW9;iFFW9:hFFZ98gFGY9<dFE\\9:dFF]98dFH]96dFJ\\95eFKl1E]5?fHNl1C_5?dHNm1D^5>fHMl1E_5>dHLn1E`5>bHLo1F_5>bHKP2G_50aH9O0Q2G`53^H412Q2G`5=_HKR2I^5;aHLQ2I^5;aHKR2J]54_HO23Q2K^5;aHHR2M]5<`HFT2M]55^HO3MR2O^5<`HDS20]55]H02IU22\\55]H1Z2JY55]H1Z2JZ55\\H0Y2L[54\\H0Y2L[54\\H0Y2L[54\\H0Y2L\\5=aIAH3g6<aIAH3g63[H0V1JH3g63[H0W1IG4g63[HOX2O\\5:cJF^5;aJE`52ZHOV20_51[HOV20_51[HNe0Kj07V6OWIKc06Z7KeH4\\7LcH5]7LbH4^7LaH5_7L`H5_7KaH4`7M^H4b7M]H3b6KRI2;4`6N[HLb03b03`6O\\HLa03a02c6O[HLa03`03d6NZHMb03>3e6N[HLa05>1f6N[HLa06;2i6L[HLa0791l6LZHLa0872l6K\\HL`0862n6J\\HL`0942P72lHN11R72mHNN2U70mH1H3Z7MmHS1R7nNnHR1R7nNnHR1Q7POmHR1R7nNnHR1R7nNnHR1Q7oNoHP1R7POmHQ1R7POnHP1Q7ROnHn0R7gNcHG:d1Q7ROnHm0R7TOnHl0R7hNeHF8d1R7fNfHG7b1T7gNeHG6c1U7SOjHn0T7QNgHQ14o0T7QNhHQ10Q1W7oMiHP10Q1W7oMiHP10Q1V7PNjHo00Q1V7PNjHo00Q1U7QNkHn00Q1U7QNkHT3T7lLlHT3T761jMkHk0U7QNkHS3U7mLkH>0Q2U7aMkH>0Q2U7aMkH>0Q2U7aMkH>0Q2U7aMkH>0M0c1U7RNkH>0M0c1U7fNkHk1U7UNkHH0a1U7gNkHH0a1U7gNkHk1U7UNkHI0_1U7hNkHI0_1V7TNjHR3V7nLjHR3V76000iLjHP3V7PMjH:0U2V7aMjH:0U2U7SNkHl1V7TNjHO0U1V7\\NjHo00e0V7\\NjHo00e0W7[NiHm2W7bMiH30R1V7^NjH40<0R1W7]NiH50<0R1X7\\NhHP10d0Y7_11XMfHT2[7_MeH60[2]7]McHS10e0^7WNbH80a00P1a7_N_Ha00P1b7V10WM^Hc00Q1c7[N]Hd00Q1d7YN\\Hd2i71O100001O1O1XNUHe0k7[OUHe0l7ZOTHf0m7YOSHg0n7o0001O1O001O001O1iNnGJS83QHKo74SHKn72UHMk73VHLk72VHNj71XHNi71XHNh72XHNh71ZHNg71YHOg71ZHNf72ZHOf7HhGCc0c0f72ZHNf72ZHNg71YHOg7JfGAe0d0e7KfGAe0d0f7JeGBf0c0e71[HOe70\\H1c7O^H0c7O]H1c7M_H2b7MdG]Oj0e0b70^H0b7N`H2a7M_H3a7M_H3a7M`H2`7N`H2a7M_H3a7M_H3a7M_H3a7M`H2`7N`H2`7N`H2a7N^H3a7L`H4`7KaH5a7GbH8m8O1000001O0000000000001NaNM_H3_73]HMb74^HMa73_HN`72`HN`72`HN`72`HN`72`HN_73aHM_73aHM_73aHM_73aHM_74`HK`76`HK_75aHK_76`HI`77dGYOk0a0`76eGZOj0`0a76eGZOj0`0a76eGZOj0`0`7;_HEa7;_HEa7;_HEa7;_HEa79fGWOh0`0a7=_HBb7?]HAc7?]HAb7<gGWOe0>d7;gGWOe0>d7;gGXOd0=d7<hGWOd0=d7<hGXOc0<d7=iGWOc0<d7d0[H]Od7d0\\H\\Od7e0[H[Od7f0\\HZOd7g0ZHZOf7g0YHYOf7h0ZHXOf7i0XHXOg7i0XHXOg7j0XHVOh7k0VHVOi7a0oGSO5=l7m0QHUOn7i100O10gNQHMn7]100O1O10hNTHHk79UHGj7b1O100OjNXHBg7?YHAf7g1O1OkN\\H\\Od7d0\\H\\Oc7e0]H[Oc7f0]HYOc7g0]HYOc7g0]HYOb7m1000lN^HVOb7j0^HVOb7n1000mN^HTOa7m0_HSOa7m0_HROb7o0^HPOb7P1^HPOa7Q1`HnN`7S1_HmNa7S1_HmNa7S1_HnN_7S1bHlN^7U1aHkN^7V1bHjN]7W1dHhN\\7Y1cHgN\\7Z1dHfN\\7[1dHdN\\7\\1dHdN\\7\\1dHdN\\7Z20SOdHbN\\7^1dHaN]7NeHe0N]O^7KgHg0L]O]7LhHg0J]O1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_chair_closest_to_the_camera_222222the_sofa_closest_to_the_camera/taskonomy_goffs_point_642_view_9_domain_rgb_mask_rle.json b/Navigation/GroundDetection/The_chair_closest_to_the_camera_222222the_sofa_closest_to_the_camera/taskonomy_goffs_point_642_view_9_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..d233335ea1e9c95e785b4497e24d5f626b436954
--- /dev/null
+++ b/Navigation/GroundDetection/The_chair_closest_to_the_camera_222222the_sofa_closest_to_the_camera/taskonomy_goffs_point_642_view_9_domain_rgb_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_chair_closest_to_the_camera_222222the_sofa_closest_to_the_camera/taskonomy_goffs_point_642_view_9_domain_rgb_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The chair closest to the camera 222222the sofa closest to the camera"
+    ],
+    "scene_description_en": [
+      "The chair closest to the camera",
+      "the sofa closest to the camera"
+    ],
+    "scene_description_cn": [
+      "离镜头最近的椅子",
+      "离镜头最近的沙发"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          512,
+          512
+        ],
+        "counts": "d=\\2d=0O10000000000O1000000000000000000000000000000O1000000000000000000000O1001O0O10000000000000O1000O11OO10000000000000000000000O11O00O100000000000000000000000000O1000000000000000000000000O10001O000000000000000000000000000O100000000000000000000000000000000000000000000O100O1O1N2M3N2O1O100O1N2N2K5H8K5O1O100O10000O10000000000O1000O100000000001O00O10O2OO1000001O0000O10001O0O010000001O00000002M4M3M9G3M2N1O]NkL\\FT3j8lMPGT2g8cNkF^1Q9SOaFm0]9\\O[Fe0c9m2M3M3M3N2N2N2O10000000O11O01N100001N1M3@`0L4O100O100000000000000000000001O00000O10001O000000000O101O00001N100000001N10001O00000O100O2O00O100000000001\\IRGT6o8aI\\G^6T9O1N100000000000000O10001O001O1N2O1ONkIZFT6e9nI[FP6f9QJZFn5f96OnI[Fk5e9UJ\\Fj5d9WJ\\Fh5d9YJ[Fg5e9ZJ[Fd5f9\\J[Fc5e9^JZFb5f9^J[Fa5e9`J[F_5e9bJZF^5f9bJ[F]5e9dJZF\\5f9eJZFZ5f9fJZFZ5g9fJYFY5g9gJZFX5f9iJZFV5f9kJYFU5h9kJXFT5h9lJYFR5i9nJWFQ5i9PKVFP5k9oJVFP5j9QKUFo4l9QKTFn4l9SKTFl4m9SKSFm4m9TKSFk4m9UKSFk4n9UKRFj4o9VKQFh4P:XKPFh4P:YKPFf4Q:ZKoEe4Q:[KoEe4R:[KnEd4R:]KoEa4R:_KmEa4S:_KmEa4T:_KlE_4U:aKlE^4U:bKjE^4V:bKkE]4V:cKiE]4X:cKhE\\4X:dKiEZ4Y:fKfEZ4Z:gKfEX4[:hKeEX4Z:hKgEW4Y:jKgEU4Z:kKeET4]:kKdET4\\:mKcES4^:mKbER4^:nKbER4`:mK`ER4c:lK]ES4c:mK^ER4c:nK\\ER4d:oK\\EP4d:PL\\Eo3e:RL[Em3f:SLZEl3f:TLZEl3f:ULZEj3f:WLZEh3g:WLYEh3h:YLXEf3h:[LXEe3h:ZLXEg3g:ZLYEg3f:YLZEh3d:XL]Ei3b:WL]Ek3a:VL_Ej3a:VL_Ek3`:TL`En3_:RLaEo3^:PLcEo3^:QLaEo3_:RLaEm3^:TLcEk3]:VLbEj3]:WLdEh3\\:YLcEg3]:ZLcEe3\\:]LdEb3\\:^LdEb3\\:_LdE`3\\:aLdE^3\\:bLdE^3\\:cLdE\\3\\:dLeE[3\\:eLcE[3]:fLcEY3]:hLcEW3]:iLcEW3]:jLcEU3]:lLcES3]:mLdER3\\:oLdEP3\\:QMcEo2]:RMcEm2]:TMcEk2]:VMcEi2]:WMdEh2\\:YMdEf2\\:ZMdEe2]:\\McEc2]:]McEc2]:^McEa2]:`McE_2]:bMbE^2_:aMbE^2d:`LaE8JX3g;\\LYDc3h;\\LYDc3h;]LXDc3g;^LXDb3h;^LYDa3g;`LYD_3g;bLXD^3h;bLYD]3g;dLYD[3g;fLXDZ3h;gLXDX3i;gLXDX3i;\\LYD6N\\3R<bLnC^3T<aLlC^3U<aLlC^3U<bLjC_3V<aLjC]3X<bLiC]3X<bLhC_3W<bLiC]3S<bLmC10[3T<eLkC01[3S<gLlCN1[3R<mLnCR3R<oLmCQ3S<oLnCP3S<QMlCn2T<RMmCm2S<TMlCl2T<UMlCj2T<VMlCj2T<WMlCh2T<YMkCg2U<YMlCf2T<[MlCd2U<[MlCd2T<]MkCc2U<]MlCj090l;VOjCc0b06d;XOjC?e08a;YOkC=e0:`;ZOjC;h0:_;ZOjC:i0;];[OkCKW1i0n:\\OeEc0[:]OfEb0]:nNQFQ1_<01O1O1O1O1O1O1O1N101O100N2O1O1O001O1O1O1O1O1O1O1O010O1O1O1O1O1O001O1O1O001N2NTP2"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_coffee_table_222222_the_chair_closest_to_the_coffee_table/taskonomy_fleming_point_527_view_2_domain_rgb_mask_rle.json b/Navigation/GroundDetection/The_coffee_table_222222_the_chair_closest_to_the_coffee_table/taskonomy_fleming_point_527_view_2_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cdf99fb5770be99fc465ceffe5668bc404649e5
--- /dev/null
+++ b/Navigation/GroundDetection/The_coffee_table_222222_the_chair_closest_to_the_coffee_table/taskonomy_fleming_point_527_view_2_domain_rgb_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_coffee_table_222222_the_chair_closest_to_the_coffee_table/taskonomy_fleming_point_527_view_2_domain_rgb_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The coffee table 222222 the chair closest to the coffee table."
+    ],
+    "scene_description_en": [
+      "The coffee table",
+      "the chair closest to the coffee table."
+    ],
+    "scene_description_cn": [
+      "茶几",
+      "距离茶几最近的椅子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          512,
+          512
+        ],
+        "counts": "f;U11h04UOa;Q2^DPNg:oNmEQ3\\OQNa;n1_DSNa;m1^DTNb;k1^DVNc;h1]DYNc;f1]D[Nc;d1^D\\Nb;d1]D]Nc;b1]D_Nc;`1]DaNc;^1]DcNc;\\1]DeNd;Y1\\DhNe;W1ZDjNf;U1[DkNf;S1ZDnNe;R1[DnNf;Q1ZDQOe;o0ZDROe;n0[DSOd;m0\\DSOe;l0[DVOd;h0]DYOc;g0]DYOb;g0]D[Oc;d0]D]Oc;b0]D_Oc;`0]DAc;>]DCc;=]DCc;<]DEc;:^DFb;:]DGc;8^DHb;7^DJb;5^DLb;3^DNb;2]DOc;0]D1c;N]D2d;M\\D4d;L[D5e;J\\D6d;I\\D8d;G\\D:d;E]D;b;E^D=h:fMWE2`0k1A>]:d0cE]O]:c0bE^O^:a0bE@c::]EGf:5ZELi:0WE1m:JSE7T;AlD`0Z;YOfDh0\\;UOdDl0^;QOcDo0];QObDP1^;oNbDR1^;mNbDT1^;kNbDV1_:fM`EA;c1FW1^:GbE:`:CaE=`:B_E?b:_O^Eb0b:]O^Ed0a:\\O_Ee0^:]ObEd0]:[OdEf0[:ZOeEg0[:XOeEi0[:WOdEj0\\:UOdEl0]:ROcEo0^:oNbER1`:lN`ET1e:fN[E[1h:bNXE^1n:[NREf1P;WNPEj1P;UNQEk1o:TNQEm1o:SNPEn1o:RNQEo1`:iLcEZ1Mn1d:dL[Ea12k1h:TNWEm1k:PNUEQ2k:nMUES2k:lMUEU2k:jMVEV2i:kMVEV2^:UNbEl1g9fLbF^1Gm1g9eLbF]1Go1g9eL`F\\1IP2h9ZLXF48a1IQ2l9YLSF0:d1GT2o9XLZFd1FT2]:lMcEU2]:jMcEW2^:gMbEZ2_:dMaE]2a:`M_Ea2a:^M_Ed2`:[M`Ef2`:YM`Eh2`:WM`Ej2`:UM`El2`:TM_Em2h9XLbFk0Gm2f9aLZFb00n2f9iM[FW2e9hM[FY2e9fM[F[2e9dM[F]2e9bM[F_2e9`M[Fa2e9^M[Fc2e9]MZFd2f9[MZFf2f9YMZFg2g9XMYFi2g9VMYFk2g9TMYFm2g9RMYFo2g9QMYFo2g9PMYFP3h9oLXFS3g9lLYFU3g9jLZFV3f9iLZFX3f9gLZF[3e9dL[F]3e9cLZF^3f9aL[F_3e9`L[Fa3e9^L[Fc3e9]L[Fc3e9\\L[Fe3e9ZL[Fg3e9XL[Fi3e9VL[Fk3e9TL[Fm3e9RL[Fo3e9QLZFP4f9oKZFR4f9mKZFT4f9kK[FU4e9jKZFX4f9gKZFZ4f9eKZF\\4f9cKZF^4f9aK[F_4e9aKZF`4f9_KZFb4f9^KZFb4f9^KZFb4f9]K[Fc4e9]K[Fc4e9]KZFd4f9\\KZFd4f9\\KZFd4f9\\KZFd4f9\\KZFd4f9[K[Fe4e9[KZFf4f9ZKZFf4f9ZKZFf4f9ZKZFf4f9ZKZFf4f9ZKZFf4f9ZKZFf4f9ZKZFf4f9ZKZFf4f9ZKZFf4f9ZKZFf4f9ZKZFf4f9ZKZFf4f9YK[Fg4f9XKZFh4l9RKUFm4U:fJnEZ5]:O1O1O1O00000000001RK`EK2o3^:TLhFV3X9iLgGY2Y8eMkGY2U8fMmGY2S8eMPHZ2Q8dMPH\\2j:00000ZNgMdEY2Z:nMbER2[:RNdEn1\\:TNbEl1\\:\\N_Ec1_:`N`Ea1_:]NcEc1^:YNeEg1^:UNTE_OC\\2Y;TNTEBBZ2Z;SNTEF@W2`;hMUE3[OU2b<nM^CR2a<oM_CQ2`<PN`CP2_<QNaCo1]<TNbCl1]<UNcCk1\\<VNdCj1W<[NiCe1W<[NiCe1Z;mMoD>Ge1Z;PNlD;Je1Z;RNhD;Nc1Z;RNiD:Md1Z;RNhD;Nc1Z;QNiD=Lb1[;QNiD=Lb1Z;RNjD<Ma1X;TNkD:Nb1V;VNkD8Ob1V;WNiD81`1W;XNhD81_1X;YNgD81_1W;ZNhD71_1W;ZNhD71_1W;ZNhD71_1W;ZNgD82^1W;[NfD82^1W;ZNhD71_1W;YNiD80`1V;YNjD6Ob1W;XNjD6Ob1W;XNjD60a1V;YNjD60a1V;YNiD71`1V;YNiD71`1V;YNjD60a1V;YNjD60a1V;YNjD60a1V;YNjD60a1V;YNjD60a1V;YNjD7O`1W;YNjD7O`1W;YNjD7O`1W;XNkD8O_1V;YNkD8O_1V;YNkD8O_1V;YNlD7N`1V;YNlD7N`1V;YNlD6Oa1V;XNkD7O`1X;YNhD70_1Y;ZNgD70^1Z;[NfD8NW1c;aN_D8NS1g;eNZD:No0i;hNYD9Nn0j;iNXD9Nm0k;jNWD9Nk0m;kNVD:Mi0o;mNSD;Of0o;POQD:0c0R<SOnC:0a0T<UOlC:0`0T<WOmC8O?V<YOkC8O=X<[OiC8O<Y<\\OhC8O;Z<^OfC70:[<_OeC709\\<@dC708^<@bC817]<AbC726^<CaC617^<CaC616_<D_C725^<E`C535^<F_C624_<F`C603a<G_C603a<G_C513a<H^C512b<I]C601c<I]C600e<I[C70Of<JZC70Oe<K[C60Nf<LZC60Nf<LZC60Nf<LZC60Mg<MYC60Mg<MYC60Lh<NXC60Li<MWC71Ji<OVC71Ji<NWC80Ij<OVC8OJk<OUC43Mh<OUC52Li<OUC61Jk<0TC61Il<1SC60In<1RC60Ho<2QC61Gn<3RC\\OFh09HP=5PC[OGh09GQ=6oB50EQ=6oB50DQ=8nB34Co<:mB52AQ=9oB50AR=:nB50AS=9mB60@T=:lB60@T=:lB7O^OW=:jB80]OV=;jB80\\OW=<iB80[OY=<gB90ZOY=?fB71YOZ=`0eB71XO[=a0dB62WO\\=c0cB51XO\\=b0cB8j=HVB8j=IUB6k=KUB5k=KUB5k=KTB7k=IUB7k=HVB8j=HVB8j=HVB8k=GUB9k=GVB8j=IUB7k=JTB6l=JTB5m=KSB5m=KSB5m=KSB5m=KTB4l=LTB4l=KUB5k=KUB5l=JTB6l=KSB5m=KSB5m=KSB5l=LTB4l=LTB4l=LTB4l=LTB4l=LTB4l=LUB3k=MUB3k=MUB3l=MSB2n=NRB1o=ORB0n=0SBNn=2RBLP>4QB@JLW>d0l000000O100000O100001O01N1000000000001O1L]`4Kg_KFa@<^?4OO1N2O5GQP5MZ`J=1Ka>U1M101O001O001hNhNfCX1W<mNgCT1X<mNgCT1X<mNgCS1Y<mNgCT1X<lNhCT1X<lNhCU1W<jNjCV1V<jNjCW1U<iNkCX1T<iNkCW1U<iNkCX1T<hNlCY1S<gNmCY1S<hNmCX1]=1N110O000iNgNgCZ1U<kNiCU1V<mNiCT1V<mNhCT1X<mNgCT1X<mNgCS1Y<nNfCS1Y<oNeCQ1Z<QOeCP1Z<QOeCo0[<SOcCn0\\<ROdCn0\\<TObCl0^<TObCl0^<UOaCk0_<VOaCj0^<WObCh0^<YObCf0^<[ObCd0^<]ObCb0^<_ObC`0^<AbC>^<CbC<^<EbC9_<H`C8a<H_C7b<H_C7g<DYC;j<CVC;n<BSC=n<CRC;Q=DoB;R=EnB:T=EmB8U=GlB8T=JkB5U=MjB2V=OjBOW=2iBMX=3hBLX=5hBIY=8gBGY=:gBEY=<gBB[=>fB@Z=b0eB]O[=d0eB[O[=f0eBXO\\=j0cBUO]=l0cBSO]=m0dBRO\\=P1cBoN]=R1cBmN]=T1dBjN\\=W1dBhN\\=Y1dBeNf2"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_corner_located_next_to_the_cashier_area_on_the_left_side_of_the_screen__below_the_side_of_the_blue_metal_shelf/1149_mask_rle.json b/Navigation/GroundDetection/The_corner_located_next_to_the_cashier_area_on_the_left_side_of_the_screen__below_the_side_of_the_blue_metal_shelf/1149_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..d47012e95419ed8bb7b48d1c9372b8110c7b744a
--- /dev/null
+++ b/Navigation/GroundDetection/The_corner_located_next_to_the_cashier_area_on_the_left_side_of_the_screen__below_the_side_of_the_blue_metal_shelf/1149_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_corner_located_next_to_the_cashier_area_on_the_left_side_of_the_screen__below_the_side_of_the_blue_metal_shelf/1149_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The corner located next to the cashier area on the left side of the screen, below the side of the blue metal shelf"
+    ],
+    "scene_description_en": [
+      "The corner located next to the cashier area on the left side of the screen, below the side of the blue metal shelf"
+    ],
+    "scene_description_cn": [
+      "位于画面左侧收银区旁、蓝色金属货架侧面下方的角"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          402,
+          600
+        ],
+        "counts": "Sm:1a<001O000\\DOg:0XE4a;101N101O1N3N2N6I2O1XDZOb;f0\\D^O`:M]Fe0TO41YO]91^Gb0SO=\\9UO_Ge1_8]NlFF<f0^O>W9YOoFE:d0@>V9[OoFCLN:f0E?j8kN_G?LDLM031d0N>i8lN`G>LEKL0X2h8jMaG=LEKn004h8lNbG<KCK]2h8dMbG<KCLR1O4h8kNbG<KCM[2f8eMcG=Ji0K1h8iNcG=KS2b8`McG=KS2b8`McG=Kg0J4g8iNdG<MQ2^8dMoGMHQ1C9f8iN^H\\2a7eM_Hm0lN:e8iN_Hm0lN:e8iNPHK[O28_2]8dMdG;Ob0H;e8hNdG<NP2^8dMcG=0>H>f8fNbG=1OJ[1V:XNnE7IU1e:<000^N[EW1e:hN[EY1e:gN[E:29c:0_EOa:]O[E:59`:]O[E:68_:]O[E;78^:]O[E:89]:]O[E:89]:\\O\\E8;;Z:[OWFe0k:000000000000000CXOPEh0^:L_E5_:MaE3^:OaE1_:O`E2`:N_E3a:N^E2b:O[E3e:m0O100000000O1000000000000001O001O1O001O000000O10000000000000000000000001O000000000000001O00000000000000001O000000000000001O00000000001O00001O1O00000000000000O1O1O1O1O100O100O10000O1O100O1O1O1N2N2M3TOl0N2O10000001O1O1O1O000000000000000000000000000000000000001O0000001O000000O1O1O1O1O1O1O10000000000O10000O1N2O1O1O100O100O100O1O1M3N2O1N20000000000000000000000000000000000000000000000O1000000O100O1O1O1N2O1J6O1000000000000000000O100O1O1O1L4O10000000000000000000000000000O100O1N2O1N20000O1O1O1N200000000000000O10000O1O1O1M3N200O1000000000000000gLZJFf5CRK<m4CUK=k4BVK>j4AVK`0j4^OVKd0j4ZOQKm0o4QOSKo0m4oNUKQ1P5cNWK]1o70000000000000001O0000DUNQFk1n9VNRFj1n9VNRFj1n9UNSFk1k9UNWFk1i9UNWFk1k9VNRFj1\\:O000000000000000000DWNoEi1Q:VNPFj1P:VNPFj1\\:01O000000000000000000001O000000000000000000001O00000000001O002N6J4L001O00O1O1eMgN^H0ZOb1[7lNSH54ALN6^2X7`200001O1O001O001O0000003M1O1O1O00001O0000000000002N2N2N1O1O1O1O001O00001O000000000000000000001O007I2N1O1O001O001O1O1O001O001O1O001O00001O0000000000001O00000000000000000000000000000000000fLWGk2i8TMZGj2g8TM[Gk2e8TM]Gk2c8TM_Gk2a8TMaGk2_8SMdGl2Q901O1O001O1O1O001O1O001O001O1O1O001O001O1O1O1O1O001O001O1O001O00001O00001O0000000000001O0000000O1NhE"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_door_of_the_rightmost_wardrobe/40958748_1169.765_mask_rle.json b/Navigation/GroundDetection/The_door_of_the_rightmost_wardrobe/40958748_1169.765_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2af8bbacdab72fcc756904fae3bc26b343d3130
--- /dev/null
+++ b/Navigation/GroundDetection/The_door_of_the_rightmost_wardrobe/40958748_1169.765_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_door_of_the_rightmost_wardrobe/40958748_1169.765_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The door of the rightmost wardrobe"
+    ],
+    "scene_description_en": [
+      "The door of the rightmost wardrobe"
+    ],
+    "scene_description_cn": [
+      "最右侧衣柜柜门"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "d]e1232`>;K3O2O0O10000O1O100O10000000000O1N2O1O1O11O0000O1O100O1O1O10000O100O10000O100O100O10000O100O100O1O100O1O100O1O100O1O1O1O1O1O1O100O100O100N200MWNnBj1S=1NUNoBk1R=100O100O1O1O100O100O100O100O1O100O100O100O100O1OhM\\CV2d<300001O0000O100O1O100O1O100O100O1O1O1M30000000000O1O100O1O1O1000000O10BmCoMQ<a2O1O1O100000000O1O1O1O1000000O100O1N2O1000000O100O1O100O10000000jN_DmNa;Y20000O1O1M3O1O1O1M[LkDe3U;\\LjDd3V;30000O100N2O1O1O1O100O100N2O1O1O1LkK]EU4f:1000000O1O1O1O1O10000O1000000O1N2O100O100O10000O100O10000O1O1O10000M30000O1O100O10000O10000O100O100O100O100O100O100O100O100O1O100O1O100O100O100O1O1O100O1O1O100O1O1O1O1O1O1O1O100O10000O100O10000O1000000O100O100O100O100O100O100O100O100O100O1O100O100O100O[J^Gn4a8i000O1N2O1N200O100001O00001O000000000000001O001iJbGj3`8Z1O10aIaG]6`8cI`G\\6`8dI`G\\6a8dI_G[6d8O0dJ\\G\\4d8P11O1O00001O001O0000001AWGeJi8i5000000001O001O001OO1O1O1O1J6O1N2O1N2M3L4O1M3N2M3N2O1N2N2N2N2M3N2N2O1N2KYHoHi7S71N2N2M3M300O10YMZITMg6j2[IUMe6j2]IUMc6j2_IUMb6j2^IVMb6j2_IUMa6j2bITM_6j2cIUM]6k2dITM\\6j2gIUMZ6i2gIWMY6i2gIWMY6h2hIXMX6f2kIYMV6P1RI[Ni0e0U6c2lI^MT6b2lI^MT6a2mI_MT6`2kIaMV6]2kIcMU6]2jIdMV6[2jIfMV6Y2kIgMV6W2jIjMV6U2iImMW6R2PI_Kd0b2]6m1oHaKe0b2\\6k1hIVNX6i1iIWNX6c1mI]NS6`1PJ`NQ6\\1QJeNo5Z1PJhNP6W1PJjNP6T1RJlNn5R1SJoNn5n0SJSOm5l0SJUOm5i0UJWOk5g0VJZOk5d0VJ\\Ok5b0VJ^Ok5`0WJ_Oi5`0YJ_Oh5=aJ]O_5b0gJYOZ5d0QKSOo4l0VKTMbMc1X7W1[KSM\\Mg1Z7T1cKiN]4U1YLWNg3g1cLQN^3l1iLoMW3P2ZM`Mf2^2P5M2O2M2O1N3M2N3N1O1N2O2L3N3M2N2N2N2N2O1O2L3O1N2O2N1O1O2L3O2M2L4L5M2N3N1O2O0O2NVT9"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_front_of_the_alarm_clock/1062_mask_rle.json b/Navigation/GroundDetection/The_front_of_the_alarm_clock/1062_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..582cd7d95d1a513008a6c73540dc04eb878b681b
--- /dev/null
+++ b/Navigation/GroundDetection/The_front_of_the_alarm_clock/1062_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_front_of_the_alarm_clock/1062_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The front of the alarm clock"
+    ],
+    "scene_description_en": [
+      "The front of the alarm clock"
+    ],
+    "scene_description_cn": [
+      "闹钟的正面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          800,
+          717
+        ],
+        "counts": "Z`0f8Z`000000O10000000000O1001O00002N6J3M1O3M3M2N1O1O1O1O1O1O00000000O100O100O100O1O100O100O100O1O12N1PI\\_Ob5Sb0N1O001O00000000001O0000O100O100O1O1DcIS^O_6ga0`0ZOf0N2O1O100000000000000O100000000000000000000000000000000000000000000000000000000000000000000000000000000000000O10000000000000000000000000000000000000000000000001\\J]_Oi2c`0PMh_Ol2X`0iLV@T3j?`Ld@^3\\?XLo@g3Q?oK[Ao3e>nK_AQ4b>iKcAW4]>eKhAZ4a>ZKcAe4]a0O001O1O1O1O001O1O1O1O1O1O2N1O1O1O1O1O3M3M2N3M2N3M3M1O2N1O001O00001O000000001O000000001O0000001O0000001O0000000000O10000O1000000O100000000O100000000O100000000O10000000000O10000000000000000O1000000000000O100000000O10000000000000000O1000000000000O100000000O10000000000000000000000000000O1000000000000000000O10000000000000000O100000000000000000000O10000000000O10000000000000000000000000000000000O1000000000000000000000000000000000000000000000000O10000000000000000000000001O0000O1000000000000000000000000000000O100000000O100\\LTLSBm3m=WLoAi3P>^LiAc3W>lLYAU3g>QMSAo2m>WMm@i2S?[Mi@e2W?jMZ@V2g?RNo_Oo1Q`0]Nf^OcMg0P4c`0nNQ_OS1o`0QOk^OQ1Ua0]30000000000001O000000000000001O0000000000001O000000000000001O0000000000001O00001O0000002lHo^OMEi5jb0N1O1O0000000000001O0000O10000O1O1]O[Jk]Oe5`a0X1N2M3O100O1O10000O100O1O100O100O1O100O1O1O100O1O100O1N2O1O1O1N2O1N2O1O1O1O1O1O1O1N200O1O1O1O1N2O1O1O1O1O1O1N2O1O1N2N2DVG^@n8b?800001O00001O001O001O001O1O001O00000000000000O1O10000O100000000000000001O000000000000001O001O00001O001O001O0000O10000O10000O10000O100O1000000O1000000000000O1000000001O000000000000O100000000001O00001O1O001O1O1O001O00000000001O0000O1O1O1N2L41O1O001O001O1O001O0000O100O1O1O10000O100000000O10000O100O100O1O1N2O1N2O100000000001O00"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_front_of_the_chair_on_the_left_side_of_the_picture/001110_mask_rle.json b/Navigation/GroundDetection/The_front_of_the_chair_on_the_left_side_of_the_picture/001110_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..97ebfcbbc068f9731406b69d36a90e2ef10c0369
--- /dev/null
+++ b/Navigation/GroundDetection/The_front_of_the_chair_on_the_left_side_of_the_picture/001110_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_front_of_the_chair_on_the_left_side_of_the_picture/001110_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The front of the chair on the left side of the picture."
+    ],
+    "scene_description_en": [
+      "The front of the chair on the left side of the picture."
+    ],
+    "scene_description_cn": [
+      "画面左侧的椅子的正面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "i841Na00Gd0`8BhGJId0[8FkGGId0[8C^GG;3Le0Y8APHIEi0_8YOmGLCn0]93N1O1O100O10000O100001O00001O0OIoNmFQ1X7mNiI2ZO2Fm0o6POPI0c00D6ONLj0m6[ObII[ON0O0?5I2e0j6@cIE]OOO2094O1b0k6CcI@I<E13`0k61hIROYO0015>M>k64kIoN]O0L`1k6V2N200O2N10000002]L[IS3T7N02N1O1O011O00O1000000000000000000000O100000000O10000001O1O1O2N1O2N2N2N1O1O001O001O001O001O1WM\\H`2d7_M^H`2b7`M^H`2c7_M]Ha2c7_M]H;Lg1h7lM]H;Nh1l7WNVHh1j7WNVHj1k7TNVHl1j7TNVHl1j7SNVHo1i7PNXHo1i7PNWHQ2j7mMVHT2j7kMVHV2T80O100O1O100O1O10000O10000O100O100000000O10000G`M^H`2a7aM_H_2`7cM_H]2`7dM_H]2a7cM_H]2`7dM`H\\2_7eMaH[2^7fMbHZ2]7gMcHY2\\7hMdHX2[7jMdHV2[7kMeHV2Z7jMfHV2Y7kMgHU2X7mMgHS2X7nMhHR2W7oMiHP2W7RNhHn1W7TNgHm1X7h0O1O1N2O1O1N200N200O1O100O100O10001OO100000002N1O1dLTIn2m6QMSIo2n6oLSIQ3n6nLRIR3o6mLQIS3o6mLQIS3P7mLoHS3Q7mLPIR3Q7mLoHS3Q7mLoHS3Q7nLnHR3S7mLmH30f2S7WMmH12h2R7VMmH02k2P7UMWIj2k6TMVIl2X72M20O0101OO10O100O1O1000000FoLPIS3o6oLoHQ3P7PMPIP3P7PMPIP3o6RMPIn2P7RMPIn2o6SMQIm2o6SMQIm2n6TMQIl2o6UMQIk2n6VMRIj2n6VMRIj2m6WMSIi2l6YMSIg2m6`0O1O1003M1O1O1O00000010O01N10001O001O003M2N1O000000O1O100001O00001O001O001O00001O001O001O000010OO2O00001O001O001O0fMTIl0m6nN_Ik0a6SOcIk0]6TOeIk0\\6SOfIl0Z6SOgIm0Z6QOhIn0X6ROiIm0X6QOiIo0W6QOjIn0W6POkIo0m701O3M5K1O1O001O1O000000O100O2O01O001O00001N2O1O001O1O001O1O1O001O1O001O1O1O001O1O001O1O1ORTb1:Rk]Nb0@a0[ObN`GP2V8<D<J6O1000000000O101O000000010N1001O000001O0O1001O00O2O000000001OWH"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_front_of_the_fish_tank/000152_mask_rle.json b/Navigation/GroundDetection/The_front_of_the_fish_tank/000152_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..e276331c5d240758a498a8ab713637573fc3dc02
--- /dev/null
+++ b/Navigation/GroundDetection/The_front_of_the_fish_tank/000152_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_front_of_the_fish_tank/000152_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The front of the fish tank"
+    ],
+    "scene_description_en": [
+      "The front of the fish tank"
+    ],
+    "scene_description_cn": [
+      "鱼缸的正面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "YVR12a:1O100O10000O100O100O100O100O100O101N011N100O100O100O10O0100O100O100O10000O100O100O100O1O100EYOgFi0Y99O100O10000O100O100O100O100O100O10000O100O100O10000O10001N010O100O100O100O10000O100O10000O100O100O100O10000O100O100O101N1000000O10OGQNnGP2\\7o0O1O100O10001N1000000000O100000000000001O0000000000001O01O0000000000O10000000000000O10000O1O1O100O100O101O0O0010000O101N010O101N010000000O10gLRIl2o6QMUIm2Y701O0000000000010O00@SMYIm2f6UMYIj2h6WMWIi2i6XMVIh2j6XMVIh2j6YMUIh2j6XMWIf2j6ZMVIf2j6ZMVIf2j6ZMVIg2i6YMWIf2k6ZMTIf2l6ZMTIf2k6\\MUIc2k6]MUIc2l6\\MTId2l6\\MTId2`8nN9G3M2N2N2N1O2N001O1O1O001O1O1O001O1O001O00001O100N2O10O00O20O00000001N102N:GOO3Mld4MT[K6OO00001O0000001O0000001N100000001O1NTkW1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_front_of_the_microwave_oven/1176_mask_rle.json b/Navigation/GroundDetection/The_front_of_the_microwave_oven/1176_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..7754c3e0e7bc7cb377e61f600899410237d83255
--- /dev/null
+++ b/Navigation/GroundDetection/The_front_of_the_microwave_oven/1176_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_front_of_the_microwave_oven/1176_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The front of the microwave oven"
+    ],
+    "scene_description_en": [
+      "The front of the microwave oven"
+    ],
+    "scene_description_cn": [
+      "微波炉的正面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          600,
+          800
+        ],
+        "counts": "Xdf52eb02O001O1O001N2O001O1O001O001O1O010O10O10O01000O010O010O1000O010O010O01000O0100O010O01000O010O01000O0100O010O01000O010O10O10O10O010O10O010O10O10O01000O0100O010O1O001O001O010O02O0O1000O10O01O1O001O1O00001O1O0j@4`;M^CT1b<lNPCc1o<^NnBd1Q=^NmBc1S=^NkBc1U=]NkBc1U=^NiBc1W=^NgBc1Y=]NfBd1Z=]NdBd1\\=]NbBd1]=^N]Bg1c=g10000000000001O001O001O001O001O1O001O001O001O1O1O001O001O001O001O001O001O1O001O1O001O001O001O001O001O1O001O001O1O00001O1O001O001O001O1O001O1O001O001O001O001O001O001O001O001O001O7I2N1O1O1O002N001O1O001O001O001O001O001O1O1O00001O001O00001O001O001O1O001O001O1O001O001O1O00001O1O001O001O001O1O1O001O001O001O001O001O1O001O1O001O1O001O001O001O001O001O001O001O1O001O001O001O001O001O001O001O1O001O001O001O1O001O001O001O001O001O0000001O000000O1000000O100000000001O001O1O001O1O001O1O001O001O001O1O00001O001O001O001O001N101O0OeiR2"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_front_of_the_oven/2378852_mask_rle.json b/Navigation/GroundDetection/The_front_of_the_oven/2378852_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..3280e37a5a278f37662aac87211c41f7f3e00748
--- /dev/null
+++ b/Navigation/GroundDetection/The_front_of_the_oven/2378852_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_front_of_the_oven/2378852_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The front of the oven"
+    ],
+    "scene_description_en": [
+      "The front of the oven"
+    ],
+    "scene_description_cn": [
+      "烤箱的正面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          296,
+          500
+        ],
+        "counts": "d5=:IQ86PHJP86PHJP85QHKo75RHJn75SHKm74THLDMT86XHMDNS84ZHNBOT81]HO_O0T81]HO_O0T80^H0^O0T8O`HO]O2S8NaH0\\O2S8MbH1ZO3m8MSG3Q900000O1N201N1001O3M^Q2LfnM5K4RHGd6<YIEg6=UIEk6>QICo6?nHBR7a0jH@V7b0hH^OW7e0hHZOW7h0mHROR7R1`02O3L5L3L5L2N1O01O000000000000mHZNd6f1\\IZNd6g1[IYNf6f1ZIZNf6f1>000000000000O100000000000lH[Nf6d1ZI\\Nf6e1YI[Ng6e1YI[Ng6e1YI[Ng6e1>001O5eHUNo6S2O0000000000001O00O2O01O0000O10000000O1O1O1O1O1N2N2M3M3M3M3M3M3L4J6L40000000000000000O1000000000000000000000000000000000000000000000000000gMVJT1j5kNZJR1o5eNTJX1m5gNaJk0`5cNlI7\\1?i4XOmI8j10Y4FPJ9kU:EReL0VUI5[8>N101O001O1O001O001O1`I[O[4e0TKLl45gJ7X5JPJn0P6SOmIo0S6S10000000000000000000000000000000000000000000000O1000001O00000000O10000000O1001O0]MQJm1i6L1O1O1O1O1O1O2N1O1O4L101N0O3N1O1O2N1O1O1O1O1O1O2N100N2O1O2N1O1O1O1O1O1O2N1O1O1O1O1O1O1O001O00001O1O1O2N1O1O1O1O1O100O2N1O0O2O1Ojn]1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_front_of_the_red_stool/1195_mask_rle.json b/Navigation/GroundDetection/The_front_of_the_red_stool/1195_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a875661f4987cfdb3fa3e3306ce87ea91207410
--- /dev/null
+++ b/Navigation/GroundDetection/The_front_of_the_red_stool/1195_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_front_of_the_red_stool/1195_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The front of the red stool"
+    ],
+    "scene_description_en": [
+      "The front of the red stool"
+    ],
+    "scene_description_cn": [
+      "红色凳子的正面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          375,
+          500
+        ],
+        "counts": "jUW12e;0O101O0O10000O10000O10000O10000O1000000O100O10000O1000000O100O10000O1000000O1000000O10000O10000O10000O1000000O10000O10000O10000O10000O10000O10000O1O100000000O1000000O10000O100O100O1000000O100O10000O100O10000O10000O10000O10000O10000O10000O1000000O100O10000O10000O10000O1000000O10000O10000O10000O1000000O100O10000O10000O10000O10000O10000O1000000O100O10000O10000O10000O10000O10000O10000O100O1O1M3UOk0M3O1000000000000001O1O001O1O2N2N2N1O2N2N1O3M1O2N1ODdM^G[2b8gM\\GY2d8jMXGW2h8<001O0000001O0000001O000000001O000000001O0000001O0000001O0000001O000000001O0000001O00001O00001O000000001O0000001O0000001O0000001O0000001O0000001O000000001O000000001N100O1G:\\Oc0ZOodl0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_front_of_the_white_exhibition_board/1207_mask_rle.json b/Navigation/GroundDetection/The_front_of_the_white_exhibition_board/1207_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe3e36b97b5604af49fa94d0563d2941b54ee87b
--- /dev/null
+++ b/Navigation/GroundDetection/The_front_of_the_white_exhibition_board/1207_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_front_of_the_white_exhibition_board/1207_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The front of the white exhibition board"
+    ],
+    "scene_description_en": [
+      "The front of the white exhibition board"
+    ],
+    "scene_description_cn": [
+      "白色展板的正面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          648,
+          451
+        ],
+        "counts": "Wa0Q3Wa000000000000000000000000000000O10000000000000000000000000000O1N2K5000000000000000000000000000000000000000000000000000000000000000000000000O1001O001O4Lg0YO3M001O00nNmMo_OS2m?TNP@l1P`0UNo_Ok1Q`0UNP@j1P`0VNP@j1P`0VNP@j1Wa0000000000001O000000000000000000001O00000000001O0000000000000000000000001eNn]O>Rb0_OR^O`0Vb0VOl]Oj0jb0O00001O0000000000O1VOSOY^Om0ca0@S^Oa0ma0@Q^Oa0na0m0000000001O0000000000000000001O00000000000000000000000000O100001OO100000000000000001O00O1001OO1001O00O10000001O0000000000000000000000001O000000000000000000O100000000000000000000000000000000001O0000000000000000000000000000000000000000000000000000001O00O1000000000000000000000000000000000000001O0000000000O100001OO1001O00O10000000000001O00O1000000000000000000000000000000000000000000000000O10000iNPNU@Q2j?UNQ@k1Va00000000O1mNlMR@T2i?UNS@k1m?XNP@h1P`0[Nm_Oe1[a0000000000N2E;@`0O1000000001O00001O00000000001O0000001O00000000000000001O00000000000000001O0000001O0000000000000000000000000000001O0000O11O000000000eNi^OEWa09m^OESa05T_OJm`0Dd_O<Ub0O1O1O001O1O001O001O001O00001O1O001O001O1O00001O001O0O]\\O"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_front_of_the_white_single_sofa/41159420_7661.404_mask_rle.json b/Navigation/GroundDetection/The_front_of_the_white_single_sofa/41159420_7661.404_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f3ed13945fd7d7d1dfa772861a7d0db05d3122b
--- /dev/null
+++ b/Navigation/GroundDetection/The_front_of_the_white_single_sofa/41159420_7661.404_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_front_of_the_white_single_sofa/41159420_7661.404_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The front of the white single sofa."
+    ],
+    "scene_description_en": [
+      "The front of the white single sofa."
+    ],
+    "scene_description_cn": [
+      "白色单人沙发的正面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "_ca3f0T>8C;K501O01O0103L2OO0100O010WC`NP<`1mChNo;X1kCnNT<R1jCPOV<P1iCQOW<o0iCQOV<P1iCROU<P1jCPOV<P1jCPOU<Q1kCoNT<R1lCnNS<S1mClNR<W1mCiNR<X1oCgNP<Z1PDfNo;[1QDeNm;]1SDcNl;^1TDaNk;a1UD_Nj;c1VD\\Nh;f1XDZNf;h1ZDWNf;k1XDVNf;n1WDSNh;b201N2N101N2N2O1M3N2N2N3N1M3O2L3N2M3N3M2O10010O00001O0000000100O1O1O01O000O101N1bMaK[J_4d5bKZJ`4d5bKYJa4f5`KWJc4i5\\KWJe4h5\\KWJe4h5\\KXJd4g5\\KYJe4f5\\KYJe4g5ZKZJf4d5\\K[Je4e5ZK\\Jg4b5ZK]Jg4b5YK_Jg4`5ZK_Jg4`5YKaJg4^5ZKaJg4_5YKaJg4]5[KcJe4\\5]KbJd4]5^KbJb4]5_KbJb4]5aKaJ_4^5cK`J_4_5bK`J^4`5cK_J]4a5dK]J^4b5cK]J]4c5dK[J]4e5dKZJ\\4f5eKYJ\\4f5eKXJ\\4h5eKWJ[4i5fKVJZ4j5gKUJZ4j5fKVJZ4j5gKVJX4j5iKVJW4i5jKWJU4i5lKVJT4j5lKWJS4i5nKVJR4j5mKVJU4i5jKXJV4h5iKYJW4g5iKXJX4h5gKYJY4g5fKTIPOl0Z5P6fKTIPOk0Z5R6dKUIROh0[5S6bKVISOg0[5S6aKWITOe0\\5T6_KTIVOHOn0^5V6\\KTI[O`0_5\\6UKTI^O:b5b6oJTIA1i5j6fJSID0h5m6cJTIEOh5m6bJTIIMe5o6bJSIJOc5n6bJTIJOd5m6bJSIK0c5m6bJRIL1b5m6aJRIN1a5m6aJQIO2`5m6aJQIO2a5m6^JRI12`5n6]JPI50^5Q7\\JoH52^5Q7[JlH83^5Q7XJmH:2^5S7VJkH=2]5S7TJkH`02\\5T7SJjHa02\\5V7oIiHf01[5a7eJ_H[5`7fJ`HZ5_7gJaHZ5^7eJbH\\5^7dJbH\\5]7eJcH[5\\7eJdH\\5[7cJgH^5e6kI`Ig0J_5f6kI_If0J`5g6kI]If0L_5g6lI\\Id0Ma5h6kIZId0Mb5i6kIYIb0Oc5h6kIYIa0Of5g6jIYI>1i5f6iIYI<3k5d6iIYI<2l5e6hIWIIJa0;o5d6gIWIIJ`0;Q6d6fIWIIJ`0;R6c6eIXI:5R6c6eIWI95S6d6dIXI83U6e6cIXI55W2E\\1n6XLXI18^6`6bIWIO9`6`6aIXIM8c6_6aIZIK6e6`6aIYIG9i6^6`IZIE8l6^6_IjIb6W6]IgIe6Y6\\IeIe6Z6\\IeIe6[6\\IcIe6]6\\I`If6`6[I]Ig6c6ZIYIi6g6ZISIi6m6e00000000000000000000000000001O0000000000000000001O00000000001O00000000001O001O00001O000000O100000000000000000000000000001O001O00001O000000000000000000001O0000000000001O0000001O000000001OO100001O001O0000001O000000001O00001O000000001O00000000001O00001O00000000000000000000000000000000000000000000O100O100O1O1000000000000000000O10000000000000000001O0000001O00001O00001O000000O100O1O1O100O10000000000001O001O00O100"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_front_of_the_wooden_ladder/1038_mask_rle.json b/Navigation/GroundDetection/The_front_of_the_wooden_ladder/1038_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..8196fc293be64f83115937131a86caf7fdf3c31f
--- /dev/null
+++ b/Navigation/GroundDetection/The_front_of_the_wooden_ladder/1038_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_front_of_the_wooden_ladder/1038_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The front of the wooden ladder"
+    ],
+    "scene_description_en": [
+      "The front of the wooden ladder"
+    ],
+    "scene_description_cn": [
+      "木梯的正面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          403,
+          575
+        ],
+        "counts": "m7f4m7000000000000000000000000000001O00001O1O3M3M4L1O1O00000000000000000000O10000000000000000000000000000O10000000000O1O1O1O1O1O1000000000000000000O10000O100N2L400000000000000O1000000000000000000000000001O001O3M1O001O00000000000000O10000O100N2M300000000000000000000000000000000000000000000000000001`KZHQ4f7lK_H8F\\3Y9@5K4L5I6Ab0E8J7J5J6K5I:Fd0ZOUdR14XPmN6Z:U1N1L4K]NXEe1g:4O1O1O10000001O1N4`NVEQ1[;K5J<UObDKlih3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_front_part_of_the_white_car222222The_right_rear_wheel_area_of_the_black_car/64d22c6fe4b011b0db94b9a1_mask_rle.json b/Navigation/GroundDetection/The_front_part_of_the_white_car222222The_right_rear_wheel_area_of_the_black_car/64d22c6fe4b011b0db94b9a1_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b6399c4cc4e57dde60c7e58f26f81198809bde0
--- /dev/null
+++ b/Navigation/GroundDetection/The_front_part_of_the_white_car222222The_right_rear_wheel_area_of_the_black_car/64d22c6fe4b011b0db94b9a1_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_front_part_of_the_white_car222222The_right_rear_wheel_area_of_the_black_car/64d22c6fe4b011b0db94b9a1_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The front part of the white car222222The right rear wheel area of the black car"
+    ],
+    "scene_description_en": [
+      "The front part of the white car",
+      "The right rear wheel area of the black car"
+    ],
+    "scene_description_cn": [
+      "白色汽车车头部分",
+      "黑色汽车右后车轮区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "onZ17h>8H5K9HO0K6O1OVBCS==mBHn<8RCMi<3WCOd<4\\CNb<2^COa<0`C0c<M]C3c<M]C3b<N^C2`<ZOPCc0a03_<NbC2a<J`C6c<F^C;c=000000001O0000000O1POB^C>]<WOPC?a0;^<HbC8\\<JdC6\\<JcC7\\<IeC7[<IeC7[<IeC7[<IeC7[<IeC7[<IdC8\\<HdC8V<UO]Cc0=8W<TO[Cd0?8V<TO[Cd0?8V<UOZCc0`08U<MkC4T<LlC4U<TOZCc0b09T<TOZCc0b09T<JlC6T<JlC6T<TO\\Ca0`0;Y<DhC<\\<]OgCc0[=0000000O10000000000O10000O100O101N100O100001O1O001O1O1O001O001O001O00001O0000000000iMZOTFf0l9ZOTFf0l9ZOTFf0l9ZOTFf0l9ZOTFf0l9ZOTFf0l9ZOTFf0l9ZOTFf0l9ZOTFf0k9[OUFf0j9YOVFh0j9XOVFh0j9XOVFh0j9XOVFh0j9WOVFj0j9VOVFj0j9UOVFl0j9SOWFm0i9ROWFo0l;100O1N2O1O1O1O1000000O100000000O10000000000000000O101O000000O11O000O100000000000000000000000000000000O100000000000001O0000000000000O100000000000000000000000001O0O1000000000000000000000000000000O2O00000000000000000001O000000100O1O1O1O001O1O001O00001O000001O00000000000O10000000000O100O100O1O1N2O2M2N2M3O1N2O100O100O1N2I7O1O1O2O000O1001O00000000000001O00000001O000001O0000000000000000010O0001O001O>B4L1O1O00001O00000001N10000000000O100O1O100O10001N1000000000000000000000000000000O2O00000000000001O000000000000000000000001O0000000000000000000O1000000010O00000000000000000001O01O001O2N1O1O001O0000001O000000000000000000O1N3M2N2[Oe0O1000000000000000001O000000000000000000000000000000001O00000000000000000000001O00000000000000000000001O00000000000000O1GPD\\MV<[2<B>C=H9E:E;IdRh0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_horizontal_board_under_the_TV_cabinet/1061_mask_rle.json b/Navigation/GroundDetection/The_horizontal_board_under_the_TV_cabinet/1061_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcbac43064b5489f1db4796cd65142024433830d
--- /dev/null
+++ b/Navigation/GroundDetection/The_horizontal_board_under_the_TV_cabinet/1061_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_horizontal_board_under_the_TV_cabinet/1061_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The horizontal board under the TV cabinet"
+    ],
+    "scene_description_en": [
+      "The horizontal board under the TV cabinet"
+    ],
+    "scene_description_cn": [
+      "电视柜下方的横板"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          582,
+          801
+        ],
+        "counts": "ecd92^a0=h^OEVa0f0N4L2O1O1N2O1N2O1N2O1O1O1N2O1N2O1O1N2O1O1N2O1O1N2N2O1N2O1O1N2O1O1O1O1000000000000000000000000O100O1_Oa0C=M3000000000000O100000000O1O1O1M3O1O1O1N2N2N2M3N2N2N2M3N2O1N2N2N2N2N2N2M3H8O1O1000000000000000000000000001O0000000000000000000000002lJUCi4Z=J1O0000000000000000O10000000000000000000000O10000000000000000O1000000000000000000O1000000000000001O3M:F3M1O1O0000000000000000O100000000000000000000O1000000000000O1000000000000000000000000000000O10000000000000000000000001O1O1O2N1O2N2N2N2N2N2N2N2N2N3M2N1O3M3M2N3M2N2N3M2N1O2N3M1O"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_left_side_of_the_small_wooden_table222222The_lower_right_corner_of_the_floor_cabinet/107903_mask_rle.json b/Navigation/GroundDetection/The_left_side_of_the_small_wooden_table222222The_lower_right_corner_of_the_floor_cabinet/107903_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..2453b3eddb92dbbcd4a168c0cffff2a372d41f4e
--- /dev/null
+++ b/Navigation/GroundDetection/The_left_side_of_the_small_wooden_table222222The_lower_right_corner_of_the_floor_cabinet/107903_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_left_side_of_the_small_wooden_table222222The_lower_right_corner_of_the_floor_cabinet/107903_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The left side of the small wooden table222222The lower right corner of the floor cabinet"
+    ],
+    "scene_description_en": [
+      "The left side of the small wooden table",
+      "The lower right corner of the floor cabinet"
+    ],
+    "scene_description_cn": [
+      "木质小桌子左侧面",
+      "落地柜子右下角"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          1024,
+          683
+        ],
+        "counts": "eg0[8eg0000O10000000000O10000000000O11O00001O001O001O1O1O1O2N1O1O2N1O1O1O1O1O1O2N2N1O1O1O001O1O00001O001O1O1O4L2N1O2N2N1O1O1O2N2N8H6JN2O1N2nNfI]XO[6`g0kI\\XOV6cg0lIjWOC<b6jg0RJSXOo5lg0TJQXOm5og0TJoWOm5Ph0UJnWOl5Rh0UJlWOl5Th0P10000000000O100000000O1N2M3O1O1OgHVXO^6ig0cIWXO]6ig0m0O100O1O1000000O10000000000O11O1O3M6J4L3M2N1OO100N2O100O1N2N2F:M3O1O1O100001O001O1O2N1O2N1O4L6J3M1O5KO1000000O10000000000O1000000000000000000001O00000000001O0000001O00001O001O00001O1O001O001O1O001O1O1O1O1O001O1O2N1O1O1O2N1O2N1O2N2N1O3M2N3M0000O10000O100O1O100O100O100O100K_IjVOb6Si07N2O100O100O1000000O1O1N200O1000000O100O10000O10000O1O10000000000O100O10000O100000000O100O1O100O10000000000O10000O1O100O1O1O100O100O100O1O1O100O1O10000O1000000000000000000000000000000000000000000000000000000000000O10000O10000O10000O100O100O10000O10000O100O100O100O10000O100O100O100O10000O10000O10000O100O100O100O100O1000000O100O100000000O10000O100O10000O1000000O1000000O1000000O1000000O100O1O1N2N2N2N2N2O1N2O1O1N2O1O1O1O1O100O1O1O100N2O1N2N2O1N2O1O1N2O1O1O1O1O1O1O1O1O1O1K5C=E;G9G9N2N2O1O1N200O1O1O1O1O1QOdCX^O^<ha0eCS^O]<ma0gCk]O]<Ub0g000000000000000001O00000000001O00000jI^]OnNcb0o0`]OPO`b0n0c]OQO]b0m0f]OROZb0l0h]OTOXb0j0k]OSLA3eb0g3m]ORLB6ab0f3P^OPLB:^b0d3S^OPLA;\\b0c3W^OPL_O;Zb0c3Z^OQLA7Ub0f3]^OQLA7Sb0d3`^OTL^O7Rb0c3d^OTLZO9Rb0a3g^OTLXO;Qb0_3k^OSLUO>Qb0\\3n^OTLQO`0Qb0Z3R_OTLlNc0Rb0X3V_ORLhNf0Rb0W3Y_OQLeNh0Sb0V3X_ORLdNi0Tb0T3Y_OSLcNi0Tb0S3\\_ORL`Nk0Tb0R3`_OPL\\Nn0Tb0Q3e_OmKWNR1Tb0P3g_OmKTNT1Ub0n2^_O[JTNa19V1Ub0ZNd]OS3Z2[MmMX1Ub0VNm]OQ3R2aMlMX1Ub0TNP^OQ3Q2bMjMY1Ub0RNU^On2P2eMfM[1Ub0QNW^Om2P2eMeM]1Tb0oMZ^Ol2S2dM_Ma1Tb0nM]^Oi2S2fM]Mc1Sb0mM_^Og2T2gM[Me1Rb0mM`^Od2V2gMZMh1Pb0mM`^Ob2Y2fMYMk1na0lMc^O_2Y2iMUMm1oa0kMc^O]2Y1PM_Nh0FP2oa0kMd^O[2Y1SMaNc0BU2Pb0jMe^OY2X1YM`N=CW2Pb0iMg^OX2W1\\M^N<DW2Pb0iMi^OT2W1bM[N9EX2Pb0hMl^OR2T1hMYMFl0`0KX2Pb0hMP_Ol1R1SNQN1NX2oa0hMT_Og1o0YNPNONY2oa0gMX_Od1l0]NoMNOZ2ma0hM^_O\\1i0dNnMLO\\2la0hMd_OT1e0mNkMJ1]2ka0hMk_Ok0`0VOmMENb2ia0iMo_Oe0?\\OPOV2b`0hMR@a0?AmNV2b`0hMV@:?HhNV2c`0gM\\@1>2bNW2c`0gM`D3lJV2d`0fMbD9dJQ2j`0fMbD<`Jo1n`0eMcD=]Jn1Pa0dMdD?[Jm1Qa0dMeD?XJn1Sa0bMfDa0VJm1Ta0bMgDa0TJm1Ta0bMiDb0SJk1Ta0cMjDc0PJj1Ua0cMmDb0nIk1Ta0dMnDc0mIh1Ua0eMoDb0lIi1Ua0eMPEb0kIh1Ua0fMQEb0iIh1Va0fMREa0hIi1Va0fMTE`0fIi1Va0gMUE`0eIh1Va0gMWEb0aIg1Xa0gMWEc0aIe1Xa0hMXEc0_Ie1Ya0hMYEb0_Ie1Xa0hM[Ec0]Id1Xa0hM\\Ed0\\Id1Ya0gM\\Ee0[Ic1Za0fM]Ef0ZIc1Ya0gM]Eg0ZIa1Ya0hM]Eg0ZIa1Ya0hM^Ef0ZIa1Wa0jM_Ee0[I`1Va0kM`Ed0[I`1Va0kM`Ed0[I`1Ua0lM`Ed0\\I_1Ta0lMbEd0[I_1Ta0lMaEe0\\I^1Sa0mMbEd0\\I^1Ra0mMcEe0\\I]1Qa0nMcEe0]I\\1Qa0mMdEf0\\I\\1Ra0kMcEi0\\I[1Ra0kMcEi0\\I[1_i0eNcVOY1]i0gNbUO\\O2l1]j0gN_UOA3g1^j0hN^UOC4d1^j0iN]UOE6`1^j0jN[UOH7]1^j0kN[UOH8\\1]j0lNZUOJ9Y1^j0lNYUOK:X1]j0mNYUOM:T1^j0nNXUOO9S1`j0mNWUO28P1aj0nNWUO48l0aj0POWUO58j0bj0oNWUO87h0bj0POWUO97f0cj0POVUO>4a0fj0QOVUO`03>hj0POVUOe00:jj0QOVUOh0N6mj0POVUOl0L3oj0oNVUOR1IMRk0oNVUOV1GJUk0lNVUO[1EHVl09jSOFVl0;jSODVl0=jSOBVl0>lSO@Tl0a0lSO^OTl0c0mSO[OSl0f0mSOYORl0i0oSOUOQl0l0oSOSOQl0m0QTOQOok0P1PTOPOok0S1oSOmNQl0T1nSOlNRl0U1nSOjNQl0X1oSOgNQl0Y1RTOcNok0^1QTOaNok0`1STO]Nlk0e1VTOYNik0i1VTOVNjk0k1XTORNhk0o1XTOPNgk0R2ZTOlMfk0U2[TOiMdk0Y2\\TOfMdk0[2]TOcMck0^2]TOaMck0`2]TO_Mbk0c2m02M2O1XSOXMUl0j2`02N1aSOSMik0n2c02O2N2N1O1O001O1O1O1O001O001O5K2N000000000001O001O"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_leftmost_chair_leg_of_the_chair_on_the_left_side_of_the_table222222The_corner_of_the_table_on_the_right_side_that_is_closest_to_the_camera/64d22c7de4b011b0db94ba12_mask_rle.json b/Navigation/GroundDetection/The_leftmost_chair_leg_of_the_chair_on_the_left_side_of_the_table222222The_corner_of_the_table_on_the_right_side_that_is_closest_to_the_camera/64d22c7de4b011b0db94ba12_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..441d3be95154b9abd52c4af4fc79d539e57d785d
--- /dev/null
+++ b/Navigation/GroundDetection/The_leftmost_chair_leg_of_the_chair_on_the_left_side_of_the_table222222The_corner_of_the_table_on_the_right_side_that_is_closest_to_the_camera/64d22c7de4b011b0db94ba12_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_leftmost_chair_leg_of_the_chair_on_the_left_side_of_the_table222222The_corner_of_the_table_on_the_right_side_that_is_closest_to_the_camera/64d22c7de4b011b0db94ba12_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The leftmost chair leg of the chair on the left side of the table222222The corner of the table on the right side that is closest to the camera"
+    ],
+    "scene_description_en": [
+      "The leftmost chair leg of the chair on the left side of the table",
+      "The corner of the table on the right side that is closest to the camera"
+    ],
+    "scene_description_cn": [
+      "桌子左边椅子最左边的椅子腿",
+      "桌子右边离镜头最近的桌角"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          600,
+          450
+        ],
+        "counts": "l<j5m<1O3M1O1O1O1O100O1O1O1O1O100O100O100008H2N2N001OO1000000O1O1O1UOTJhDn5W;TJcDQ6];oIbDR6n:`JPE`5l:eJRE\\5m:eJSE[5m:fJREZ5m:gJSEY5j:jJVEV5j:jJVEV5i:kJWEU5i:SJ\\ENKo5i:RJ`ELGR6i:PJbENER6j:mIcE1CR6l:hIdE6@R6f;nIZDR6f;nIZDR6f;nIZDR6o:kIXELC76R6j:SJXEHG36R6j:VJVEO0k5j:WJTEO2j5j:WJTEO2j5j:XJSEN3j5j:XJSEN3j5k:WJREO4i5k:VJRE13i5k:VJRE22h5l:UJSE31h5l:VJRE23g5k:WJRE23g5k:WJRE23g5k:WJRE23g5k:WJRE23g5k:WJRE23g5k:WJRE23g5k:WJSE12h5k:WJSE12h5k:WJRE23g5k:WJRE23g5k:WJRE23g5k:WJRE23g5k:WJRE23g5k:WJRE23g5k:WJRE23g5k:XJQE14g5k:XJQE23f5l:XJQE23f5l:XJQE23f5l:XJQE23f5l:XJQE23f5l:YJPE23e5m:YJPE23e5m:YJPE23e5m:YJPE23e5m:YJPE23e5m:YJPE24d5l:ZJPE24d5m:YJoD25e5l:YJPE15e5l:XJQE14g5m:VJQE04i5m:TJSEN:f5e:XJRFf5a;O001O000000TN_J`Fb5_9fJVEEg0e5R:hJTEGg0b5U:hJSEN=]5`:eJRE^6n:bIRE^6o:aIRE^6o:`IRE`6U;XImDg6f;L3Ml0TOk0UO`0@2N1O00000000000000000000000000kLmKdGT4\\8gLPEYOT1Q4l9mM^EV2a:Q30000001O000000001O8H3M2N00000000000000000000N2F:N20000000000000000000000000000000000000000000000000000000000001O0000O100000000000000001O00O1000000000000000000000000000000000000000000001O000000000000000000000000O11O00000000000000000000001O00001O00002N8H2N1O0000000000000000O1O1M3F:O100ORJPE]NM8l0W4W:aLoF]3R9TL]Gk3c8TL^Gl3c8nKcGQ4b;000001O0000000000O100O1N2[Oe0[Oe0A?UOk0001O1O000000000000JQIcDo6[;8N2N2O10000001O0nHZER6g;O1O000000000000O1QOgI\\E\\6c:fIVE`6i:bIhDJ9e6o:gInDZ6R;gImDY6S;gImDY6S;gImDY6S;gImDY6S;gImDY6S;gImDY6S;gIlDZ6T;eImD[6S;eInDZ6R;fInDZ6R;eIQE0=T5b:kJXFT5h9kJZFT5f9lJZFT5g9iJ[FW5c;00000000000GgJRCZ5i<=UOUJiDk5U;jJWDW5h;kJWDDN3<Q4_;YLVDCo0R4k:[LVDCP1Q4j:\\LWD@R1S4g:\\LZDZOT1Z4c:ZLiEe3[:ULgEk3c<000O100O1bNfK\\D\\4c;fKXC3?`4X<_KWC6;]4o;^KkC`03S4l;eKoC94R4i;jKRD53R4j;kKSD23S4j;kKSD23S4i;mKSD13R4j;mKTD02S4j;mKUDO1T4j;mKUDO1T4k;lKTDA1O1d4j;lKTDB0N2d4k;jKTD11U4l;iKSD21U4o;eKQD51V4P<bKPD80V4U<[KmC?NV4f<jKYCW4g<hKZCX4g<gKXCZ4i<eKWC[4i<eKXCZ4h<fKXCZ4i<eKWC[4i<eKVC\\4k<cKUC]4k<cKUC]4k<bKVC^4k<aKUC_4k<aKUC_4k<aKUC_4k<aKUC_4k<aKSCa4m<_KRCb4n<]KRCd4n<\\KRCd4n<\\KRCd4n<\\KRCd4n<\\KRCd4o<[KQCe4o<[KRCd4n<\\KRCd4n<\\KRCd4n<\\KRCd4n<\\KRCd4o<[KQCe4o<[KPCf4P=ZKPCf4P=ZKPCf4Q=YKPCf4P=ZKPCf4P=ZKQCe4P=ZKoBg4R=XKnBh4R=XKnBh4S=WKnBh4R=XKnBh4R=XKnBh4S=WKnBh4R=XKoBg4Q=YKoBg4Q=YKoBg4Q=YKPCf4Q=YKoBg4Q=XKPCh4S=SKnBn4_=O00009G2N2N001O001O00002N"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_lower-left_corner_of_the_table_222222_the_corner_of_the_bowl_on_the_right/000110_mask_rle.json b/Navigation/GroundDetection/The_lower-left_corner_of_the_table_222222_the_corner_of_the_bowl_on_the_right/000110_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..903045c565f1657c0bc375494625c7a84c419e5f
--- /dev/null
+++ b/Navigation/GroundDetection/The_lower-left_corner_of_the_table_222222_the_corner_of_the_bowl_on_the_right/000110_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_lower-left_corner_of_the_table_222222_the_corner_of_the_bowl_on_the_right/000110_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The lower-left corner of the table 222222 the corner of the bowl on the right."
+    ],
+    "scene_description_en": [
+      "The lower-left corner of the table",
+      "the corner of the bowl on the right."
+    ],
+    "scene_description_cn": [
+      "桌子的左下角",
+      "右侧的碗角"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          768,
+          512
+        ],
+        "counts": "`=U8T1PI^<R7_CQI_<P7^CRIb<o6]CQId<o6ZCRIf<R7UCoHk<V7nBlHR=Q900000000000000000000000000001O00000000O1000000000XFdBl8[=TGRC`8n<^GaCU8_<jGmCk7S<SHYDc7g;\\HeDY7Z;gHiDW7W;hHlDV7T;jHmDU7S;kHnDT7R;lHnDT7S;kHmDU7T;jHmDU7U;iHkDW7W;`H^BO]2a7m=0YNVIVBl6l=eI\\A`6e>]11O1O001O0000001O000000001O001O1O1O001O1O0000000000001O00001O1O005K4L2N1O1O000000000000O1M3I7O1N2O10000O100000000000000000000001O00001O00O1001O0000000000001O00000000O1000000001O0000000000001O00O100000000000000001O0000001O000000000000001O001O001O00O1O10000000000O100001O0000000000000000000000O11O0000001O001O00001O2N5Kd0\\O<D7I1O1O000000000000O100N2eN\\Ic@C5\\7W?Q1O10000O11O000000000000001O001O9G4L2N001O00000000000000O1L4F:O14L5K1O1O001O1O1O001O1O1O6J<D:FP1PO<D5K2N2N1O001O001O00000000000000001O000000001O00001O00000000001O000000000000000000000000000000O1001O0000000000001O000000000000000000000000001O00000000000000000000000000001O000000001O0000000000000000001O00000000000000000000000000000000000000000000000000001O00000000000000000000001O00000000000000000000000000000000000000001O0000000O1O1O2mNR1lNV1hNnZ>mNVPA9ce0Z1hNX1J4010O0N3O1O1O1O1O100O1O1O100N2O1O1O100000001N101O8H5J3N2N0O2M2K7@`0XOPm9"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_lower-left_corner_of_the_table_222222_the_lower-left_corner_of_the_desk/000253_mask_rle.json b/Navigation/GroundDetection/The_lower-left_corner_of_the_table_222222_the_lower-left_corner_of_the_desk/000253_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..b79757ef1dfa42ef8c7ff7150b9b7764331ae8ad
--- /dev/null
+++ b/Navigation/GroundDetection/The_lower-left_corner_of_the_table_222222_the_lower-left_corner_of_the_desk/000253_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_lower-left_corner_of_the_table_222222_the_lower-left_corner_of_the_desk/000253_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The lower-left corner of the table 222222 the lower-left corner of the desk"
+    ],
+    "scene_description_en": [
+      "The lower-left corner of the table",
+      "the lower-left corner of the desk"
+    ],
+    "scene_description_cn": [
+      "桌子的左下角",
+      "书桌的左下角"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "S^T25_:8jEJ_9S1Ba0@?Ai0WOb0^O=C9G7oIeKZ5m4M1000001O0O1000000001O1O2N<D:F3M1O000000O100H82N5K2Nd0\\O1O001O0000001O1O1O2N2N2N2N4L3M2N3M3M3M2N6JS1mN2N001O0000O100O1_ORO[Gn0X8n0O1O100O1000000O1000000O100000000O10000000000O10000000000SMcMbM]2^2dM`M]2_2fM_MZ2a2gM^MY2b2hM]MX2c2iM[MX2e2iMZMW2f2jMYMV2g2kMXMU2h2lMWMT2i2mMVMS2j2nMUMR2k2oMSMR2m2oMRMQ2n2PNQMP2n2RNQMn1o2SNPMm1P3TNnLm1R3TNmLl1S3UNlLk1T3UNlLk1T3WNjLi1V3WNiLj1W3WNhLi1X3YNfLg1Z3YNfLg1Y3\\NeLd1[3\\NeLd1[3^NcLb1]3^NcLb1]3`N`La1`3`N_LA^NV1S5ZO^L]OcNX1o4\\O]LTOnN^1f4]O]LPOROb1a4@\\LkNUOe1_4_NlJg0[2j0j2\\NnJk0V2i0V3WOjLi0V3XOiLh0X3XOfLi0Z3XOdLi0\\3\\N`Jc0l1X1V3QNWK2Je0d1\\1[3oMUKOMg0^1_1`3jMaKg0j0c1e3fMaKh0d0g1k3aMaKi0?j1P4]MaKj0<k1S4[M^Kn08m1Z4UM\\KQ16m1_4PM[KU12n1T5TNdJS2\\5nMaJT2^5nM`JS2_5b10000O10000001O000000001O1O1O1O1O1XKYJ`4n501O001O0000O1K5K500_O[KRKe4n4[KSKd4m4\\KSKd4l4]KTKc4l4^KRKc4n4^KPKc4P5^KmJd4R5`0O10000001O001O001O00001O001O001O001O001O001aKdJc3\\5XLkJf3U5VLoJj3R5RLQKn3P5kKVKU4e5000O1M3M3O100001O001O001O000000001O000000000000O1000000O1N2N2O100001O00001O001O1O1O000000001O001O001O1O001O001O001O001O00001O001O001O001O001O001O00001O001O001O001O001O001O001O001aMWIP1i6YN\\IG0o1e6YN\\IG05K:O1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_lower_left_area_of_the_door222222The_corner_of_the_countertop/1159282_mask_rle.json b/Navigation/GroundDetection/The_lower_left_area_of_the_door222222The_corner_of_the_countertop/1159282_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..810ca2384d0ba6f35b38db71ddbbbde0c5d7184b
--- /dev/null
+++ b/Navigation/GroundDetection/The_lower_left_area_of_the_door222222The_corner_of_the_countertop/1159282_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_lower_left_area_of_the_door222222The_corner_of_the_countertop/1159282_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The lower left area of the door222222The corner of the countertop"
+    ],
+    "scene_description_en": [
+      "The lower left area of the door",
+      "The corner of the countertop"
+    ],
+    "scene_description_cn": [
+      "门的左下角区域",
+      "台面拐角处"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          683,
+          1024
+        ],
+        "counts": "ko;1Ye02N3M1O2N3N1N2N2O1N1O1O100O1O10000O100O100O100O100O10O02O0O1000000O01000O2N0O2O1O1O10000O100O10O0100O100O1O100O101N101N100O100O100O1O100O1O100O100O1O100O100O100O10O01O100O100O100O100O100O1O100O00100O101N1O100O100O100O1O100O100O1O1O100O010O101N1O100O100O100O2O0O1O100O100O1O100O100O1O100O100O100O011N100O1O10O0100O2O0O100O1O100O100O1O010O1O2O0O100O100O010O101N100O1O10O01O100O100O100O100O1O10O01O100O2N1O1000O01O2O0O1O1O100O1O100O1O100O100O100O2O0O1O100O100O1O100O1O100O1O10000O1O10000O1O100O100O1O100O1O100O1O100O1O100O100O100O100O10O1000000000001O001O0000001O001O00;E2N001N2O1O001O000000001O0000001O01O000001O0000001O000000001O00000O101O010O01OO100O2O01O1O01O0000000N3O00000000001O0000000000001O000000001O000010000O001O001O00001O000000001O0O100000001O00000000001O000000001O0O100000010O00000O10010O0000001O00000010O000000000001O00000000001O0000000000001O00000O100000001O0000000O20O000010N100000000010O0000O10001O0000001O0000000000001O000000000000001O000000010O00000000001O000000000000001O000000001O0000001O000000001O0000001O0000001O000000001O000000000000001O000000001O0000000000000O101O00000O11O000010O00000000001O000000001O000O10001N1001O001OO101O000000000000001N100000001O0000000O2O3gNeel7fNl\\SH1N2N2N1O100O01O0100O0010O01O10O01O1O00010O1O001O1O001O1O01O01O000mA"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_right_armrest_of_the_sofa222222The_doorway_area_on_the_right/000445_mask_rle.json b/Navigation/GroundDetection/The_right_armrest_of_the_sofa222222The_doorway_area_on_the_right/000445_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..14a5a06f4b82c0c2785e474b615a8727cfef64b6
--- /dev/null
+++ b/Navigation/GroundDetection/The_right_armrest_of_the_sofa222222The_doorway_area_on_the_right/000445_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_right_armrest_of_the_sofa222222The_doorway_area_on_the_right/000445_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The right armrest of the sofa222222The doorway area on the right"
+    ],
+    "scene_description_en": [
+      "The right armrest of the sofa",
+      "The doorway area on the right"
+    ],
+    "scene_description_cn": [
+      "沙发右边扶手",
+      "右边的门口区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "X:=X:01O001O001O001O001O1O001O001O1O001O001O1OQje06hUZO3N00000000O1000O1000O100000O01000000000000000O1000000001O004KRP3MooL6L2N2O000O110O001O00010O010O01O01O010O01O01O01O000000010O000000010O03M1O1O0010O01O001O0000000001OnEDk9g0L8oIoNn1S1^JlN[32W2Z1fMgNZ2[1cMfN^2Z1aMfN_2Z1aMfN_2[1_MfNa2[1]MfNc2Z1]MfNd2Y1[MhNe2Y1YMhNg2X1WMjNj2U1UMlNk2T1TMmNm2JYJn0h2YOP3F[JP1d2[O]3d0bL]O^3c0YLFg3:WLHi39VLGk37ULJk36TLKl35TLKl34TLMl33TLMl33TLMl35SLJn36QLJo37QLHo3:oKFQ4;oKDR4IhILU2;S4IiILS2;T4IkIKQ2;T4KkIKo1:V4KlIJn1;V4LlIIm1;X4KlIIm1;X4KlIJk1;[4JjIJk1<[4JkIIj1=[4JlIIh1=]4ImIHg1>\\4JmIHg1>\\4JmIIf1=]4JmIIf1=^4ImIId1?_4GnIKb1>`4GnIKb1>a4FnIL_1?c4DoIM]1`0e4APJOY1a0h4^OPJ1X1a0i4\\OPJ:o0;R5YOQJ<i0>Y5POQJc0c0?W6@gIb0Y6_OfIa0[6_OcIb0]6_ObIa0^6@`Ia0a6^O_Ib0a6_O^Ia0c6^O]Ib0c6_O\\Ia0e6_OZIa0f6_OZIa0g6^OXIc0h6^OVIc0j6]OUId0k6]OTIc0l6_OgHWOI]1a7]OaH\\OIY1f7\\O_Hn0a7SO]Hn0d7QO\\Ho0d7ROZHo0g7POYHP1g7POYHP1g7POYHP1h7oNYHP1g7QOXHo0i7POWHP1i7oNWHR1i7nNWHR1i7oNVHQ1j7oNWHP1i7POWHP1j7POUHP1k7POVHo0j7ROVHm0k7SOUHl0k7TOUHl0k7VOSHj0m7WOSHh0m7P1001O0ZNRHe0n7\\ORHc0n7]ORHc0o7\\ORHc0n7]ORHc0n7]ORHc0n7^OQHb0o7R11O00000`NPH;P8DQH<P8CQH<o7CRH=n7DQH<o7DQH<P8CQH<o7EQH:o7FPHoNNZ1R8GPHoNNZ1S8FoG<Q8EnG;R8T11iNlGKT85lGKS85oGJQ86oGJQ86nGKS8[10nNlGCT8=nGAS8?nG_OR8c0mG\\OS8e0lG[OT8g0kG^N0h0V8Q1kGhNU8W1mGhNS8X1mGhNS8X1nGgNS8Y1kGhNU8X1jGiNV8k10O1000001O001O00001O0001O000001O00001O0[NiGl0Y8ROgGn0X8SOhGm0V8UOkGj0T8WOmGh0T8WOnGg0S8XOnGg0R8ZOnGe0R8[OnGe0R8ZOPHe0P8[OQHd0P8[OPHe0Q8YOPHg0P8XOSHf0m7YOTHg0l7XOUHh0k7WOVHi0j7RO[Hn0e7QO\\Ho0e7PO[HP1e7QOZHo0e7SOZHm0f7TOYHl0f7UOZHk0f7VOXHk0g7VOYHj0f7WOZHi0e7XOZHi0f7WOZHi0e7XOZHi0f7XOYHh0g7XOYHh0b6jNnI>_Oi0c6jNmI=@i0a6mNmI;Bh0_6oNoI9Bh0^6POPJ7Bj0]6QOoI6Di0\\6ROPJ5Di0[6TOPJ3Ei0Z6UOQJ1Fj0X6VORJ0Fj0W6WOSJOFj0V6XOTJNFj0V6XOSJOGi0U6ZOSJMHi0T6[OTJLHi0T6[OTJLHi0T6[OTJMGh0U6[OSJMIh0T6[OSJMIh0T6[OSJNHg0U6ZOSJ0Hf0V6YOQJ2Ie0V6YOPJ3Jd0V6YOoI4Kc0V6YOnI5Lb0V6XOmI9L?W6YOkI:M=X6ZOgI<29W6]OcI<67W6@^I;;5W6j0hIWOY6h0hIWOX6j0gIVOY6i0hIWOX6i0hIWOX6g0jIYOV6g0jIYOV6f0kIZOU6g0jIYOW6g0hIYOX6h0gIXOY6i0eIXO[6j0aIXO_6j0ZI[Of6Z2000000001O0000001O0000001O000000000000001O000000000000001O000000001O0000000000001O00000000000000O100K]LWId3\\6a0J6G9I7N200000000000O1O1L5K4B>K5M3kN\\IVNh6h1ZIRNk6m1VIjMS7U2oHfMIFZ7a2QIeMT7Y2PIcMR7S2n0C<O4L4K4K301O00000000000000000000000ROeFF7c0T9FQGGE031L001Y3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_rightmost_table_222222_the_smallest_bookshelf_area/1159294_mask_rle.json b/Navigation/GroundDetection/The_rightmost_table_222222_the_smallest_bookshelf_area/1159294_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..abcd0134a9188f5803c7c10512d4a07a194bee13
--- /dev/null
+++ b/Navigation/GroundDetection/The_rightmost_table_222222_the_smallest_bookshelf_area/1159294_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_rightmost_table_222222_the_smallest_bookshelf_area/1159294_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The rightmost table 222222,the smallest bookshelf area"
+    ],
+    "scene_description_en": [
+      "The rightmost table",
+      ",the smallest bookshelf area"
+    ],
+    "scene_description_cn": [
+      "最右边的桌子",
+      "最小的书架区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          1024,
+          685
+        ],
+        "counts": 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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_shortest_table/000304_mask_rle.json b/Navigation/GroundDetection/The_shortest_table/000304_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..0261c18f0635f2b4e35cc3369bc15a06c6456944
--- /dev/null
+++ b/Navigation/GroundDetection/The_shortest_table/000304_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_shortest_table/000304_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The shortest table."
+    ],
+    "scene_description_en": [
+      "The shortest table."
+    ],
+    "scene_description_cn": [
+      "最矮的桌子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          340,
+          512
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_side_of_the_TV/1061_mask_rle.json b/Navigation/GroundDetection/The_side_of_the_TV/1061_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..96962d9a070b1176b936cfb3980d504bc85fed56
--- /dev/null
+++ b/Navigation/GroundDetection/The_side_of_the_TV/1061_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_side_of_the_TV/1061_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The side of the TV"
+    ],
+    "scene_description_en": [
+      "The side of the TV"
+    ],
+    "scene_description_cn": [
+      "电视的侧面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          582,
+          801
+        ],
+        "counts": "ecd92^a0=h^OEVa0f0N2N2O1O1N2O1N4M1N2O1O1O1N2O1N2O1O1N2O1O1N2O1O1N2N2O1N2O1O1N2O1O1O1O1000000000000000000000000O100O1_Oa0C=M3000000000000O100000000O1O1O1M3O1O1O1N2N2N2M3N2N2N2M3N2O1N2N2N2N2N2N2M3H8O1O1000000000000000000000000001O0000000000000000000000002lJUCi4Z=J1O0000000000000000O10000000000000000000000O10000000000000000O1000000000000000000O1000000000000001O3M:F3M1O1O0000000000000000O100000000000000000000O1000000000000O1000000000000000000000000000000O10000000000000000000000001O1O1O2N1O2N2N2N2N2N2N2N2N2N3M2N1O3M3M2N3M2N2N3M2N1O2N3M1O"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_side_of_the_chair_closest_to_the_window/41125199_4018.743_mask_rle.json b/Navigation/GroundDetection/The_side_of_the_chair_closest_to_the_window/41125199_4018.743_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9ba7ac23edb38ac0f06d610cc10cde4034f7123
--- /dev/null
+++ b/Navigation/GroundDetection/The_side_of_the_chair_closest_to_the_window/41125199_4018.743_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_side_of_the_chair_closest_to_the_window/41125199_4018.743_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The side of the chair closest to the window."
+    ],
+    "scene_description_en": [
+      "The side of the chair closest to the window."
+    ],
+    "scene_description_cn": [
+      "离窗户最近的椅子的侧面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": 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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_side_of_the_chair_on_the_left_side_of_the_table/41048223_7163.734_mask_rle.json b/Navigation/GroundDetection/The_side_of_the_chair_on_the_left_side_of_the_table/41048223_7163.734_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..6503057065c0eab2995b9dbccf8a5b0673b3fad2
--- /dev/null
+++ b/Navigation/GroundDetection/The_side_of_the_chair_on_the_left_side_of_the_table/41048223_7163.734_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_side_of_the_chair_on_the_left_side_of_the_table/41048223_7163.734_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The side of the chair on the left side of the table."
+    ],
+    "scene_description_en": [
+      "The side of the chair on the left side of the table."
+    ],
+    "scene_description_cn": [
+      "桌子左侧的椅子的侧面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "RYk3360]>^1bAdNo<h1O001O1O00001O00000000000000O100O1O10000001O2N3M6J3M2PIoMm0R2cN^N\\1c1`NaN_1_1^NdNb1]1[NeNe1\\1YNeNg1[1WNhNh1X1WNiNi1X1VNhNj1X1TKZNcNUOh1Z1a4X1gJPOc0Je4V1]J\\Ol0_Og4U1[J_O`0IU5i0UJCa0JY5c0RJH>K`5>PJH<Nd5:nIJ<Nf59lIK91j5o2QJUMo5l2nIVMR6o2fITMZ6j5O0000001O0000001O0000001O0000001O0000001O000000001O0000001O000000001O00000000O10000O10000O100O10000O10000O10000O1000000O10000001O00001O1O1O1O2N2N2N3ZJnFY5]900O10O3M2O1N100O1O0010O0010O001O010O1O100O1O100O1O100O1O100O100O001O100O1O100O2N100O1O010O1O00100O1O2O0O1O100O1O1O100O011N1O100O00100O100O1O100O1O100O1O10O01O1O100O1O100O1O100O1O101N1O100O10O01O100O1O2N010O1O100O1O100O1O10O01O100O1O1O2O0O1O100O1O100O1O100O1O100O1O1O2O0O1O100O1O100O1O100O1O0102N3M0O010O010O00010O01O00001O000000001O000O01O10O04M2N2O0O2N010M3M3N2N2O1N1O2O1N1O2N1O1O2N1O1O101N100000001N101O00001N101O00001N1000001O000O2O0000001O000000001O000O101O000O2O00001O000O10001O00000O101O0000001VL`GR1`8nNaGQ1_8kN"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_side_of_the_chair_on_the_left_side_of_the_table/41069132_3750.212_mask_rle.json b/Navigation/GroundDetection/The_side_of_the_chair_on_the_left_side_of_the_table/41069132_3750.212_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..a61d76b2c67db18492216387b00972ae662c3ab8
--- /dev/null
+++ b/Navigation/GroundDetection/The_side_of_the_chair_on_the_left_side_of_the_table/41069132_3750.212_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_side_of_the_chair_on_the_left_side_of_the_table/41069132_3750.212_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The side of the chair on the left side of the table."
+    ],
+    "scene_description_en": [
+      "The side of the chair on the left side of the table."
+    ],
+    "scene_description_cn": [
+      "桌子左侧的椅子的侧面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_side_of_the_single_sofa_closest_to_the_camera/41048262_5485.540_mask_rle.json b/Navigation/GroundDetection/The_side_of_the_single_sofa_closest_to_the_camera/41048262_5485.540_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa4ae82a98e09389f359c002434d17498043fdd9
--- /dev/null
+++ b/Navigation/GroundDetection/The_side_of_the_single_sofa_closest_to_the_camera/41048262_5485.540_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_side_of_the_single_sofa_closest_to_the_camera/41048262_5485.540_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The side of the single sofa closest to the camera"
+    ],
+    "scene_description_en": [
+      "The side of the single sofa closest to the camera"
+    ],
+    "scene_description_cn": [
+      "离镜头最近的单人沙发的侧面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "TQ\\43k03@LG:m<k1I5L1O00000O0RJgMWOY2g0jMXOV2g0lMXOS2c0SN]Om1a0VN^Oj1`0XN@g1?[NAe1;_NDa1:cNE\\13mNMS1NRO2m0LVO4j0IZO5f0EA;?CC==@G?8@J`05@M?3_OOa01^O1a0N^O4a0M[O8d0GdNR1\\1mNaNW1_1iN^N[1a1dN^N^1a1bN]Nb1b1]N[Ng1e1XNXNl1g1UNVNo1i1PNUNS2k1lMRNY2l1gMRN\\2n1cMPN`2P2`MmMd2Q2\\MmMg2R2ZMlMh2T2WMjMm2T2TMhMP3X2oLfMU3X2lLeMW3[2iLbM[3\\2fLaM]3^2eL^M_3`2eL[M]3d2hLWMZ3g2iLVMX3h2lLVMU3h2oLUMR3g2SMWMn2f2WMWMj2e2\\MXMe2f2]MYMe2d2]M[Mc2d2aMYM`2f2bMXM^2g2fMVMZ2j2hMTMY2j2jMTMV2l2kMSMV2YOVJn2f3hMU2WOZJn2b3jMm2S2UMkMm2S2TMlMo2P2TMnMQ3m1QMQNS3k1oLSNU3i1oLSNT3j1mLUNV3g1mLWNU3g1jLZNY3c1gL]N[3`1fL`N\\3^1cLcNa3X1`LhNb3V1]LkNg3P1ZLPOh3n0WLSOl3j0SLWOo3f0QL[OQ4c0nK^OU4?kKAV4=jK@dK]Oe8P1gKAgK_Ob8n0gKChK_Oc8l0dKEkK^Ob8k0dKGjK^Oc8i0cKIkK^Od8f0aKLlK^Od8>gK4eK^Oe8:hK8dK^Of86gK<dK^Of83hK>cK_Oc=a0]B_Ob=a0_B_Oa=`0_BB_=>bBA^=`0bB@]=`0dB@[=`0fB@Y=`0hB@X=?iBAW=?iB@X=?iBAW=?iBAW=>jBBW==iBCX=;iBEX=:hBFZ=7gBI\\=2fBNV>00000000000000001O000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000O10000000000000000000000000000000000000000000000000000000000000Pd50P\\J0000000000000000000000000000001O1O2N1O2N1O1O1O2N2N2N2N1O1O001O1O1O2N1O1O2N1O100O1O2N1O001O1O001O0000001O0000000O20O0001O000000001O0000001O000O10001O01O0001O00001O00001O0O101O00001O0000000000000001O01O000000001O0O101O0000001O00001O001O000O2O0mJ[NPHKh41"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_small_coffee_table_closest_to_the_wall_222222_the_wooden_pillar_on_the_right_side_of_the_escalator/000009_mask_rle.json b/Navigation/GroundDetection/The_small_coffee_table_closest_to_the_wall_222222_the_wooden_pillar_on_the_right_side_of_the_escalator/000009_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c2d0210e1332bb0aada4c13f3ad91e622998a1d
--- /dev/null
+++ b/Navigation/GroundDetection/The_small_coffee_table_closest_to_the_wall_222222_the_wooden_pillar_on_the_right_side_of_the_escalator/000009_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_small_coffee_table_closest_to_the_wall_222222_the_wooden_pillar_on_the_right_side_of_the_escalator/000009_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The small coffee table closest to the wall 222222 the wooden pillar on the right side of the escalator."
+    ],
+    "scene_description_en": [
+      "The small coffee table closest to the wall",
+      "the wooden pillar on the right side of the escalator."
+    ],
+    "scene_description_cn": [
+      "最靠近墙壁的小茶几",
+      "扶梯右侧的木头柱子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          343,
+          512
+        ],
+        "counts": "k7a01=0SO4R1g7_OUHg1j7c00eMVHi1j7WNVHj1i7VNWHj1i7b000000cMWHl1i7TNWHl1i7TNWHl1i7TNWHl1i7SNWHn1i7RNWHn1i7RNWHn1i7RNWHn1i7RNWHn1i7RNWHm1j7RNVHo1j7QNVHo1i7RNWHn1i7RNWHn1i7`00aMWHP2i7PNWHP2i7PNWHP2i7PNWHQ2h7oMXHP2i7PNWHP2h7`0000`MXHQ2h7oMXHQ2h7oMXHQ2h7?000_MXHS2h7mMXHS2h7lMYHT2g7kMZHU2f7kMYHW2f7jMYHV2g7=00002M0101O00O10000000000000O1N200O100N2001RM\\H00a2l7^MUH`2R8O00_OeMeH\\2Z7a0O1000000001O2VMaHX2S8L0000_OeMfH[2X7kM\\H]2d7;00002N6J3M3]MoGZ2Z8M3M5K3M7I5K=C1O1O1O001O001O1O001O1O001O1O1O1O1O00bMWOoJh0Q5XOPKg0a7O1O010O[M]OWKa0j4_OVKa0j4@VK`0i4@XK?h4AYK>g4BYK>h4BXK=h4CYK<g4DYK<g4DZK;b7O001OTMHYK8f4JZK5f4KZK5f4K[K3f4MZK3f4M[K2e4N\\K1d4O\\K1d4N^K1a40`KO`41aKN_42aKN_42bKM^43cKL]43eKL[44T3002N001O2N1O1O01O10N101M2O1N3O0O21N1OO20O2AlE7\\:N01FGTF9k9IoE<f9H_F:a9>00001O000001O00A]FJc96^FIb96_FKa94`FK`95`FL_93bFM^93cFL]94cFL]94cFM]91eFN[92eFOZ91fFOZ91fFO[90fF0f1G_58lH1e1G_58lH1X9OiF1V9OjF1W9NiF2W9MkF2U9NkF2U9NkF2U9MlF2U9NlF1U9NkF2U9NkF1V9OjF0W90jFOV90kFOV91jFOV91kFMB0\\92RGNW92iFNW92g0O10001O[F1b8O]G3a93O001O01O010O100O010O00100O0000LKfE6X:500O2N11O01O00001O01O01O000ZOBTG>b900001O010O00010O001O010O00000001O0O100O101N1O1O100O2O0O1000010O0001O010O002N_1aN;E0DlMVHS2j7nMUHR2j7oMVHQ2X8^N`Gn0_8QOcGn0^8hN`GN3Z1]8gNlGY1T8gNkGZ1U8eNkG\\1U8dNjG\\1W8dNiG]1W8bNhG_1X8aNhG^1Y8bNfG_1[8_NeGb1\\8]NdGc1\\8]NcGd1g8101N1O1000000001O1O1O2N2NDaNbG]1]8gNcGV1]8lNcGR1]8POcGm0^8WO_Gh0a8ZO]Gf0b8]O\\Gc0d8h0O1O1O1O100O1O1O100O01O0aN`G<l8ETG4R9f030O0100O1000001N1000000O101O0O1L4N3M2O10000O11O0000001O0O2O1N11O00O1M2O20O010O10O01O100O101N100O101O5K=SOlE=Z:M2N3H`E1RWT1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_sofa_farther_from_the_camera222222television/001004_mask_rle.json b/Navigation/GroundDetection/The_sofa_farther_from_the_camera222222television/001004_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..88d59624a211e34ce79f28e17693a5c833f8f675
--- /dev/null
+++ b/Navigation/GroundDetection/The_sofa_farther_from_the_camera222222television/001004_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_sofa_farther_from_the_camera222222television/001004_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The sofa farther from the camera222222television"
+    ],
+    "scene_description_en": [
+      "The sofa farther from the camera",
+      "television"
+    ],
+    "scene_description_cn": [
+      "距离镜头较远的沙发",
+      "电视机"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "bmb01a:2O100O1O1O1O1O1O100O1O1O100O1O100O1O1O101N1O100O1O001O100O1O1O100O1000000000000000000000000O1I7N2O100O1O100O1O1O100O1O100O1O1O10O02N1O1O1O100O2N1O010O1O1O100O1O1O1O100O1O10000000000O1O1K5N2O1O100O1O100O2N1O010O2N00100N2O1O100O100000000000000000001O00000000000000O1001O0000000001O0000O1001O00000000000000000O11O0000O1000000000000001O00000000000000O100001O00O11O00000000O1000000000000000000000000000000000000000000000001O01O0000O10000000000000000000000000000000001O3M5K2N1O5K3M2N1oM^Go1m8F5K1O001O00001O1O8G7K2M4K3N4GSSR2"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_sofa_farthest_from_the_camera/000105_mask_rle.json b/Navigation/GroundDetection/The_sofa_farthest_from_the_camera/000105_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..f96525ce39af6f7c0a88a273bcc75f604e763f2b
--- /dev/null
+++ b/Navigation/GroundDetection/The_sofa_farthest_from_the_camera/000105_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_sofa_farthest_from_the_camera/000105_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The sofa farthest from the camera."
+    ],
+    "scene_description_en": [
+      "The sofa farthest from the camera."
+    ],
+    "scene_description_cn": [
+      "离镜头最远的沙发"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "d8o1d8100000000O100000000003M2N3M1O2N1O1O2N002N1O2N2N1O2N2N2N2N1O2N2N1O1O1O1O1O1O1O1O1O1O2N2N1O1O000000000000O10000O10000O100O10000O1O101N010O1N2N2N2N200O1O100O10000O100O100O100O10000O100O10000O100O10000O100O10000O10000O101N1000O010000O10000hLkNPMV1o2lNPMT1n2nNRMR1m2oNRMR1m2PORMQ1m2oNRMR1l2POTMP1k2ROTMm0k2UOTMl0j2VOVMj0f2[OXMf0d2^O\\Mb0c2_O]Ma0b2A]M?c2A]M?c2B[M?e2BZM>f2BZM>f2CYM=g2CYM=g2DXM<h2EVM<j2EUM;k2FTM:l2FTM:l2GSM9m2HRM8n2IQM7o2JPM6P3JoL7Q3JnL6R3JnL6Q3LnL4R3LnL4R3MmL3S3MlL4T3MkL3U3MjL4V3MhL4X3LgL5Z3KcL7]3J`L8`3J\\L8d3JYK]NF2Nl1V5IkJW1d5lLZJd4Q6J4L3M1O1O1O1O0000000000000000000000O10000O1000000O1000000000000000000000000000000000001O00000000000O02O000000O100000000001O00000000O1000000001O0000000001OO1eLfIM1b1X6RN]J4^Oi1U6mM[KS2e4mM\\KR2d4mMbKn1^4RNnKb1R4^NTL\\1l3dN`LP1a3oNjLf0V3ZORM>n2BXM8g2IZM5g2KQ4000001OXI6f2JYM7g2IYM7g2IYM7g2IYM7g2IYM7g2IYM7g2IYM7g2IYM7g2IYM7g2IYM7g2IYM8f2HZM8f2HZM7g2IYM7g2IYM7g2IYM7g2IYM7g2HZM8f2HZM8f2G[M:d2F\\M:d2F\\M:d2E]M;d2D\\M<d2D\\M<d2D[M=e2C[M=f2BZM=f2DZM<f2DZM<e2E[M;e2E[M;e2E[M;f2DZM<f2DZM<e2E\\M:e2E[M;_6000WLDYM=_6000000000000000000000000000[LCSM=m2CSM=m2DRM<n2FPM:o2IoL7Q3KmL5S3NiL3V30hL0X32fLNY35eLKZ38dLH[3;cLF[3>bLB]3a0aL_O^3d0`L\\O^3h0`LWOW3B[JZ1\\2TOX3EXJ\\1]2oNX3BYJ40]1^2mNU3D\\JN1j1\\2dNV3E]JM2m1W2aNY3F^JL2o1U2_N[3F^JL242c1Q2gN]3CfJ1Ne1n1gN^3CgJ0Ki1o1dNR4^1lKbNR4GmI2=l0b1ZOU5e0iJ[OY5e0eJYOa5e0^JROl5m0n12N1O0ZHSOd5o0RJXOo5j0lIXOU6i0hIXOY6i0eIWO]6i0TInN[O;b7i0gHK[7g10O2M4M2N2N2N1O1O1O2N2N2N002N1O1O1O2N2N1O2N1O1O009G1O2N2N1O3M2N2N1O2N1O2N1O2N2N2N2N2O0O2N2N2M2O2N1O2N1O2MTaR1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_sofa_farthest_from_the_camera/000110_mask_rle.json b/Navigation/GroundDetection/The_sofa_farthest_from_the_camera/000110_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..6963552fef00fc0f1b0d20e52a47f0fcf37938ba
--- /dev/null
+++ b/Navigation/GroundDetection/The_sofa_farthest_from_the_camera/000110_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_sofa_farthest_from_the_camera/000110_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The sofa farthest from the camera."
+    ],
+    "scene_description_en": [
+      "The sofa farthest from the camera."
+    ],
+    "scene_description_cn": [
+      "离镜头最远的沙发"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          768,
+          512
+        ],
+        "counts": "`=i06Ec0CZO21N8e0>Q3:^M^<EbBJ>OD7>R3=\\M_<i0aBN4S2i0XMb<o6]CQId<o6ZCRIf<R7UCoHk<V7nBlHR=Q900000000000000000000000000001O00000000O1000O11O00XFdBj8]=VGPC^8P=`G_CS8a<lGkCh7V<VHVD`7j;_HbDW7\\;iHgDW7W;hHlDV7T;jHmDU7S;kHnDT7R;lHnDT7S;kHmDU7T;jHmDU7U;iHkDW7W;`H^BO]2a7m=0YNVIVBl6l=eI\\A`6e>]11O1O001O0000001O000N20001N101O1000O0100O0000000000001O00001O1O005K4L2N1O1O000000000000O1M3I7O1N2O10000O100000000000000000000001O00001O00O1001O0000000000001O00000000O1000000001O0000000000001O00O100000000000000001O0000001O000000000000001O001O001O00O1O10000000000O100001O0000000000000000000000O11O0000001O001O00001O2N5Kd0\\O<D7I1O1O000000000000O10OO3dN\\Ic@C5\\7W?P1010O10O110O001O0000000001O001O9G4L2N001O00000000000000O1L4F:O14L5K1O1O0N3O1N2O0010000O6K;D:FP1PO<D5K2N2N1O001O001O00000000000000001O000000001O00001O00000000001O000000000000000000000000000000O1001O0000000000001O000000000000000000000000001O00000000000000000000000000001O000000001O0O11O00000000000001O00000000000000000000000000000000000000000000000000001O000000000000000000000N3O0O1001O2N00000000000000000000000000000001O00000N2O1O1G:WOh0lNV1hNnZ>mNVPA9ce0Z1hNX1J4010O0N3O1O1O1O1O100O1O1O100N2O1O1O100000001N101O8H5J3N2N0O2M2K7@`0XOPm9"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_sofa_farthest_from_the_camera/000181_mask_rle.json b/Navigation/GroundDetection/The_sofa_farthest_from_the_camera/000181_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..ede66e6f33cbd0913d8fa8bdc591a15c0e21b327
--- /dev/null
+++ b/Navigation/GroundDetection/The_sofa_farthest_from_the_camera/000181_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_sofa_farthest_from_the_camera/000181_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The sofa farthest from the camera."
+    ],
+    "scene_description_en": [
+      "The sofa farthest from the camera."
+    ],
+    "scene_description_cn": [
+      "离镜头最远的沙发"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          384,
+          512
+        ],
+        "counts": "Z:R1?SOi9o0VFROi9o0lEnN53n9n0mEWO1IR:o0lE\\O1CT:o0kECV:=jEFT:9lEHT:7kEKU:4kENT:1lE0S:0mE1S:NmE3S:LmE5S:JmE7S:HnE8Q:InE8R:GnE9S:GmE9R:GnE:R:FnE:R:EnE<R:CoE=Q:CnE>Q:CoE=Q:BoE?Q:@oEa0Q:_OoEa0P:@PF`0P:_OPFb0P:^OPFb0P:]OPFd0P:\\OPFe0n9\\ORFd0n9g00dNRFf0n9ZORFf0n9ZORFf0n9f0OdNSFg0m9YOSFg0m9YOSFg0m9f0OcNTFh0l9XOTFh0l9XOTFh0k9XOUFi0k9WOUFi0k9WOUFi0k9WOUFh0k9XOUFi0k9WOUFi0k9WOUFi0k9WOUFj0j9UOVFl0i9UOWFk0i9UOWFk0i9UOWFk0i9f00^NWFm0i9SOWFm0i9SOWFm0i9SOWFm0h9f00]NXFn0h9ROXFn0h9ROXFn0g9SOYFm0g9f0O01]NYFm0g9SOYFm0g9SOYFm0f9g0000\\NZFn0f9ROZFo0e9QO[Fo0d9RO\\Fn0d9g000000000O[N]Fo0c9QO]Fo0c9QO]Fo0c9QO]Fo0c9QO]Fo0b9RO^Fn0b9RO^Fn0b9RO^Fn0b9RO^Fn0a9SO_Fm0a9SO_Fm0a9SO_Fm0a9SO_Fm0`9TO`Fl0`9j000000[N`Fj0_9WOaFi0_9WOaFi0_9WOaFi0_9WOaFi0^9XObFh0^9XObFh0^9XObFh0^9m000000\\NbFf0]9[OcFd0^9\\ObFd0^9\\ObFd0^9o0O_NcFa0]9_OcFa0]9_OcFa0]9Q1O`NdF>\\9BdF>\\9S1OaNeF;[9EeF;[9FeF9[9GeF9[9HeF7[9IfF6Z9KeF5Z9MfF2Z9OfF0Z91fFNZ93fFLZ95fFJZ97fFHZ99fFFZ9;fFDZ9=fFBZ9?fF@Z9a0fF^OZ9c0fF\\O[9d0eF[O[9e10QOeFYO\\9g0dFXO\\9h0dFXO\\9i0dFVO\\9k0dFTO\\9h10UOdFSO[9i10UOeFQOZ9Q1fFnNZ9S1fFlNY9n1O1OZOiFeNV9]1jFbNR9c1nF\\N[8CfGT3e7hLiHo2AaMe7I`Hi2K]Md7W3\\HhLd7Y3\\HfLd7[3\\HdLd7]3\\HbLe7^3[HaLf7_3ZH`Lg7_3YHaLh7_3XH`Lh7a3XH^Li7b3WH]Li7d3WH[Lj7e3VHZLj7f3WHYLi7h3WHVLj7k3VHTLj7n3KPL`HR4^7nKbHS4\\7nKdHR4\\7oKcHR4\\7nKcHS4\\79000000KXMmHm0S7mNWIo0h6nN^IP1b6mNcI@B6k68gIRO0b0Y6;YKAg4?[K_Oe4`0]K_Ob4b0_K]Oa4b0aK]O_4`0dK@\\49lKFT47oKIP43ULMk31WLOi3OYL1g3L\\L4d3M\\L2d3M]L3b3N_L1a3N`L2`3MbL1_3OaL2^3MdL2\\3MeL2[3OfL0Z30gLOY30iLOW31jLNV32kLMU32lLOS31nLNR32oLMQ33oLMP33RMLn24SMKm25SMKn24SMKm25SMKn24SMKo22SMMa7NSPY3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_table_leg_closest_to_the_table/000370_mask_rle.json b/Navigation/GroundDetection/The_table_leg_closest_to_the_table/000370_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..82cd3260e882db05b79a0c9fd244a490d7ff8b7f
--- /dev/null
+++ b/Navigation/GroundDetection/The_table_leg_closest_to_the_table/000370_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_table_leg_closest_to_the_table/000370_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The table leg closest to the table."
+    ],
+    "scene_description_en": [
+      "The table leg closest to the table."
+    ],
+    "scene_description_cn": [
+      "离桌子最近的桌腿"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "WVW12c:5J7J5K4L4K7J7H8I7H7J7I7H9H7I8H3L4M0O10000001O004L3M4L3M2N3M1O1O000000O1001O1O2N4L4L2N1O000000001O002N2N2N3M4L2N4L2N4L4L3M3M3M5K3M2NnN@oG`0P8ElG;T8HiG8V8MfG3Z80cG0\\84`GM`85]GLb8T100O10000O100O100O1O100O100O100O1O100RNkM\\KU2d4lMZKU2f4lMYKT2f4mMYKT2f4nMYKR2g4oMXKQ2g4QNWKP2i4PNWKP2i4QNUKP2k4QNTKo1l4QNSKP2l4RNSKn1m4SNQKn1o4RNQKn1n4TNPKm1P5TNoJl1Q5UNmJl1R5UNnJk1R5VNlJk1S5VNmJj1S5WNlJi1T5XNjJi1U5YNjJg1V5YNiJh1V5ZNiJf1W5[NiJd1W5\\NmJ`1S5aNPK[1o4gNVKS1j4nNXKo0h4RO\\Ki0d4@UK>k4InJ7R5MjJ3V56aJJc58WJHk5;oIFR6?gIBZ6\\25K1O1O0000O100K5O100O100O1000000001O1O0000003M1O\\OoKdJQ4[5QLeJn3Y5TLgJl3X5ULhJk3X5UL`JJLR4c5UL^JOKm3f5UL_JT4a5mK_JR4a5nK`JQ4`5oK`JQ4_5PLaJP4_5QL_Jo3c5PL]JP4c5QL[JP4e5QLZJP4e5?101O000001O03M6J6J5K1O1O000000^OQLZJKJU4m5`03M6J1O0000000000000000O10000O1O1L40000000000001O000000001O0000001O000000001O00000000001O0000001O0000001O0000001O0000001O0000001O000000001O00001O0000001O0QMoIZ1S6_NRJa1b7O1O001O001O001O00001O1O1O1O000000001O000000000000000000O10000O1O1M3D<N2O1O1O1O1O1O1O1O1O100O1O1O1O001O2N1O100O1O1O1O1O100O1O1O1O1O1O1O1O1O1QO^L\\JI5j3o4[MhJi2X5Z1000000000000001O001O000000000O101O01O00000O100O1O1O1N2O1O100O1N2N2O1O1O100O1O100O1O1O1O1O100O10O10000000001hJZK61WO1=11Lc03<d4UO\\KMMD;1GN5:K7ND4U1N"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_table_leg_farthest_from_the_desk/000257_mask_rle.json b/Navigation/GroundDetection/The_table_leg_farthest_from_the_desk/000257_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..99ed5f31efef5ef9312cdc5ce0e7ebe81c6ef982
--- /dev/null
+++ b/Navigation/GroundDetection/The_table_leg_farthest_from_the_desk/000257_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_table_leg_farthest_from_the_desk/000257_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The table leg farthest from the desk."
+    ],
+    "scene_description_en": [
+      "The table leg farthest from the desk."
+    ],
+    "scene_description_cn": [
+      "离书桌最远的桌腿"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "j3i6l31N11O002N2N00001O1O1O1O2N1O1O1O1O1O1O1O1O1O1O2N1O1O1O001O001O0000O10O100000O1O1H8N2O11O001O001O1O001O1O1O1O1O10O01O1O1O1O1O1O1N2O1O1O1O1O1O2N2O1N2N1O1O000000000000O1O1O1N2O1O1O100O100O10000O10000O10000O1000000O10O11N10000O10000O1000000O1000O02O000O1000O10O101O000O1000000O100O1000000O1000000O10000O1000000O10000O1000000O10O1eJkKV4U4fKPLY4P4bKUL^4j3_KZLa4g3WK`Lj4_3QKfLo4_4100M3M3L4N2K5000O1001O01O1O001O1O1O1O001O001O1O1O1O001O1O1O1O1O001O1O001O1O1iK_JX3a5fLbJY3_5dLdJ[3]5bLeJ^3[5_LiJ`3X5]LiJd3X5YLjJg3W5ULkJl3U5PLnJQ4j51L4N1O2M3O1M3N3M2O1N2O1O1O1O100O1O100O1O100O1O1O100O1O100O1O100O1O10000O1O16J1O1O0000O1N2N2N2N2O1N200M300M`JSK^5k4dJUK\\5k4cJWK\\5i4`J\\K_5m401OO100O1O1O1N2N2O1N2O1O1O1O100N2O100O1001O001O001O001O1O001O1O1O1O001O00001O001O001O1O001O1O1O1O1O00001O001O1O1bKiJ\\3X5aLkJ^3U5aLmJ^3T5`LmJ`3T5^LnJa3S5^LlJc3U5\\LjJe3V5[LjJe3W5ZLhJg3X5YLhJg3Y5XLgJh3Z5WLgJh3Z5WLfJi3Z5VLgJ2JS3`5iLhJ1KU3]5hLjJ3JT3]5gLkJ4JS3\\5hLjJ5JS3]5fLjJ7JR3\\5gLkJ6IS3]5fLjJ6JT3]5dLjJ7JU3]5bLkJ6JX3Q6fLPJ[3d61M3O1N2N2N2O100O11O0O200O2N1O1O1[MQIb1R7YNRIe1P7`MoHc03l1U7QNmHn1T7PNlHQ2U7mMlHS2^6bMmI:ET2Z6hMoI3GV2Y6jMnIOIX2Y6jMlINKY2Y6jMiINNY2Z6jM`IDM;:W2Y6^NfIc1Z6[NgIf1Y6YNhIg1X6XNhIi1X6VNhIk1X6UNgIl1Y6RNiIn1W6RNhIo1X6PNhIQ2X6nMhIS2Y6jMiIV2W6iMiIX2W6hMhIY2X6fMiI0Ga1a6^NgI1K_1^6_NgI2N]1\\6^NgI6N[1\\6^NeI71Z1Z6^NfI72Y1Y6`NdI75X1X6_NcI:5V1Y6_NcI:6V1X6^NaI=9S1X6^N`I?9R1X6]N`I`0:Q1X6]N^Ib0;Q1g6oN[IP1d6QO]Im0d6RO]In0b6RO`Im0_6TOaIk0`6TObIk0]6VOcIi0]6WOdIi0\\6VOeIi0\\6VOeIj0[6UOeIk0\\6TOeIl0[6SOfIl0\\6SOcIn0_6PO`IP1c6mN]IT1i6fNWIY1R81O0010O100O3N4ROeF9m9O1N2N9AeE3_Zi0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/The_top-left_corner_of_the_table_in_front_of_the_sofa222222The_area_at_the_upper_left_corner_of_the_distant_dining_table/000425_mask_rle.json b/Navigation/GroundDetection/The_top-left_corner_of_the_table_in_front_of_the_sofa222222The_area_at_the_upper_left_corner_of_the_distant_dining_table/000425_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..3187441588df877d5fa6ff1403dc820e3f60f98f
--- /dev/null
+++ b/Navigation/GroundDetection/The_top-left_corner_of_the_table_in_front_of_the_sofa222222The_area_at_the_upper_left_corner_of_the_distant_dining_table/000425_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/The_top-left_corner_of_the_table_in_front_of_the_sofa222222The_area_at_the_upper_left_corner_of_the_distant_dining_table/000425_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The top-left corner of the table in front of the sofa222222The area at the upper left corner of the distant dining table"
+    ],
+    "scene_description_en": [
+      "The top-left corner of the table in front of the sofa",
+      "The area at the upper left corner of the distant dining table"
+    ],
+    "scene_description_cn": [
+      "沙发前方的桌子左上角桌角",
+      "远处餐桌左上方桌角区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "knR12b:100O100XL;_LFa3<]LDc3f0RL[On3f0QLZOo3g0PLYOP4i0mKXOR4i0nKWOR4j0lKWOT4j0kKVOU4k0jKUOV4l0hKUOX4l0gKTOY4m0fKSOY4o0eKRO[4o0oI^O8Ci5P1lIF3[OQ6P1kI1FQO_6o0iIf0W6[OhIe0X6\\OgId0Y6]OfIc0Y6@dIa0\\6B`I?`6k1000000000000000000001O:F4L4L0000N2A?001O2N5K6J1O0000M3L4O11O1O2N3M1O0000[OfLbIM2c3[6hLaIZ3_6>001mK_I1020e3i6XLXIg3n6M7I7I4L1O2N0000N200N2O1O1N2N2001O004L4L0oMfHg0Z7WOWI:i6FhIIX66VJ]Od5i0]JVOa5l0_JTO_5n0aJRO]5P1cJPOZ5R1gJnNY5R1gJnNY5R1gJnNY5R1fJoNZ5Q1]I]OOBd6Q1]IJ@WOS7n0^I9c6F^I9c6F^I9e6D[I<e6C]I<c6D]I<c6D]I<b6D`I;]6HcI8]6HdI7]6HdI7\\6HeI8[6HfI7[6HeI8\\6GdI9]6FdI9a6B_I>a6B`I=`6CaI<_6DaI<W6hNlHo0o08P61PJOT6MmI2V6KjI5Y6HhI7X6IiI6W6JiI6V6KkI4c5[OXIb0V13b5=_JB`5?aJ@_5?bJA_5>bJA^5?bJA^5?cJ@]5`0dJ_O\\5a0dJ_O\\5a0eJ^O[5b0eJ^O\\5`0eJ@[5`0fJ_O[5]OZId0\\1NZ5]O\\Id0Z1OZ5\\O]Ie0Z1NZ5[O^Ie0Y10Y5ZO_If0Y1OX5[O`Ie0X10X5ZOcId0V11X5ZOkI;o0:V5ZOWJOe0g0U8O001O001O001O1O001O001O001O001O001O001O1O001O0000001O00001O1O1O2N1N101O00jda0OU[^O201O0O10000O100O100O100000000O100000000001O001O001O00001O001N2NinZ1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/bag/41125438_1271.735_mask_rle.json b/Navigation/GroundDetection/bag/41125438_1271.735_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..8851671d101cf62ba9fe5a6dca0c78d1c0f16f1c
--- /dev/null
+++ b/Navigation/GroundDetection/bag/41125438_1271.735_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/bag/41125438_1271.735_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bag"
+    ],
+    "scene_description_en": [
+      "bag"
+    ],
+    "scene_description_cn": [
+      "袋子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+  }
+}
diff --git a/Navigation/GroundDetection/bathtub/41048247_4187.362_mask_rle.json b/Navigation/GroundDetection/bathtub/41048247_4187.362_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c5225e6ada052eb7456ee7cc4cf5eb08beb0f79
--- /dev/null
+++ b/Navigation/GroundDetection/bathtub/41048247_4187.362_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/bathtub/41048247_4187.362_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bathtub"
+    ],
+    "scene_description_en": [
+      "bathtub"
+    ],
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+      "浴缸"
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+  }
+}
diff --git a/Navigation/GroundDetection/bed222222television/000968_mask_rle.json b/Navigation/GroundDetection/bed222222television/000968_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..96312ebddee62e7d563025b8998db830d5204fbf
--- /dev/null
+++ b/Navigation/GroundDetection/bed222222television/000968_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/bed222222television/000968_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bed222222television"
+    ],
+    "scene_description_en": [
+      "bed",
+      "television"
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+      "床",
+      "电视机"
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+  }
+}
diff --git a/Navigation/GroundDetection/bed_222222_big_cabinet/101331_mask_rle.json b/Navigation/GroundDetection/bed_222222_big_cabinet/101331_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..9084720a43dec401db99465b74f8045746048339
--- /dev/null
+++ b/Navigation/GroundDetection/bed_222222_big_cabinet/101331_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/bed_222222_big_cabinet/101331_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bed 222222 big cabinet"
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+      "bed",
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+      "床",
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/bed_222222_big_cabinet/102055_mask_rle.json b/Navigation/GroundDetection/bed_222222_big_cabinet/102055_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b8f8d9db2e5941e4d01a11bbb6a1fde8fb95aae
--- /dev/null
+++ b/Navigation/GroundDetection/bed_222222_big_cabinet/102055_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/bed_222222_big_cabinet/102055_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bed 222222 big cabinet"
+    ],
+    "scene_description_en": [
+      "bed",
+      "big cabinet"
+    ],
+    "scene_description_cn": [
+      "床",
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/bed_222222_big_cabinet/102057_mask_rle.json b/Navigation/GroundDetection/bed_222222_big_cabinet/102057_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..19745f7d80f8df03b813797e76afaa63fef3c689
--- /dev/null
+++ b/Navigation/GroundDetection/bed_222222_big_cabinet/102057_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/bed_222222_big_cabinet/102057_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bed 222222 big cabinet"
+    ],
+    "scene_description_en": [
+      "bed",
+      "big cabinet"
+    ],
+    "scene_description_cn": [
+      "床",
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+}
diff --git a/Navigation/GroundDetection/bed_222222_big_cabinet/102407_mask_rle.json b/Navigation/GroundDetection/bed_222222_big_cabinet/102407_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..28faa91a79ade88b373ec731500fee5390572289
--- /dev/null
+++ b/Navigation/GroundDetection/bed_222222_big_cabinet/102407_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/bed_222222_big_cabinet/102407_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bed 222222 big cabinet"
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/bed_222222_cabinet/101278_mask_rle.json b/Navigation/GroundDetection/bed_222222_cabinet/101278_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3fcbdeb7043671ef5c99d560bda000e6c29ce25
--- /dev/null
+++ b/Navigation/GroundDetection/bed_222222_cabinet/101278_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/bed_222222_cabinet/101278_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bed 222222 cabinet"
+    ],
+    "scene_description_en": [
+      "bed",
+      "cabinet"
+    ],
+    "scene_description_cn": [
+      "床",
+      "柜子"
+    ]
+  },
+  "mask_annotation": {
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/bed_222222_cabinet/101645_mask_rle.json b/Navigation/GroundDetection/bed_222222_cabinet/101645_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f2ea6f949a0bb47152f179da0642b7fcdfcd062
--- /dev/null
+++ b/Navigation/GroundDetection/bed_222222_cabinet/101645_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/bed_222222_cabinet/101645_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bed 222222 cabinet"
+    ],
+    "scene_description_en": [
+      "bed",
+      "cabinet"
+    ],
+    "scene_description_cn": [
+      "床",
+      "柜子"
+    ]
+  },
+  "mask_annotation": {
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+      {
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+          341,
+          512
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/bed_222222_cabinet/101705_mask_rle.json b/Navigation/GroundDetection/bed_222222_cabinet/101705_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bc6d5e83e91c9030325d35a3f8e8906d453d755
--- /dev/null
+++ b/Navigation/GroundDetection/bed_222222_cabinet/101705_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/bed_222222_cabinet/101705_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bed 222222 cabinet"
+    ],
+    "scene_description_en": [
+      "bed",
+      "cabinet"
+    ],
+    "scene_description_cn": [
+      "床",
+      "柜子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          384,
+          512
+        ],
+        "counts": "aU_43l;3N2N5K5K6J5K=C9Ga0_O;E1O0000000001O001O001O001O00001O001O001O00001O001O001O00001O001O00001O1SNfFR1U:O00000000O1M3N2001O001O001O00001O001O001O001O00001O001O00001O001O001O001O00001O001O001O001O00001O001O00001O001O00001O001O00001O001O0000002N;E001O0000O10000O1H8O0010000bD"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/bed_222222_cabinet/101710_mask_rle.json b/Navigation/GroundDetection/bed_222222_cabinet/101710_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa52fad14a1d330b72ea5f4145dba04b88d829d7
--- /dev/null
+++ b/Navigation/GroundDetection/bed_222222_cabinet/101710_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/bed_222222_cabinet/101710_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bed 222222 cabinet"
+    ],
+    "scene_description_en": [
+      "bed",
+      "cabinet"
+    ],
+    "scene_description_cn": [
+      "床",
+      "柜子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
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+          384,
+          512
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/bed_222222_cabinet/101716_mask_rle.json b/Navigation/GroundDetection/bed_222222_cabinet/101716_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..47415d5eb3a2d905faa35f223197b816067c718f
--- /dev/null
+++ b/Navigation/GroundDetection/bed_222222_cabinet/101716_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/bed_222222_cabinet/101716_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bed 222222 cabinet"
+    ],
+    "scene_description_en": [
+      "bed",
+      "cabinet"
+    ],
+    "scene_description_cn": [
+      "床",
+      "柜子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
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+          683,
+          512
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/bed_222222_cabinet/101984_mask_rle.json b/Navigation/GroundDetection/bed_222222_cabinet/101984_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..eda389b9a3adeb2a689b98d5fc9373f7ecb67076
--- /dev/null
+++ b/Navigation/GroundDetection/bed_222222_cabinet/101984_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/bed_222222_cabinet/101984_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bed 222222 cabinet"
+    ],
+    "scene_description_en": [
+      "bed",
+      "cabinet"
+    ],
+    "scene_description_cn": [
+      "床",
+      "柜子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "Tbf05[:;I5L3N1O1O01OO01N100O01O1_O@fFf0Z9;00O0100O01000O10O10O1000000O10000O010O1000O010O1O010000O10000O2O000O2O001N10001N10001N3N1N4M1O0O10O1O001O1E^ObFb0]9<000O10000O100O10000O1000000O1000001N1000000O011O00000000001O01O02N9G3M1O1O0001N1M3M3O2N10000O101O0O10001N10000O2O000O101O0000010O0000000010O000010O02N3M4L5L3L1O0001O0O1J6N3O0O100O2fFWOf8i0ZGWOe8j0c000001N100000YO]F=b9AbF=k901O0001O0O1000001N10000010O000001O0001O0001O01O000001O000001O0001O01O0001O01O0001O0001O01O00000010O000000010O0000010O000000010O000001O01O0001O0001O01O0001O01O0001O010O001O100O1O1O00010O0001O0000001N100O1O2L3N2N2O101N100O1O101N100O1O2O00000O20O8H9G2OO01O000001N1O1_Oa001O01O0001N100000001O000100O1O1O10O01O10O08H9H0O1O0001O000K6L3O100O101O001O00001O0O2O001O00000010O01O000010O0010O0100O010O102M8I1OO001O0O2M3B=J7N2O00001O1O001O1O010000020NO000000000000IXN`Gi1`86001O000000000000001O00000000001O00000000001O000000001O001O001O10O0000O1000001O3M4L7I3M2N1N2O0^ObFK2"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/bed_222222_sofa/101602_mask_rle.json b/Navigation/GroundDetection/bed_222222_sofa/101602_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c39adc7ad745d7a4acba824c965a289311fc56d
--- /dev/null
+++ b/Navigation/GroundDetection/bed_222222_sofa/101602_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/bed_222222_sofa/101602_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bed 222222 sofa"
+    ],
+    "scene_description_en": [
+      "bed",
+      "sofa"
+    ],
+    "scene_description_cn": [
+      "床",
+      "沙发"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "]9W1_9O4L2N1O001O1O1O2O0O2N1O2N2N1O1O2N2N2N1O3M1O1O2Mblk00_STO0^EO_:6N0O10O1O10000O2O2M]Z27YeM5F9O1O101N2N2N2]FXOU9[1IXOoF1m8BbG?^8YOjGg0R90O1O1DUOjFm0P9?H701O10O1OG[NeGc1\\8^NcGb1]8^NdG`1]8`NcG`1j8O1N2O9H5J1O01N1O1]Od0O0O101O0003N2M0001K4N2O2O0O101O000O2DRNoGn1P8TNoGl1Q8UNnGk1Q8VNoGj1Q8WNmGj1S8VNnGh1R8YNnGf1T8YNlGi1R8WNnGe1KXNc8m12N:G3L0001mNaNnH_1P7U1N1O100O1M2O2N2K5M2001O100UOcH]N_7\\20O1TO`HcN`7\\1aHdN_77XIYOXOa0b72[IYOVO?e7IcIGjN>a9^OiF8m9L5Mfe1NZZN3N2O1gENl9a0L2N101K4O2O0O2O2M4M3M1N2O001O1N102N3L4VG\\N]8n1O1000000001O00000000000000000000000000000000000000001O0000000000000000001O0000000000001O0000000000000000000000000000000000001O0000001O0000001O000000001O00000000000000000000000000000000000VO[GDe8;]GDc8<]GDc8:_GFa89aGF_89bGG^88cGH]87dGH]87dGI\\85fGKZ82iGNW80kG0V8NkG2V8DVGLh0`0T8^OUHb0o800000000001O00000O10000O100O100O100O1O100O1000O11N100000000O100O1O1O1O1N2N2O100O1000000001O00001O1O2_OdFD]:I^dP1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/bed_222222_table/102630_mask_rle.json b/Navigation/GroundDetection/bed_222222_table/102630_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f4755717234beca001648321c3b20ffa6fd22c4
--- /dev/null
+++ b/Navigation/GroundDetection/bed_222222_table/102630_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/bed_222222_table/102630_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bed 222222 table"
+    ],
+    "scene_description_en": [
+      "bed",
+      "table"
+    ],
+    "scene_description_cn": [
+      "床",
+      "桌子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          343,
+          512
+        ],
+        "counts": "W9_1X90O2N0N3O2N1O10000O0100001O000001O0O101O00000ROSG2n8KVG3j8J\\G3d8K`GJ@MP98cGFB1j87iGD\\O7k84PHMP80SHOn70SH0l7OUH2k7MVH3j7KYH4V9O1O2N2N]c00b\\O000ZR1OgmN1O2M2O1O1O1001O2N3Mke31nYL7O0000000001O00001O001O00001O0O1010O01O0O2O1O1O00kZY23PefM6I6K5K3N3L4M1N3M2N2N2O1M3O1N2N2O1N2O1000000O100N2N2O1N2L400000000000000000000N2O1O1000000000000001O00001O00001N10000000001O000001O0001O00000000000000001O00000000001O000O101XN`GW1P901@lF[OU9=SGCQ9NYG2g9N1O1L`P22aoM2O1O01O00000000001O000000001N1001O0000O10010O000O]^g0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/black_bedside_table/40958749_1091.665_mask_rle.json b/Navigation/GroundDetection/black_bedside_table/40958749_1091.665_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f767773ec0def76ee4cbcfa101e37deba368267
--- /dev/null
+++ b/Navigation/GroundDetection/black_bedside_table/40958749_1091.665_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/black_bedside_table/40958749_1091.665_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "black bedside table"
+    ],
+    "scene_description_en": [
+      "black bedside table"
+    ],
+    "scene_description_cn": [
+      "黑色床头柜"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "Ul_44h>8I7J7D;C<\\LlNnH]1W6@bIe0m5MnI6c5;TJLS5o0eJWOP5V1jJnNT5W1gJkNY5W1dJjN\\5X1aJiN_5Y1ZJlNf5U1UJoNk5S1QJoNo5S1lIPOT6R1hIPOX6R1cIQO]6P1_ISOa6o0ZITOf6c4000000O100000000000000000000000000000000000000000000O1000000000000000000000001O0000000000O100000O1O1M3N2O1N20000O100000000000000000000O11O00O10000000000001O0000000000000000000000O100000000000000001O0001O000000000000000000000000000000000000000000000000000000O1001O0O01010O00O10000000000001O00000000000000000000000000000O1000000000000000000000O100000000000000000000000000000000001O00O1001O000000O10000000000000O10001OO100001O0000O11O0000O10000000010N1000O10000001O00O10000000000000000001O0000000000000001O000O10000000000000O100001O0000000000000001O00000O1001OO100000O11O0000000000000000000001O000000000000O1O1O2K4L4M3N2D<0aI"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/black_desk_lamp/40776203_960.062_mask_rle.json b/Navigation/GroundDetection/black_desk_lamp/40776203_960.062_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..4850dcdc88a8c8bcabecc24f86436f913c3ba1e6
--- /dev/null
+++ b/Navigation/GroundDetection/black_desk_lamp/40776203_960.062_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/black_desk_lamp/40776203_960.062_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "black desk lamp"
+    ],
+    "scene_description_en": [
+      "black desk lamp"
+    ],
+    "scene_description_cn": [
+      "黑色台灯"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/cabinet/41069165_2050.757_mask_rle.json b/Navigation/GroundDetection/cabinet/41069165_2050.757_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dfba74a8c6c506ecd46a7d6c36320ede29ad13a
--- /dev/null
+++ b/Navigation/GroundDetection/cabinet/41069165_2050.757_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/cabinet/41069165_2050.757_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "cabinet"
+    ],
+    "scene_description_en": [
+      "cabinet"
+    ],
+    "scene_description_cn": [
+      "柜子"
+    ]
+  },
+  "mask_annotation": {
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+          480,
+          640
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/cabinet222222bed/taskonomy_forkland_point_630_view_1_domain_rgb_mask_rle.json b/Navigation/GroundDetection/cabinet222222bed/taskonomy_forkland_point_630_view_1_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fdce9a850d6f8091f4601b87ba44c747f04e661
--- /dev/null
+++ b/Navigation/GroundDetection/cabinet222222bed/taskonomy_forkland_point_630_view_1_domain_rgb_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/cabinet222222bed/taskonomy_forkland_point_630_view_1_domain_rgb_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "cabinet222222bed"
+    ],
+    "scene_description_en": [
+      "cabinet",
+      "bed"
+    ],
+    "scene_description_cn": [
+      "柜子",
+      "床"
+    ]
+  },
+  "mask_annotation": {
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+      {
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+          512,
+          512
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/cabinet222222bed/taskonomy_gladstone_point_834_view_8_domain_rgb_mask_rle.json b/Navigation/GroundDetection/cabinet222222bed/taskonomy_gladstone_point_834_view_8_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bc3af97c3b8a3513b9b8e7540d217fceb43f87d
--- /dev/null
+++ b/Navigation/GroundDetection/cabinet222222bed/taskonomy_gladstone_point_834_view_8_domain_rgb_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/cabinet222222bed/taskonomy_gladstone_point_834_view_8_domain_rgb_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "cabinet222222bed"
+    ],
+    "scene_description_en": [
+      "cabinet",
+      "bed"
+    ],
+    "scene_description_cn": [
+      "柜子",
+      "床"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          512,
+          512
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/cabinet222222steps/000137_mask_rle.json b/Navigation/GroundDetection/cabinet222222steps/000137_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8bce99faa59f966094d132efe0df125bc46b9be
--- /dev/null
+++ b/Navigation/GroundDetection/cabinet222222steps/000137_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/cabinet222222steps/000137_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "cabinet222222steps"
+    ],
+    "scene_description_en": [
+      "cabinet",
+      "steps"
+    ],
+    "scene_description_cn": [
+      "柜子",
+      "台阶"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          968,
+          1296
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/cabinet222222table/taskonomy_forkland_point_696_view_4_domain_rgb_mask_rle.json b/Navigation/GroundDetection/cabinet222222table/taskonomy_forkland_point_696_view_4_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..9dd6c83d942052e6aac9cc861ef198e4d35409a1
--- /dev/null
+++ b/Navigation/GroundDetection/cabinet222222table/taskonomy_forkland_point_696_view_4_domain_rgb_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/cabinet222222table/taskonomy_forkland_point_696_view_4_domain_rgb_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "cabinet222222table"
+    ],
+    "scene_description_en": [
+      "cabinet",
+      "table"
+    ],
+    "scene_description_cn": [
+      "柜子",
+      "桌子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          512,
+          512
+        ],
+        "counts": "h]P29f?:G;D<E6J;E4K8I3L2O0\\JiM_MW2a2iM^MX2a2iM_MW2a2iM_MW2a2iM_MW2a2fMaM[2`2cMaM]2Q8000O10000000000O10000gJaMPM`2m2dMRM\\2n2dMQM]2o2cMQM]2o2cMQM]2o2cMPM^2P3bMPM^2P3bMPM^2P3`MRM`2W80O1000000O01000O10001N1000000O100ZK]MoKc2P4bMkK_2U4hMdKX2[4lMbKT2^4mM`KT2`4mM_KS2b4mM]KS2c4mM]KS2c4nM\\KR2d4nM\\KR2d4oM[KQ2d4QN[Ko1d4RN\\Kn1`4WN^Kj1`4YN_Kg1a4ZN]Kg1c4ZN\\Kf1d4[N[Ke1e4\\NZKd1f4\\NYKe1g4\\NXKd1h4]NWKc1h4_NWKa1i4`NUK`1l4aNTK^1l4cNTK\\1o4aNSK^1n4aNWKY1j4gNZKS1g4mN\\KP1d4QO`Kj0`4VOeKe0[4[OiKb0V4^OUL7k3HWL7i3IWL7j3HWL7k3GUL9n3DQL=P4CoK=R4BnK>R4BnK>R4BmK?T4AkK?U4AkK?U4BiK?W4AiK?X4AeKa0[4@XJPOTM6Mo1h8kNTJn1m5SNPJn1P6SNmIo1S6SNiIo1X6SNbIP2^6SNZIR2f6RNjHZ2V7X3000000000000001O0000O10000O10000O1O100000000001OO10000O1O100O10O11O00O11O0000000000O01000000000000O100O1O1O101O01O001O1O0000O1O1N2L4N2M3N2000000000O10000000001N100000000001O000001O000001O0000000O1O1O1O100O1O1O100O100O1O1O1O1O1M30000000000000000000O11O000001O000O1001OO1001O00O10000000001O000000000000000001O000000000001O0000001O1O001O1O0000000000001O001O1O000000O10000000000000000000000000000000000000000001O000fL[HYNe7^1eH`N\\7S1RIlNn6m0YISOg6a0eI_O[6;kIEU6OWJ1i5ZOlJf0U5kNZKU1e4aNeK_1[4QNSHUOl3j2Q4jM\\LV2e3_MeLa2]3UMkLk2V8O0000O1000000O11O0000001O00001O00000O11O01N10000000001O0000001O0000001O01O0001O0000001O000O10001O00000O2UOaBSO1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/cabinet222222toilet/000527_mask_rle.json b/Navigation/GroundDetection/cabinet222222toilet/000527_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d0ba95271588b1621d8f6861f04fc2a725a2bcd
--- /dev/null
+++ b/Navigation/GroundDetection/cabinet222222toilet/000527_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/cabinet222222toilet/000527_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "cabinet222222toilet"
+    ],
+    "scene_description_en": [
+      "cabinet",
+      "toilet"
+    ],
+    "scene_description_cn": [
+      "柜子",
+      "马桶"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          968,
+          1296
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/chair222222The_table_farthest_from_the_camera/000775_mask_rle.json b/Navigation/GroundDetection/chair222222The_table_farthest_from_the_camera/000775_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..afd631784dd62e4d57615909a4d413ac163e0bfc
--- /dev/null
+++ b/Navigation/GroundDetection/chair222222The_table_farthest_from_the_camera/000775_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/chair222222The_table_farthest_from_the_camera/000775_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair222222The table farthest from the camera."
+    ],
+    "scene_description_en": [
+      "chair",
+      "The table farthest from the camera."
+    ],
+    "scene_description_cn": [
+      "椅子",
+      "离镜头最远的桌子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          968,
+          1296
+        ],
+        "counts": 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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/chair222222The_table_farthest_from_the_sofa/062675_mask_rle.json b/Navigation/GroundDetection/chair222222The_table_farthest_from_the_sofa/062675_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcdfaad228a66080c1e46fac2f06034e8f7e52c2
--- /dev/null
+++ b/Navigation/GroundDetection/chair222222The_table_farthest_from_the_sofa/062675_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/chair222222The_table_farthest_from_the_sofa/062675_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair222222The table farthest from the sofa"
+    ],
+    "scene_description_en": [
+      "chair",
+      "The table farthest from the sofa"
+    ],
+    "scene_description_cn": [
+      "椅子",
+      "离沙发最远的桌子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          341,
+          512
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/chair222222sofa/000374_mask_rle.json b/Navigation/GroundDetection/chair222222sofa/000374_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..51c9211236ec32f05249bdafc6b722536aaf7f77
--- /dev/null
+++ b/Navigation/GroundDetection/chair222222sofa/000374_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/chair222222sofa/000374_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair222222sofa"
+    ],
+    "scene_description_en": [
+      "chair",
+      "sofa"
+    ],
+    "scene_description_cn": [
+      "椅子",
+      "沙发"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          968,
+          1296
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/chair222222sofa/taskonomy_goodfield_point_101_view_3_domain_rgb_mask_rle.json b/Navigation/GroundDetection/chair222222sofa/taskonomy_goodfield_point_101_view_3_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4d072a3fbd55162fd33bd69aacc29efd6196584
--- /dev/null
+++ b/Navigation/GroundDetection/chair222222sofa/taskonomy_goodfield_point_101_view_3_domain_rgb_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/chair222222sofa/taskonomy_goodfield_point_101_view_3_domain_rgb_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair222222sofa"
+    ],
+    "scene_description_en": [
+      "chair",
+      "sofa"
+    ],
+    "scene_description_cn": [
+      "椅子",
+      "沙发"
+    ]
+  },
+  "mask_annotation": {
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+      {
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+          512,
+          512
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/clock222222table/taskonomy_gloria_point_494_view_6_domain_rgb_mask_rle.json b/Navigation/GroundDetection/clock222222table/taskonomy_gloria_point_494_view_6_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..262ab2e31eb16f97380b0ee620902c0bb4e217e3
--- /dev/null
+++ b/Navigation/GroundDetection/clock222222table/taskonomy_gloria_point_494_view_6_domain_rgb_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/clock222222table/taskonomy_gloria_point_494_view_6_domain_rgb_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "clock222222table"
+    ],
+    "scene_description_en": [
+      "clock",
+      "table"
+    ],
+    "scene_description_cn": [
+      "表",
+      "桌子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          512,
+          512
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/computer222222sofa/000486_mask_rle.json b/Navigation/GroundDetection/computer222222sofa/000486_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..59a0a78481de83dbbacf0a4567496a795e57b70a
--- /dev/null
+++ b/Navigation/GroundDetection/computer222222sofa/000486_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/computer222222sofa/000486_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
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+}
diff --git a/Navigation/GroundDetection/desk_lamp/41048231_8788.866_mask_rle.json b/Navigation/GroundDetection/desk_lamp/41048231_8788.866_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..89c58b6172bd42750456ff6da7d678b128de8889
--- /dev/null
+++ b/Navigation/GroundDetection/desk_lamp/41048231_8788.866_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/desk_lamp/41048231_8788.866_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "desk lamp"
+    ],
+    "scene_description_en": [
+      "desk lamp"
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+      "台灯"
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/desk_lamp/41069087_5135.021_mask_rle.json b/Navigation/GroundDetection/desk_lamp/41069087_5135.021_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..2154664422976cbf1e74d30618c262bbfe94cf87
--- /dev/null
+++ b/Navigation/GroundDetection/desk_lamp/41069087_5135.021_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/desk_lamp/41069087_5135.021_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "desk lamp"
+    ],
+    "scene_description_en": [
+      "desk lamp"
+    ],
+    "scene_description_cn": [
+      "台灯"
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/desk_lamp/41098053_1688.657_mask_rle.json b/Navigation/GroundDetection/desk_lamp/41098053_1688.657_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..6363e31287992bafd333a529523ce6435144e2cc
--- /dev/null
+++ b/Navigation/GroundDetection/desk_lamp/41098053_1688.657_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/desk_lamp/41098053_1688.657_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "desk lamp"
+    ],
+    "scene_description_en": [
+      "desk lamp"
+    ],
+    "scene_description_cn": [
+      "台灯"
+    ]
+  },
+  "mask_annotation": {
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+          480,
+          640
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/desk_lamp/41126461_5406.235_mask_rle.json b/Navigation/GroundDetection/desk_lamp/41126461_5406.235_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae7f89770cb825393e59476e509ffad4d236a139
--- /dev/null
+++ b/Navigation/GroundDetection/desk_lamp/41126461_5406.235_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/desk_lamp/41126461_5406.235_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "desk lamp"
+    ],
+    "scene_description_en": [
+      "desk lamp"
+    ],
+    "scene_description_cn": [
+      "台灯"
+    ]
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/desk_lamp/41126894_2323.999_mask_rle.json b/Navigation/GroundDetection/desk_lamp/41126894_2323.999_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7a65f2b08556bd8a0760e7095430a2a518ab1fd
--- /dev/null
+++ b/Navigation/GroundDetection/desk_lamp/41126894_2323.999_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/desk_lamp/41126894_2323.999_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "desk lamp"
+    ],
+    "scene_description_en": [
+      "desk lamp"
+    ],
+    "scene_description_cn": [
+      "台灯"
+    ]
+  },
+  "mask_annotation": {
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+          480,
+          640
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/desk_lamp/41159420_7643.904_mask_rle.json b/Navigation/GroundDetection/desk_lamp/41159420_7643.904_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..939155e5b7a7c59e8f70dd646de8f587168239fa
--- /dev/null
+++ b/Navigation/GroundDetection/desk_lamp/41159420_7643.904_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/desk_lamp/41159420_7643.904_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "desk lamp"
+    ],
+    "scene_description_en": [
+      "desk lamp"
+    ],
+    "scene_description_cn": [
+      "台灯"
+    ]
+  },
+  "mask_annotation": {
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/directly_in_front_of_the_trash_can/40753679_6839.506_mask_rle.json b/Navigation/GroundDetection/directly_in_front_of_the_trash_can/40753679_6839.506_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9b3c6dcd6576bddd2d43589837aae9db991ac6e
--- /dev/null
+++ b/Navigation/GroundDetection/directly_in_front_of_the_trash_can/40753679_6839.506_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/directly_in_front_of_the_trash_can/40753679_6839.506_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "directly in front of the trash can"
+    ],
+    "scene_description_en": [
+      "directly in front of the trash can"
+    ],
+    "scene_description_cn": [
+      "垃圾桶正前方"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/dishwasher/41126860_287.330_mask_rle.json b/Navigation/GroundDetection/dishwasher/41126860_287.330_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..b86251a3ae94cae82eedac99f8723f9267fa1c09
--- /dev/null
+++ b/Navigation/GroundDetection/dishwasher/41126860_287.330_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/dishwasher/41126860_287.330_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "dishwasher"
+    ],
+    "scene_description_en": [
+      "dishwasher"
+    ],
+    "scene_description_cn": [
+      "洗碗机"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "lnd12m>1O2O0O1O1O100O1O1O2N100lMDcE=\\:EbE<^:DaE=]:G`E9`:I^E8a:H_E8a:H`E8_:HaE9_:GaE9^:HbE8^:EeE;Z:FgE9X:GcDM88oNEV<6aD193X;K`D57NY;N^D88HZ;0^D;:_OY;7\\D=d<C[C`0a=2N3N0O3L3M3M3M3N2M3N2N2M3N2O1VNWN\\Fh1d9ZNZFg1e9[NZFe1h9YNXFf1h9]NUFd1k9\\NUFd1j9]NUFc1k9^NUFb1j9`NUF_1k9bNUF^1k9cNTF\\1o9bNQF^1Q:`NoE`1P:bNoE]1Q:cNPF]1^9XNdE0A9^1_1\\9YNfE9n0^1Y9\\NhE9m0Z1[9^NjE7j0[1\\9]NkE8i0[1[9^NmE6h0[1Z9`NnEK^O6[1_1P9ZNjE6JLd0N\\O4]1b1n8ZNgE90Gc00[O4^1b1o8eNdEEc01]O1^1e1m8hN[FAk0g1h8jNQHU1o7mNPHS1n7nNSHR1k7nNWHS1f7iNaHV1]7kNdHU1\\7kNcHU1^7kN\\G_OFf1k8lN]GBHa1j8mN]GFH\\1j8lN^GLHW1j8kN]G3HQ1k8iN^G9Gm0l8aNbGg0Ag0n8`N_Gm0Cb0]:@cE?Z:EfE:X:JgE5V:OjE0S:4lELP::oEEn9?QFAi9f0WFYOg9j0XFVOe9n0ZFROd9Q1ZFPOc9T1\\FlNa9Z1[FgNd9[1ZFfN_9fNQFg2=dNb9b1]F_N\\9j1aFWN_9i1`FXN`9i1^FXN]9o1_FSN`9g3L4N2L4O1O1O1O10YJjFd5V9\\JjFd5U940\\JkF]5T9dJlF\\5S990000O10000001O001O1VJkFg5W90002N1]JfF^5[9aJfF^5Z9bJeF_5\\921O002N003M1O3M001O2N1O1O1O2N1O001O00O10000O100001O001O1O1O1O1O1O00O1O1O100O100O100O10000O100O100O1O100O1O1O1O100O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O100O1O1O1N2CTJ`GR6^89O1O100O1O1O1O1O1O1O1O1O100N2O1N2O1O1O1O1O1O100O1O1N2O1O1N200O1O1O1O1O1O1O1O1O100O100O1O1O1O1O1O100O1O100O1O1O100O1O100O100O1O100O1O1O100O100O100O100O100O10000001O00001O00001O00001O1O00001O001O1O001O001O001O1O001O001O00001O00001O001O001O001O001O00001O00001O001O001O001O1O001O0YOhH[I2MW7e6i0N3EgGgI`8T68L5L3BRGfJR9X5=M3I7L4N1O1N3M2N2L5N1O2L3J7J5N3K4M4L3L5K5M2M3L5L4L3N2N3L4M2M4L3N2O2M2O2N1O2N1O1O3M2N1O1O2N1O2N1O2O1M2O3WOXB5j=HYB4k=IXB4]>KoZb1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/dishwasher/41127016_6582.112_mask_rle.json b/Navigation/GroundDetection/dishwasher/41127016_6582.112_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9eb237a05589cc0838ba3dbf8e282b4a7f8368a
--- /dev/null
+++ b/Navigation/GroundDetection/dishwasher/41127016_6582.112_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/dishwasher/41127016_6582.112_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "dishwasher"
+    ],
+    "scene_description_en": [
+      "dishwasher"
+    ],
+    "scene_description_cn": [
+      "洗碗机"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "R[[31n>2N01O1O10dgj1;mWUN8GQ1PO:I6I4L6K6J4K4M4L4M1N1`DlLS;g1fDC6mNl:P3SESMk:n2TESMj:o2TETMi:d3N3L3N4K5LfNfEZNm9l1VF^NW9h1fFXNW9m1iFRNT9Q4K3MVOSGfKj8\\5K7J5J9G4M6I=eH^H`6e7;lNkH`J0POn6R8ZIkGT6Z874K^OaIkH7ZOh5k7QJoH4ZOf5g7VJTIo5m6QJUIm5T8K4L5J5hJ\\FM1h4n9UKQF02h4P:YKRFd4P:[KRFb4R:bKiEZ4[:cKhEZ4Y:eKjEW4d:L5J0SLfEV3W;J1O100OoNRMRFn2m9RMTFP3i9PMXFl2SOTMf;l27O100O1O1000000O1O1000000O1O100O1000000LgCaMY<_2hC`MX<_2iCaMW<^260eCbMT<]2lCdMT<\\2kCdMV<b21HfCiM[<V2800O1O100O1O100O1O100O1O^CQNU<o1>O1O100O100O100O100O1O100O100O1O100O100O1O1O100O1O100O100O100O1O100O100O100O1O10000O1O100O100O10000O100O100O1O1O100O100O1O100O100O10000O100O1O100O100O1O100O100O100O100O10000O100O1O10000O100O1O1O100O1O100O1O100O1O100O100O100O100O10000O10Pof00PQYO1O00"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/door/001065_mask_rle.json b/Navigation/GroundDetection/door/001065_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..49e467eb5c5a70cdeb5c800e169c98b3c0570033
--- /dev/null
+++ b/Navigation/GroundDetection/door/001065_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/door/001065_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "door"
+    ],
+    "scene_description_en": [
+      "door"
+    ],
+    "scene_description_cn": [
+      "门"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          765,
+          512
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/futon/41126941_13397.445_mask_rle.json b/Navigation/GroundDetection/futon/41126941_13397.445_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..def37ea53b3a34675311c2a3eacc8585b7ff240a
--- /dev/null
+++ b/Navigation/GroundDetection/futon/41126941_13397.445_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/futon/41126941_13397.445_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "futon"
+    ],
+    "scene_description_en": [
+      "futon"
+    ],
+    "scene_description_cn": [
+      "蒲团"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "`f]32m>4mAMR=6kBNR=7hBLV=7gBKW=9eBHZ=<aBE_=o0O001O000DdNTC\\1j<gNUCZ1j<fNVCZ1j<gNUCY1o1eNa83_EX1o1lN\\8LeEY1m1POZ8HhEX1l1UO[8@kEZ1i1[OZ8WOoE^1e1@d8c0XG@g8?XGCW8QO[F\\1\\1DY8SOXFZ1\\1GZ8SOWFV1]1I[8SOWFS1]1LoNdNj8=jFT1Z12iNeNo86nFR1Y1f0h7YNnFR1W1h0j7WNoFQ1U1j0k7UNQGT1n0j0P8SNQGS1n0l0P8QNSGS1k0n0Q8PNTGR1i0P1R8oMTGQ1h0S1S8lMVGQ1e0U1T8kMVGP1e0W1T8jMWGo0c0Y1U8iMXGn0a0[1V8gMYG[13P1c8fMZGY11S1e8dM[GY1NU1f8cM[GV10Y1d8aM]GU1N\\1d8`M^GR1Ma1d8]M_Ga4a8`K_G`4`8`K`Ga4_8`K`Ga4_8^KbGb4^8^KbGb4^8\\KcGe4]8YKdGi4[8VKeGk4[8RKgGo4Y8PKfGQ5[8mJeGU5[8iJfGX5Z8fJfG\\5Z8dJdG^5\\8`JdGb5\\8\\JdGf5\\8XJeGi5[8UJdGn5\\8QJdGP6c83O1N3N1N3N101O1O00000000O100O10000O100O10000000000O100000000000000000000000000000000000000O1000000000000001O00001O00001O001O001O001O1O001O1O001O1O1O1O1O1O1O1O1O1O2N2N1gIoH\\N4n5o6cKUI]4n6^KUIa4l6\\KVId4m6XKTIh4P7PKTIP5o6jJTIV5Q7]JWIc5m6UJWIk5o70000000000000000000000000000000O100000000000000000000O10000000000000000000000O100000000000000000000O100000000000001O0000000000O1000001O001O1O2N3M2N1O1O1O5K9G4L3M3M5K3M3M2N4L2N2N2N5K5K3M4L2N5K4L3M2N5K3M4L2N3M6J2N5K2N2N1O1O000YNXCV1h<iN[CU1e<jNaCQ1`<lNgCo0W=N6J4L5K5K3M4L6JQ\\W10ochN00000000000n`>1Q_A0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/hanging_scrolls/41159382_2475.537_mask_rle.json b/Navigation/GroundDetection/hanging_scrolls/41159382_2475.537_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..84337e6acb23549abc1546b5b928ed20ae1a1a44
--- /dev/null
+++ b/Navigation/GroundDetection/hanging_scrolls/41159382_2475.537_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/hanging_scrolls/41159382_2475.537_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "hanging scrolls"
+    ],
+    "scene_description_en": [
+      "hanging scrolls"
+    ],
+    "scene_description_cn": [
+      "挂画"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "iPg36i>2N1O2N2O0O2N1WKDmJ>P5EnJ=P5EnJ=Q5DmJ=S5EjJ=U5CjJ`0T5BjJ>V5EfJ=Y5DeJ?Y5BeJa0X5@gJd0V5^OgJe0W5]OfJf0X5[OeJi0Z5WOcJn0Y5TOeJP1W5ROfJQ1Y5POdJS1Z5oNdJS1Z5oNcJS1]5oN`JR1`5oN\\JT1c5oNXJT1h5nNTJT1l5mNRJT1n5nNoIS1Q6oNkIS1U6nNiIR1W6QOfIP1Z6QOdIQ1[6ROaIo0_6SO]Io0c6RO[Io0f6ROWIo0i6ROTIP1l6RORIn0n6SOPIn0o6TOoHm0Q7UOmHk0S7WOjHj0V7XOgHi0X7YOgHg0Y7[OdHf0\\7\\OaHe0_7]O_Hb0b7_O\\Hb0d7@YHb0f7_OXHb0h7@VH`0j7ATH`0l7ASH?l7DQH=P8BoG?Q8DlG<T8GhG:X8IdG8\\8V30000001O0000O100000O0100O1O101N1O1aN^I_Jc6_5aI^J`6_5cI_J_6_5dI_J]6^5fIaJ[6\\5hIaJ[6^5gI]J]6`5fI^J\\6`5gI^JZ6`5iI^JX6`5lI\\JV6b5mI\\JT6b5QJYJQ6e5TJWJm5a4kHWLm8g3VGVLl8h3WGULk8h3XGVLj8h3YGULi8h3ZGVLh8h3[GVLf8g3]GVLf8h3^GVLb8i3dGQL]8l3\\1O2N2M3N3N1M3M3N2O1N2M3N1O1OO101000000O2O1O001O1N2O1O1O001000O100O1O2N2VM[DV2g;iMYDU2k;iMUDU2m;jMTDT2P<hMSDU2o;hMTDi1J\\Nb<`1cC\\N`<a1dC\\N^<b1eC[N^<b1a0M3N2N2N2N1O2M3N2N2M3N2M3N2N2N2M3N2N2N2N2M3O10000O1000000O10P?0PA0Pf40PZK001O0001O0000000000000000o>0QA0000000000000000001O000000001O000000000O010000O01O1O1O1O100O1O1O100O1O100O1O100O2O0O1O1O10O01O1O100O2N10O10O1O100O1O100O1O100O1O100000000O10000O100O100O2N10O01O1O100O1O100O100O10000O10000O100000000000000000000000000001O000000001O000000O100O1L5M101O1O1N200O1O10000O100O100O1O100O1O10000O1001O000000001O0000O10000O10000O1O100O100O1O100O1O100O100O2N2O0O1OO"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/he_area_where_the_light_beige_carpet_meets_the_white_baseboard__located_at_the_corner_of_the_gallery_on_the_left_side_of_the_frame/row_1186_col_image_mask_rle.json b/Navigation/GroundDetection/he_area_where_the_light_beige_carpet_meets_the_white_baseboard__located_at_the_corner_of_the_gallery_on_the_left_side_of_the_frame/row_1186_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..39c2212b4c01a9d704ca4fcaa550771233ad42bf
--- /dev/null
+++ b/Navigation/GroundDetection/he_area_where_the_light_beige_carpet_meets_the_white_baseboard__located_at_the_corner_of_the_gallery_on_the_left_side_of_the_frame/row_1186_col_image_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/he_area_where_the_light_beige_carpet_meets_the_white_baseboard__located_at_the_corner_of_the_gallery_on_the_left_side_of_the_frame/row_1186_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "he area where the light beige carpet meets the white baseboard, located at the corner of the gallery on the left side of the frame"
+    ],
+    "scene_description_en": [
+      "he area where the light beige carpet meets the white baseboard, located at the corner of the gallery on the left side of the frame"
+    ],
+    "scene_description_cn": [
+      "位于画面左侧、画廊转角处的浅米色地毯与白色踢脚线相接的区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          256,
+          256
+        ],
+        "counts": "f=Y2g5000O10000000000O10000000000O1000000000000000000001O0000000000O10000O100O10000O10000000000O1000]NgJ?Y5^OnJ>[6O001O1O1O001O1O001O001O1O001O1O001O1O1O001O1O001O1O001O1O001O1O001O1O001O1O001O1O001O1O001O1O001O001O1O1O1O1OSXU1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/kettle/41159382_2489.037_mask_rle.json b/Navigation/GroundDetection/kettle/41159382_2489.037_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea00c55f335397066030d9e16f60d97466714c10
--- /dev/null
+++ b/Navigation/GroundDetection/kettle/41159382_2489.037_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/kettle/41159382_2489.037_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "kettle"
+    ],
+    "scene_description_en": [
+      "kettle"
+    ],
+    "scene_description_cn": [
+      "烧水壶"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "d52U90mFO]fd52\\h[J3L4L4K4N3M3L3N3L3N3K5M2M4L3M4L4L3N3M3K4N3L4L3L5M2N3M2N3M3M2M4M3K4L5M3L3N3L3N3L3M4L4L3N3L3O1M4L3M3M4L3M3N1N3M3N1M4M2N3M2O2N2M2N3M2N3M3M3N2N2L4N3L3M3N3L3M4K5K4N3L3N2L5L4K4L5O7I2N1O1O001O1O1O001O1O001O001O1O1O001O001O001O1O001O1O001O1O001O1O001O001O1O001O1O001O1O001O001O1O001O001O1O001O001O1O001O001O1O1O001O1O001O1O001O001O1O001O001O1O001O1O1O001O1O001O001O1O001O1O001O001O1O001O1O001O1O001O001O1O1O001O1O001O001O001O1O001O1O001O1O1O001O1O1O001O001O1O1O001O1O001O001O1O1O1O001O1O001O1O001O1O001O1O1O001O0000"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/little_table/000333_mask_rle.json b/Navigation/GroundDetection/little_table/000333_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c851fa7c634a0fb34134902458f4413984fc8fd
--- /dev/null
+++ b/Navigation/GroundDetection/little_table/000333_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/little_table/000333_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "little table"
+    ],
+    "scene_description_en": [
+      "little table"
+    ],
+    "scene_description_cn": [
+      "小桌子"
+    ]
+  },
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/little_table/000486_mask_rle.json b/Navigation/GroundDetection/little_table/000486_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc31bf3db5dfce510841ce2cb8f406eb2d622142
--- /dev/null
+++ b/Navigation/GroundDetection/little_table/000486_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/little_table/000486_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "little table"
+    ],
+    "scene_description_en": [
+      "little table"
+    ],
+    "scene_description_cn": [
+      "小桌子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          384,
+          512
+        ],
+        "counts": "gUa03j;5N0O1_DIY;7fDNV;2iD2MFV;7kD9k0IVOKc9U201O000001O00001O000000001O0O2O0001O01O001O000000001O00001O001O00001O001O002N1O2N00001O000000O10000O100O1N2O1N2O1O1O1O1O1O1O1O1N2O1O1O1O1O1O1N2O1O1O1O1N2N2O100N2O1O1O1O1N2O1O1O1N2O1O1O1O1N2O1O1O1O1O1O1O1O1N2O1O1O1N2O1O1N2N2O1O1O1O1O1O1O1O1N2O1O1O1O1O1N2O1O1O1N200O1N2O1O1O1O1N2O1O1O1O1O1N2O1O1O1KdJdI^5W68N2N2O1O1O1O1O100O100O1O100000000000000001O00001O00001O1O1O1O1O1O2N2N4L3M00000000O100001O000000001O0000000000001O0000001O0000001O000000001O00000000001OO1000000000000001O00000000000000O100001O001O00001O00O10000O1O1N2O1N2O1K5O1O11O00000000000000000000001O0000001O0000000000000000001O00000000000000000UKhIn3Y6mKlIR4T6jKQJU4o5iKSJW4n5gKTJX4l5eKWJ[4i5cKXJ^4e60O1N2L4M3O1M3N2N21O0000000000000O10000000O1O101O0N20000002N00001O1O1O001O00000000O1001O00001O1O001O1[LSIU2m6jMVIT2k6hMYIW2h6^MPIUO`0\\3`6[MgIe2Z6UMlIj2T6TMnIl2S6oLQJQ3^710000001O001O1O001O1O001O1O001N2O1O001O100O3M2N2N1O1O00001O002N1O1O0001O0000O10O1O1O100K\\MmFe2n89M3O1N2O100O0100O1M200O2M2O2M3O1M3O1M3N2M3N2N2M4M4K3N5J5K4N1mNbEa0a:^OaE?b:@_E9h:]OWE0;<`i6"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/low_table222222door/000182_mask_rle.json b/Navigation/GroundDetection/low_table222222door/000182_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..192882158bc8c59bb3a514ea1cc80fdc0845be4d
--- /dev/null
+++ b/Navigation/GroundDetection/low_table222222door/000182_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/low_table222222door/000182_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "low table222222door"
+    ],
+    "scene_description_en": [
+      "low table",
+      "door"
+    ],
+    "scene_description_cn": [
+      "矮桌子",
+      "门"
+    ]
+  },
+  "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/low_table222222door/000653_mask_rle.json b/Navigation/GroundDetection/low_table222222door/000653_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..7575aa8e492fc308d856f5472a05d8810dfa988d
--- /dev/null
+++ b/Navigation/GroundDetection/low_table222222door/000653_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/low_table222222door/000653_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "low table222222door"
+    ],
+    "scene_description_en": [
+      "low table",
+      "door"
+    ],
+    "scene_description_cn": [
+      "矮桌子",
+      "门"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "bnl076Ko9?N1O1O1O100N2O1O1O1O1I7000000O100O1000000001O1O001O2N001O1O0000001OO1000000O100O1O100N2O1N200O1O100O100O1O100O1000000O100O10000O1000000001O00001O0000O10000O1O100O1N2O1M3M3N2N2N2N2O1N2O1O1O1O1N2O1O1O1N2O1O1O1O1N2O1O1O1O1O1aNaMhJ_2X5gMaJZ2^5oMZJQ2f5VNRJk1m5YNnIi1R6]1001O1O000000N2O1007I4L1O001O0000000000000000POVLUKj3k4VLUKj3j4WLVKi3m4ULQKl3P5SLPKm3P5SLoJn3P5TLoJl3o4WLoJj3m4^LaJB7R4X5o00000000000000RNlJ[NU5a1VKWNk4f1eKlMh4e1gKnMY4Q2jKmMW4o1lKQNS4n1PLQNn3o1TLQNa3X2aLhM_3V2bLkM]3T2bLoM^3o1XL]Nh3a1YL`Ng3^1hKnMQOd0W5\\1jKoMoNf0W5Y1lKQNlNg0X5V1nKRNjNi0X5S1QLSNgNj0X5Q1SLUNdNk0Y5m0VLWNaNm0Z5i0XLXN_No0Y5g0eLZO[3d0fL]OZ3a0hL_OX3>jLCZ38fLI[34fLMZ31hL0U3OmL1R30nL1R3MPM3o2MQM4P3KoL6Q3JoL6Q3JnL7R3InL7R3IoL6Q3JoL6Q3JoL6Q3JPM5P3KPM5P3LoL4Q3LoL4P3MPM3R3KnL5R4kNoKT1i60000000WMmNQLR1h3UOXLk0c3ZO]Lf0c3ZO]Lf0b3\\O]Ld0a3^O`La0Y3FgL:P3OPM1i26WMJX2nNXK`1a2AT2SOXK^1d2_OS2UOWK^1e2]OT2m0lMSOT2m0mMROS2n0mMROS2n0nMQOR2o0oMPOQ2XOWK^1i2YOP2YOWK^1k2WOn1[OWK^1m2UOl1]OWK^1o2SOj1W1WNhNj1X1WNfNi1Z1YNdNg1\\1ZNcNf1]1\\NaNd1_1^N_Nb1a1`N]N`1KVK^1\\3eN^1MVK_1i2[NfM8[4NVK_1i2]NfM4[40VK_1i2^NgM0[4l1oMTNgMM[4o1f30010O0000000000QKPNY1Q2_NWN`1i1\\N[Nd1e1XN_Nh1GUKa1l2nNo1AUKP2Y2cNb2]OUKk24RM7ONP1b4TOUKV5k4:00001O0000001`JSKV5m4jJSKV5n4iJRKW5o4hJQKX5S5cJnJ]5W5N2N4L;E1O1O000000001O000000000000001O000000000000001O0XLUJTOM0<P3b5iMnJS2R5hMWKT2i4fMbKU2^4dMmKX2S4eMRLY2n3gMULV2k3jMXLS2h3mMZLQ2f3oM^Lm1b3SNaLj1_3VNfLe1Z3[NhLc1X3]NjLa1V3_NlL_1T3aNoL\\1Q3dNSMX1m2hNWMT1i2lNZMQ1f2oN\\Mo0d2PO`Mm0_2TOcMj0^2UOfMg0Y2ZOjMc0V2]OlMa0T2_OPN=P2CRN;n1EUN8k1HXN5h1K[N2e1N^NOb11b4O1M]^P1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/metal_hydraulic_base_under_the_black_barber_chair_on_the_right_side_of_the_frame/1150_mask_rle.json b/Navigation/GroundDetection/metal_hydraulic_base_under_the_black_barber_chair_on_the_right_side_of_the_frame/1150_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..40cbb449daaaea06c3b12f77de12671861972660
--- /dev/null
+++ b/Navigation/GroundDetection/metal_hydraulic_base_under_the_black_barber_chair_on_the_right_side_of_the_frame/1150_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/metal_hydraulic_base_under_the_black_barber_chair_on_the_right_side_of_the_frame/1150_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "metal hydraulic base under the black barber chair on the right side of the frame"
+    ],
+    "scene_description_en": [
+      "metal hydraulic base under the black barber chair on the right side of the frame"
+    ],
+    "scene_description_cn": [
+      "位于画面右侧、黑色理发椅下方的金属升降底座"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
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diff --git a/Navigation/GroundDetection/microwave_oven/41048223_7179.734_mask_rle.json b/Navigation/GroundDetection/microwave_oven/41048223_7179.734_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..635085491ac0280bd38f30d3a211ddf9863af0f5
--- /dev/null
+++ b/Navigation/GroundDetection/microwave_oven/41048223_7179.734_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/microwave_oven/41048223_7179.734_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "microwave oven"
+    ],
+    "scene_description_en": [
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+}
diff --git a/Navigation/GroundDetection/microwave_oven/41127016_6592.112_mask_rle.json b/Navigation/GroundDetection/microwave_oven/41127016_6592.112_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..8219fdaf5609abe53f34d3ea6c2517e901238be0
--- /dev/null
+++ b/Navigation/GroundDetection/microwave_oven/41127016_6592.112_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/microwave_oven/41127016_6592.112_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "microwave oven"
+    ],
+    "scene_description_en": [
+      "microwave oven"
+    ],
+    "scene_description_cn": [
+      "微波炉"
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+}
diff --git a/Navigation/GroundDetection/mirror/41159420_7637.405_mask_rle.json b/Navigation/GroundDetection/mirror/41159420_7637.405_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..d90be189aea1bdd1b36bf6e23f3faa966ddddbeb
--- /dev/null
+++ b/Navigation/GroundDetection/mirror/41159420_7637.405_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/mirror/41159420_7637.405_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "mirror"
+    ],
+    "scene_description_en": [
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+    ],
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+      "镜子"
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+      }
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+}
diff --git a/Navigation/GroundDetection/one_target_area/1098_mask_rle.json b/Navigation/GroundDetection/one_target_area/1098_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..45dcca4675ca43fbd0c57fc63babc891d1511754
--- /dev/null
+++ b/Navigation/GroundDetection/one_target_area/1098_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/one_target_area/1098_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "one target area"
+    ],
+    "scene_description_en": [
+      "one target area"
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+    "scene_description_cn": [
+      "一个目标区域"
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+}
diff --git a/Navigation/GroundDetection/one_target_area/1109_mask_rle.json b/Navigation/GroundDetection/one_target_area/1109_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..96c04d42b525c8431946591a3fa29367b9c22ee1
--- /dev/null
+++ b/Navigation/GroundDetection/one_target_area/1109_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/one_target_area/1109_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "one target area"
+    ],
+    "scene_description_en": [
+      "one target area"
+    ],
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+      "一个目标区域"
+    ]
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/one_target_area/1145_mask_rle.json b/Navigation/GroundDetection/one_target_area/1145_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..736adceafce778892cc8f5e02e8eabc52ffcc538
--- /dev/null
+++ b/Navigation/GroundDetection/one_target_area/1145_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/one_target_area/1145_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "one target area"
+    ],
+    "scene_description_en": [
+      "one target area"
+    ],
+    "scene_description_cn": [
+      "一个目标区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          525,
+          700
+        ],
+        "counts": "_Zb32Z`01N2O2N1N3N001O2N1O100O001O1O1O101N1O100000000002N1O001O1O00001O0000000000O1O1M3K5O1O1O100O1O1O1K5K5E;O1O1O100001O1O00000000001O001O0000000000O10000O100O1O1L4I7O1N2O1O1000000001O00O1jNkMTDU2j;mMVDS2i;oMVDQ2h;QNWDP2^;gMkC;1H7V2m;\\NiCB8S2o;]NfCB8S2R<lNiCV1W<`1001OO10000O1FTLQDn3o;80000000000000000000000000000000000000000001O000000000000000000000000001O0000000000000000000000000000001O00000000000000000000000000001O00000000000000000000000000000000001O000000O10000000000O1O1N2N200O1001O00001O1O2N6J4L1O00000000001O000000000000000000000000000000000000000000000000000000000000000000000000001O00000000000000000000000000001O000000000000O1O1M3J6H8O1001O1O001O1O001oNSD`Mm;\\2YDbMg;\\2^DaMc;Y2PEYMP;P1bEkN\\NV1R<MmCYO1U2R<aNlCQ2T<oMlCQ2T<oMlCQ2T<oMlCQ2T<oMlCQ2T<oMlCQ2T<oMlCQ2T<oMlCQ2T<T1O10000O1000000001O1Od0WLYCd2X=01O5K<UM\\BU2X>kMcA3N]1[?_O2N001O0000001N2O3_OfYW2"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/one_target_area/row_1106_col_image_mask_rle.json b/Navigation/GroundDetection/one_target_area/row_1106_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..0daab883cf5ba6025c1ff7965e69fd889acd5ab5
--- /dev/null
+++ b/Navigation/GroundDetection/one_target_area/row_1106_col_image_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/one_target_area/row_1106_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "a target area"
+    ],
+    "scene_description_en": [
+      "a target area"
+    ],
+    "scene_description_cn": [
+      "一个目标区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          854,
+          640
+        ],
+        "counts": "b`k04Rj0`0@`0F:L4O1M3O10000000000001O1O001O000000O1O100O100O1000000000000000000`J_Oj@b0Z>^1b@bN^>\\Na^OM0o4i1iLX?a5W_OaJc`0l7K5\\Od0[OaEb@P;l>f0M3H8O10000O1000000000000000000000000000000000000001O000000000000000000000000000N22N0000000000000000000000N2cD]Ag:c>XE`Ah:^>XEcAg:]>YEcAg:]>YEcAg:]>YEdAf:\\>[EcAe:]>[EdAd:\\>]EcAc:^>\\EdAb:]>]EdAb:^>]EaAc:`>\\EaAc:a>\\E_Ac:c>[E^Ad:c>\\E]Ac:e>[E[Ae:f>ZE[Ae:h>WEYAi:i>UEWAk:[?O00001O001O001O2N3M2N4L8H8H4L3M3M6J3bFl^OT9Ua0jFm^OU9\\a0N2N3M1O1O1O2N1O001O1O001O1O1O2N1O1O1O1O001O001O00000000001O0000O10lGh]Oj7[b0QHh]Om7cb0M9H6L0L4N3M2N3M9G3M2N2N001O000000O11O1O1O1O1O2N1O2N2N1O2N1O1O2NMRJ_[Om5ad04O1O1000000000000000000000000000000000000O11O0000000002N0O01O10000000001O00O11TLc[O]1]d0bNg[O[1Zd0YNS\\Oe1af0N2N2N1O2N2N2N2N1O]OWMZYOh2df0eMSYOY2nf0gMTYOV2mf0jMSYOU2of0jMRYOT2of0mMPYOR2Qg0oMoXOo1Sg0RNlXOl1Vg0SNjXOl1Xg0TNiXOi1Xg0WNiXOg1Xg0ZNhXOf1Wg0ZNjXOd1Xg0\\NgXOc1Zg0^NfXO`1]g0_NcXO_1_g0aN`XO\\1dg0cN]XO[1dg0fN[XOY1fg0hNZXOV1hg0jNWXOU1jg0kNWXOS1kg0mNUXOQ1mg0oNSXOo0og0QOQXOm0Ph0SOPXOl0Rh0TOnWOj0Th0UOlWOj0Uh0WOlWOf0Vh0[OjWOb0Wh0^OiWOa0Yh0^OhWO`0Zh0@eWO?\\h0BdWO<]h0FaWO9ah0F`WO8bh0H^WO6ch0J^WO4ch0M\\WO2fh0NZWO0hh0OYWOOih02VWOLlh05RWOJPi06QWOGQi09nVOFTi0:mVOBUi0>kVOAWi0?jVO_Olg0FXYOk0lN]Ofg02]YOm0gf0nN\\YOP1Wh0N1O1N2N4O0O0O2N2NZNZO^YOd0`f0^OaYOb0^f0\\OfYOa0\\f0]OfYOb0Yh0N2N1OkMGoYO6Qf0MoYO1Pf01QZOMne04SZOKme06TZOHle08VZOEke0:Z2Mli5b0`UJ6L4I6O1O31I6QObVOJhV45acL8H9H1O0101O1N4I7J7L2ML7L5K5K3WO\\O^WOd0Ph03jWONUh05iWOJWh07jWOFXh07lWOEXh08U1Hjl:EmRE5jVONmh0`0kVOCPi0a0mVOAnh0e0nVO]Ofh0BaWOT12oN[h0^1?E<^O[df0BW\\YO?YO@kVOh0kh0g0H8K6E9O11NkNfMSZOP2Uf0TNjYOX1gf0jNYYOe0Wg0^OmXOLbg06^11O0010LQY4LhdK:hYOKRf0=hYOFne0e0mYO_Obe0AYYOW1Q1YObe0Y1\\ZOgNde0\\1[ZOcNde0_1\\ZO`Nce0b1`ZOZN`e0f1bZOWN_e0j1fZOnM\\e0T2b10000M3K5K6I7B?POeVO<ia25o]M^Ogi0k0\\Oe0L4A`0VOh0BTMhXOV3Rg0:G9N2O1O10N22OO0N2000001iNQZOdMPf0W2]ZO`Mee0W2b1D=EVWOaNTi0i0en0]OZROKlUO;Qj06G:B>ZOe0oN`NhXOd1Rg0S1K5O1O1001O001O002N1O1O1M201N2VOjXOQNXg0d1S1E<_O`0J;^O^m0JhXNLQj0?N3J6A>L4YOg0F:M5J4O1001O1O2N1O001O00001O1O1O1M3O1O001O1VOmWOnNWh0e0VXOXOlg0>bXO[Obg05jXOLPi00N3M5I4N2L4L4B>D<L4N2O100001O1O1O1O1O1O1O001O1O1O2WOUWOAQi0O]WONhi0MfPd0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/radiator/41048262_5441.540_mask_rle.json b/Navigation/GroundDetection/radiator/41048262_5441.540_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..88d51b2d6ede950ac352e4a99d06cc25d361dcb5
--- /dev/null
+++ b/Navigation/GroundDetection/radiator/41048262_5441.540_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/radiator/41048262_5441.540_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "radiator"
+    ],
+    "scene_description_en": [
+      "radiator"
+    ],
+    "scene_description_cn": [
+      "暖气片"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "eji56g>3M3M3M3L3O2M3N1M3N3L3O1N2N2iCkNc:V1[EmNb:U1]EmNb:S1^EnN`:f0VDQOO220Y18`:<VFEh96^FJb94_FMa90bF0^9OcF1]9NcF3]9LeDKZ1:Q:K_D2^14S:I]D5a12R:H]D5b14Q:G[D5e15P:E\\D4e18o9D\\D2g1:n9C[DLK3l1?n9B[DKM0m1b0l9B`F>`9B`F=b9B^F>c9_O_Fa0e:BTD>h;GWD:f;IYD7d;M[D3`;2`DN^;5aDL[;7eDIV:_OeEn02DY:^O`EX12ZO^:^O^E]11VOS:[OZFc1_OSOV:\\OYFf1]OnNZ:[OZFj1XOlNd;X1WDjNj;U200102MlNcMfE\\2X:fMjEY2Q:kMoEU2o9lMSFT2j9nMgE\\O0f2V:QNiE[O1d2S:RNmE\\ONb2T:SNnE\\OMb2T:RNlE@O^2T:SNlE@0^2S:QNnEAO_2R:PNoE@0`2Q:PNPF^O0c2n9PNRFTOI2:j2k9PNWFUONl2j9oMXFUOMn2i9oMgFR2X9nMgFT2W9nMgFT2X9lMgFV2X9kMfFV2Z9kMcFX2\\9iMbFY2]9jM^FX2b9kMTF]2k9]1O1O1O1O1O001O001O001O1O001O1O1O001O1O1O1O1O02O1O1N101O001N0100O1000O0100O100O10O00010O010O01O1O010O001O10O01O1O010O001O1O100O1O100O1O1O010O1O1O1O1O1O100O1O001O1O1O010O000000001O0mGlIZ7T6cHPJ\\7Q6`HSJ_7m5_HVJ`7k5^HWJa7j5]HXJb7i5[HZJd7a60001O001O001N101O0000000O2O00001O001N101N101O001N101O0O2O0O2O1N2O1N101N2O2WIRH[6Z8O1O1O100O00100N2O00010O1O0000001O01O01O0001O000010O01O10]L"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/radiator/41069165_2050.257_mask_rle.json b/Navigation/GroundDetection/radiator/41069165_2050.257_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..66549f8f5e2ec7ed9c5735646b55fe19222b111a
--- /dev/null
+++ b/Navigation/GroundDetection/radiator/41069165_2050.257_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/radiator/41069165_2050.257_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "radiator"
+    ],
+    "scene_description_en": [
+      "radiator"
+    ],
+    "scene_description_cn": [
+      "暖气片"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "lS_52l>5M3K;G3L3N2M3N2N2N2M3N2N3M2N2M3N2N3M2N2N2N2N2N2M4M2N2N2N3M2N2N2M3N2N3L3H8K5M4L3M3M3M3N2M3N3K4M3M3L4N3L2N4M2M4L3L4N2N1N4M2N2M4L3M3M3M3M2N2N2O0O2N1O2N2K6N3M2M3O1N2N2N0O2O00000000000AkHSIU7l6mHSIS7l6oHRIR7n6oHQIQ7o6RImHo6R7`0000O01CWHcIi7\\6YHcIg7\\6[HbIf7]6\\HbId7]6`H^Ib7a6?O1O1O1O1O1O100O001O1O1O1O1O1O1O100O1O1O1O001O1O1O1O100O1O1O001O1O1O1O1O100O001O1O1O1O1O100O1O1O001O1O1O1O1O1O001O1O100O1O001O1O1O1O1O1O1O010O1O1O1O001O1O1O1O100O001O1O1O1O001O1O1O1O001O1O100O001N2O1O001O1O1O1O00100N2O001O1O100O001O1N2O001O1O001O1O1O1O001O1O1O001O1N10100O1N101O1O001O1O1O001O1N101O1O001O1O1O001O1O0O2000000jN"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/radiator/41098005_9474.391_mask_rle.json b/Navigation/GroundDetection/radiator/41098005_9474.391_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..1953e7b0d7400ff7983743877d728c7156b754fd
--- /dev/null
+++ b/Navigation/GroundDetection/radiator/41098005_9474.391_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/radiator/41098005_9474.391_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "radiator"
+    ],
+    "scene_description_en": [
+      "radiator"
+    ],
+    "scene_description_cn": [
+      "暖气片"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/radiator/41125438_1308.234_mask_rle.json b/Navigation/GroundDetection/radiator/41125438_1308.234_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..2861e596c33e04402cf94ed6a118efe4200d6867
--- /dev/null
+++ b/Navigation/GroundDetection/radiator/41125438_1308.234_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/radiator/41125438_1308.234_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "radiator"
+    ],
+    "scene_description_en": [
+      "radiator"
+    ],
+    "scene_description_cn": [
+      "暖气片"
+    ]
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/radiator/41126648_552.335_mask_rle.json b/Navigation/GroundDetection/radiator/41126648_552.335_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..afb0676443f6f4c9a22f619dd9128eda2ba5b65c
--- /dev/null
+++ b/Navigation/GroundDetection/radiator/41126648_552.335_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/radiator/41126648_552.335_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "radiator"
+    ],
+    "scene_description_en": [
+      "radiator"
+    ],
+    "scene_description_cn": [
+      "暖气片"
+    ]
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/radiator/41127001_5608.563_mask_rle.json b/Navigation/GroundDetection/radiator/41127001_5608.563_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..783283990c7b50579094020d10393b690a623917
--- /dev/null
+++ b/Navigation/GroundDetection/radiator/41127001_5608.563_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/radiator/41127001_5608.563_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "radiator"
+    ],
+    "scene_description_en": [
+      "radiator"
+    ],
+    "scene_description_cn": [
+      "暖气片"
+    ]
+  },
+  "mask_annotation": {
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+      {
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+          480,
+          640
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+      }
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+  }
+}
diff --git a/Navigation/GroundDetection/radiator/41127016_6642.112_mask_rle.json b/Navigation/GroundDetection/radiator/41127016_6642.112_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c399901feb5b99573160bb33898566b9186fa5a
--- /dev/null
+++ b/Navigation/GroundDetection/radiator/41127016_6642.112_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/radiator/41127016_6642.112_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "radiator"
+    ],
+    "scene_description_en": [
+      "radiator"
+    ],
+    "scene_description_cn": [
+      "暖气片"
+    ]
+  },
+  "mask_annotation": {
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+      {
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+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/radiator/41159466_1903.115_mask_rle.json b/Navigation/GroundDetection/radiator/41159466_1903.115_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..7981a2eedfbce251516691973130405000c2b8b5
--- /dev/null
+++ b/Navigation/GroundDetection/radiator/41159466_1903.115_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/radiator/41159466_1903.115_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "radiator"
+    ],
+    "scene_description_en": [
+      "radiator"
+    ],
+    "scene_description_cn": [
+      "暖气片"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/refrigerator222222oven/070863_mask_rle.json b/Navigation/GroundDetection/refrigerator222222oven/070863_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1168df51d73aa199860393c5f44cf9120cd230c
--- /dev/null
+++ b/Navigation/GroundDetection/refrigerator222222oven/070863_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/refrigerator222222oven/070863_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "refrigerator222222oven"
+    ],
+    "scene_description_en": [
+      "refrigerator",
+      "oven"
+    ],
+    "scene_description_cn": [
+      "冰箱",
+      "烤箱"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "bk?4_:4M1O2N1O1N100000000000000O01000000000O1000O1001O001O7I6I5L8H6J7I<D9F4M3M0000000000000O100000000O10001OO1000000EUHgMM0Q8l1e0@`0I7I7K4M4OO1N300O011O001O1O1O6I6K3M3M3M4XGaN41Y7e20000000000O101O00000001O2M3N2OOO2O00001O2N1O1O00001O0000O1000000010O3L2O1iMkGm1U8RNiGO0m1W8TNiG10i1W8UNiG51c1V8XNiG71_1V8hNjGV1V8[NiG=1V1V8]NiG?1R1V8_NiGa01n0V8aNiGc01j0V8cNiGe01f0V8eNiGg01b0V8gNiGi02=U8IjG6V8LjG2V80jGNU85kGIU8QOjGT11IT8TOkGV10Df7EZHi00@f7GZHj01]Oe7Y1[HeNe7]1[HaNe7a1[H]Nf7MYHU11lNg7NXHX12gNg70WH[12cNi70UH_12_Nj71THb12[Nk7S2UHkMk73SHi12RNj76THj13mMg7;VHk1g7[NYHg1d7ZN\\Hg1d7XN\\Hh1d7XN\\Hi1d7VN\\Hj1e7b01O1aMYHo1g7QNYHo1i7oMWHQ2i7oMWHQ2j7nMVHR2k7;1N2O1aMQHX2n7hMRHX2o7gMQHY2P8fMPHZ2Q8eMoG[2R8dMnG\\2S8cMmG]2V8O0O2O1O1O1O1O1O2N1O1O1O1O2N1N2O1O1O1O1N3N1O1OM`NSG_1l8cNTG[10bNk83UGZ10cNl83TGY1OfNm81TGX1OgNn81SGV10iNn82RGS1OlNP91QGR1OmNP93PGo00nNQ92PGo0OoNQ94oFk00ROR92oFk0OSOS93mFi00TOT93lFh00UOU92lFh0OVOV93jFl0W9TOiFd00ZOX92hFc00[OY92hFa0O]OY93hF?O]O[94fFd0[9]OdF;0A]94cF:0B]95cF80C^95cF6OE_95bF<_9DaF3OI`95aF1OJa96_FO0Kb96^FN0Lc96]FL00c94]F5d9K]FHO5e94\\FCO;f9a01O1O001O1O1O1O0O2O1O1O1O001O1O001O1O001O2N8GYgV2"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/shoe_rack_leg/1107_mask_rle.json b/Navigation/GroundDetection/shoe_rack_leg/1107_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..de2f886f047f4c2e831f055abd9b02eb235f3b3f
--- /dev/null
+++ b/Navigation/GroundDetection/shoe_rack_leg/1107_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/shoe_rack_leg/1107_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "shoe rack leg"
+    ],
+    "scene_description_en": [
+      "shoe rack leg"
+    ],
+    "scene_description_cn": [
+      "鞋架腿"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          627,
+          800
+        ],
+        "counts": "VZh15[c04J6N2O0o\\OAmb0c0000000O100O101N100O10000O100O100O100O1O100O100O100O1O1O1O1O1O1O100O1O1O1O1M3L4K5L4L4N2L4J6M3M3K5M3N2O1O100O100O1O1O2OO01O1N2O1O1K5H8A?K5N200010O0010O0001O001O00001N100000000000001O000000000000000000000001OO101O00000O2O0000000000000000000000000000000000001O0000000000000000001O00000000001O00000000001O000000000000000000O1000000O1000000O100001O000000O10000000RMg@b1X?^Nk@`1U?_Nm@`1R?`NPA_1n>bNTA]1k>dNUA\\1j>dNWA\\1h>dNZA[1e>dN]A\\1b>cN`A]1`>`NbAa1]>^NeAb1Y>]NjAc1U>\\NlAe1T>ZNlAg1T>WNmAj1S>SNoAn1P>QNRBo1n=PNRBQ2n=lMVBS2j=bMRALb04G^2e>`MkA6_OZ2g>\\MkA=^OV2e?mMZ@5FV1n?gN]@1GW1j?kN`@KHY1d?POf@DIZ1`?TOg@AJZ1]?XOi@]OJ2Jg0a?Mk@YOKMOl0Z?Oo@UOIM0o0W?1QAPO9P1f>0RB1n=0PB1o=2nANR>3nAIW>5kAYOf>e0V2J6M2L4N2N3L3M5J`i3IjVL2M2N3K5N1ROI_^O8^a0L_^O6`a0J`^O6]a0Nb^O3]a0Na^O4_a0La^O4_a0L`^O5`a0K_^O6aa0I_^O8aa0Ea^O<_a0Bb^O?^a0@b^Oa0^a0^Ob^Oc0^a0]Oa^Od0_a0\\O`^Oe0`a0[O_^Og0aa0WO`^Oi0aa0VO^^Ok0ca0TO]^Ol0ca0TO[^On0ea0QO\\^On0Tb01O1O100O1O100O100O100O100O100O2O0O10000O10000O100O01000O10000O10001O000O1000000000000O10000000000000O1000001O01OO1000010O0000000000001O000O2O00001O001O001O00001O0000001O00000O2O001O001O1O001O1O1O1O1O001O1O1O1O00YOZOb^Oe0^a0^O`^Oa0_a0@b^O?_a0@b^O?^a0Ac^O>]a0Bd^O=]a0^Oh^Oa0Vb0O1O2N2N3L^i4IgVK8I4M3L4M3M2^]OXOVb0V1M1O00000000O2NQ_OkNb?S1]@;Y>CcAb0^>]OaAe0_>YOaAh0_>XOaAh0a>UO`Ak0f>nNi@\\OJf1^?mNg@_OJe1^?lNg@AJc1`?jNc@HL^1c?hN_@M0X1c?hN[@51Q1i?eNW@=Mn0o?aNU@c0Mj0``0YO`_Oe0T?cNiAk0POb0V?fNhAk0nN?[?iNcA^2]>dMbA[2^>gMaAX2_>iMaAV2_>lM`AS2`>oM_Ao1b>SN\\Am1d>VNYAj1g>XNXAg1h>[NVAe1j>\\NUAd1k>]NTAc1l>^NRAc1n>^NQAb1o>_NPAa1P?`Nn@a1R?_Nm@b1S?`Nk@`1U?aNi@`1W?cNc@`1\\?\\10000000000001O0001O000000000000000000000O2O01O00000000000000000000000O101N100000000000O100O1O10001N1000O101O001O1O00001O00000000001O000000O1000000000000001O00001O0VL^@d3c?WLa@h3g?N1O1O3M3M2M2O001O1O1O001O001O00000000000010O00O1000010N101O001O3M2N1O2N2N2N2N1O1O1O1O1O1O1O1O0010O0000O2O01O01O001O001N2O1O002N1O1O1O001O001O010O00001O001O0000001O0000000O10001O00000000010N1000001O0000001O1O001O001O00O100000000001O000000000000O1O1O11O001ON2000000001O00000000O11O2N0000O11O1O001O001O0000001O001O0000001O001O1O1O001O2N1O001O001O001O001O00001O1O001O1O00]]O"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/single_sofa222222bed/40776203_1043.561_mask_rle.json b/Navigation/GroundDetection/single_sofa222222bed/40776203_1043.561_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6c7ff68fc8f09eed8a7fecedcf3f3004e5da909
--- /dev/null
+++ b/Navigation/GroundDetection/single_sofa222222bed/40776203_1043.561_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/single_sofa222222bed/40776203_1043.561_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "single sofa222222bed"
+    ],
+    "scene_description_en": [
+      "single sofa",
+      "bed"
+    ],
+    "scene_description_cn": [
+      "单人沙发",
+      "床"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "V_l3210j>32OQZ25geM5^ACY>j0gAVOl=R1M1N3N1YBjNb=]1M1O1O10IcBkN\\=U1eBjN0OW=d100O100[CYNo;h1oCZNQ<f1mC\\NR<e1kC^NS<f1fC^NX<W2N1J]MlCg2S<4N10ZMUDX2j;fMZDX2f;gM[DZ2d;fM]DY2c;gM]DZ2b;fM^DZ2j4eM]12hIZ2h4fM`12fIX2h4iMb1OeIX2g4kMd1N]IH4a2i4jMf1OaIW2g4lMh1M`IX2f4mMj1K^IZ2f4mMl1`2RNbMn1\\2SNeMm1Y2SNiMm1T2`I[MZ4c0V2P2_IaMY4`0X2m1_IeMW4`0Z2i1^IkMU4>]2e1^IoMT4=^2b1^ITNQ4;b2_1]IXNP4:c2[1_I]Nk3;e2V1_IbNj3:g2R1_IgNg39j2m0_ImNe37n2i0^IQOb39P3c0]IXOa36]35RIG_36a3NPI0\\34e3JnH5Z33h3EoH:W33j3AoH?U31l3^OoHc0S31n3YOoHj0P3OP4VOPIm0n2OP4TOQIQ1l2Mk3XOZIl0i2Nl3TO[IQ1g2Mn3PO\\IU1d2LP4mN\\IY1b2LR4iN[I_1`2IV4eNZIe1^2HX4`N[Ik1Y2H\\4ZN[IQ2V2H^4TN]IX29[MV1\\2T5kM_Ib25YMT1\\2Y5fM^Ih23YMk0c2e5WM^IR3MYMk0a2S6P1aIQLBQ3k6h1RIYNj6k1UIUNj6l1VITNi6n1WIPNi6Q2WIoMi6R2VInMj6R2WImMi6S2WImMi6T2VIlMj6T2WIkMi6U2WIkMi6U2WIkMi6V2VIjMj6V2WIiMj6V2VIjMj6W2UIiMk6W2VIhMj6X2VIiMi6W2WIhMj6Y2UIgMk6Y2VIfMj6Z2VIfMj6Z2VIfMj6[2UIeMk6[2VIdMj6\\2VIdMj6\\2VIdMj6]2UIcMk6]2VIbMj6^2VIbMj6_2UIaMk6_2VI`Mk6_2UIaMk6`2TI`Ml6`2TI`Ml6`2UI_Mk6a2UI_Mk6b2TI^Mm6a2SI_Mm6a2TI^Ml6b2TI^Ml6c2SI]Mm6c2TI\\Ml6d2TI\\Ml6d2TI\\Ml6e2SI[Mn6d2RI\\Mn6d2SI\\Ml6e2SI[Mm6e2SI[Mn6d2SI[Mm6e2SI[Mm6f2RIZMn6f2SIYMm6g2SIYMm6h2RIXMn6h2RIXMo6g2RIXMn6h2RIXMn6h2RIXMn6i2QIWMo6i2RIVMn6j2RIVMn6j2RIVMn6j2RIVMn6k2QIUMP7j2PIVMP7j2QIUMo6k2QIUMo6k2QIUMo6l2PITMP7l2PITMQ7k2PITMP7l2PITMP7l2PISMQ7n2nHRMR7n2oHQMQ7o2oHQMQ7o2PIPMP7Q3oHoLQ7Q3oHoLQ7Q3oHoLQ7Q3PImLR7R3nH\\L6aNj6U5oHUL?cNc6W5nHTLd0aN_6[5mHRLg0bN\\6\\5mHQLo7o3QHQLo7o3RHoKo7Q4QHoKo7P4RHoKn7R4RHnKm7Q4WHjJ5>^7d4aIWKR6AmHU5W1WKk5LfHh3>aLY1Ga5V4^IhKY1LZ5[4oJdKi5]4TJhKjMJm7^4YJPLb5P4]JRLb5n3^JSLb5m3\\JTLd5l3[JULe5k3^JcKjM214g7W4iJfKX5Z4g200TNeESO[:j0iEUOW:i0kEWOV:g0lEXOT:g0mEZOR:f0nEZOR:e0oE[OQ:e0oEZOR:f0nEYOS:g0mEWOV:h0jEVOX:j0hEUOY:k0gESO[:m0eERO]:m0cEQO_:VOUEV1<Bb:UOUEW1:_O@oNU;8SEY19_O@POV;4TEU1<GU;6mDHW;6jDHX;7iDnNUOc0W<>jDVOoNHa<o0_1N2@SBKn=2VBGH0S>8b0N2MiaV2"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/sofa222222The_chair_near_the_sofa/001110_mask_rle.json b/Navigation/GroundDetection/sofa222222The_chair_near_the_sofa/001110_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..9dbb20c1787c7594b9c47c90e1274b5b4d1f316f
--- /dev/null
+++ b/Navigation/GroundDetection/sofa222222The_chair_near_the_sofa/001110_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/sofa222222The_chair_near_the_sofa/001110_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "sofa222222The chair near the sofa"
+    ],
+    "scene_description_en": [
+      "sofa",
+      "The chair near the sofa"
+    ],
+    "scene_description_cn": [
+      "沙发",
+      "离沙发较近的椅子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "i82h0OAd0a8^OlG0Cc0[8BQHLCc0[8ASHKAf0[8@QHLAh0Z9VOcFo0]9POdFP1Y8SOcHLTOR1R8oNnG6n0m0S7XOkHi0U7XOjHg0W7YOiHg0W7WOjHj0_7lNbHT1_800001O0UOjNYHT1g7oNWHQ1h7QOWHo0e7VOSHHEQ1P8mNPH>8FGo0P8FUH\\OKm0T7nNcIk0ZO]O0h0P7UOdIg0ZO^O3d0m6^O`IR1A_Oo6@_IR1A^OP7OSIa0KAR70QI_1o6T1O0O10000N2N\\LTId3W7G1O0000O100O100O100000O10000000000000000000O10000O2O000001O00002N1O1O2N2N6J`0@5`MjGX2d8iM[Gh1d7YNkIY1T6lNPJl0P6^O]HAX1NhN22f0b7NoI_O^N6c7c0gISOPO4Y7S1g13MiNkF[1g8dNZG^1NcN_8NcGj1NTNX81kGQ2S8oMmG<L_1n7TNWH:Me1i7QNYH:0g1l7WNTHk1k7TNVHl1j7SNWHm1i7SNVHo1i7PNWHP2j7oMWHQ2j7mMVHT2j7kMVHV2T81N010O1O1O100O100O100O10000O1000000000000O10000FaM_H_2`7bM`H^2`7bM`H_2^7cMaH]2^7dMbH\\2]7eMcHZ2]7gMcHY2\\7hMdHX2[7iMeHW2Z7jMfHW2Y7jMfHV2Y7kMgHU2X7lMhHT2W7mMiHS2V7oMiHP2W7QNiHo1W7RNgHo1W7TNgHm1X7h0O1O1O1O1O1N200N2000000O100O1000000000000O1001O1O0eLTIn2m6QMSIo2n6oLSIQ3n6nLRIR3n6nLRIR3o6mLQIT3o6lLQIS3o6mLQIS3o6mLQIS3P7lLPIT3P7lLPIT3Q7kLPI3Nh2R7UMPI01k2P7TMXIl2h6SMYIm2V71O1O1O100000000O100O100O1000000FnLRIR3m6oLSIQ3m6oLRIR3n6oLQIQ3n6PMRIP3n6PMRIP3m6RMRIn2m6TMRIl2n6TMRIl2l6VMTIj2k6VMVIi2k6XMSIi2l6XMTIh2l6YMSIg2l6b0O01O1O1N2O10O0000O2O01OO2O0010O0001N4M2N1O0000O100O10000001O001O000010O01O001O0O2O010O00001O0O2O001O00001O001O0eMWIk0j6QO^Ij0b6SOcIk0^6SOdIl0\\6SOfIl0Z6SOhIl0Y6SOgIm0Y6ROiIm0X6ROiIn0V6QOkIo0U6POmIo0T6oNmIP1m7O3M5K1O001O1O001O0001N1O011O01O001O00001O1N2O010O1O001O0O2O100O1N101O001O1O001O1O1O1O001OVia1b0mU^N;A`0_O`0J6[OPN[HZ2_7oM^HR2b7nM]HS2c7?0000000_M]HQ2d7nM\\HR2d7?00001_M[HQ2e7oM[HQ2e7?000aM[Ho1f7PNZHP2f7?000bMZHn1f7RNZHn1f7RNZHn1g7?0cMYHm1g7SNYHm1g7SNYHm1g7TNYHk1h7TNXHk1i7VNWHi1i7WNWHj02POO3k73UH52J2GO51"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/sofa222222The_chair_on_the_left_side_of_the_table/taskonomy_glassboro_point_1073_view_3_domain_rgb_mask_rle.json b/Navigation/GroundDetection/sofa222222The_chair_on_the_left_side_of_the_table/taskonomy_glassboro_point_1073_view_3_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f0ee7c5cfa813b2d3261b1cffcf4cc5ab0b21aa
--- /dev/null
+++ b/Navigation/GroundDetection/sofa222222The_chair_on_the_left_side_of_the_table/taskonomy_glassboro_point_1073_view_3_domain_rgb_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/sofa222222The_chair_on_the_left_side_of_the_table/taskonomy_glassboro_point_1073_view_3_domain_rgb_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "sofa222222The chair on the left side of the table"
+    ],
+    "scene_description_en": [
+      "sofa",
+      "The chair on the left side of the table"
+    ],
+    "scene_description_cn": [
+      "沙发",
+      "桌子左边的椅子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          512,
+          512
+        ],
+        "counts": "a]a0g0X?4M01N1O100O1O1O1O1O2N100N2O100N2O2N1O1O1O1O2M2O_ZR20aemM100O2M2K5N2O1O2O00000000000000000000O10000000O100O100O100O1O1O100O10O0100O10010O0000001O0L[Om@e0k><N2000000000000000XOWA8P?@^bf19R^YN8H:F7I>B5K4VBTNX=m1`B_N[=a1eBjNl22Y6U1jFmNX2TOgMb1m8=TGTO=\\O0n1[8BXGR3h8nLXGR3h8nLXGR3h8nLXGR3h8nLXGR3h8nLXGR3h8nLXGR3h8nLXGR3h8nLXGR3h8nLXGR3h8nLXGR3h8nLXGR3h8oLWGQ3i8oLWGQ3i8oLWGQ3i8oLWGQ3i8oLWGQ3j8nLWGQ3i8oLWGQ3i8oLWGQ3i8oLWGQ3j8ZK[GR1Jd3`9ZL`Ff3a9YL`Ff3`9[L`Fd3a9\\L_Fc3d9[L]Fc3f9\\L[Fa3h9_LXF^3i9dLWFY3i9jLWFS3j9nLVFP3j9SMUFk2j9XMVFf2j9]MVF`2h9dMYFY2a9PN_Fm1]9ZNdFb1Q9XLmF[21[1m8WORGf0l8^OTG`0l8BUG;k8HUG5k8MVG0j83VGJj8:VGBj8a0VG\\Oj8g0VGVOj8m0VGPOj8S1VGjNj8Z1TGdNl8_1TG^Nl8d1UGYNk8i1UGUNk8n1UGoMk8T2UGiMk8Z2TGdMl8_2TG^Ml8d2UGYMk8j2TGTMl8n2UGoLk8T3UGiLl8X3UGeLk8^3UG_Ll8hNSGZ41kL_9V3aFgL_9\\3`FbLa9_3`F^L`9e3_FYLb9h3_FULb9n3]FoKc9S4^FjKb9Y4]FeKc9^4]F_Ki9]4XF`Ki9b4VF\\Kk9e4WFWKj9k4WFQKi9S5UFkJk9X5UFeJk9^5UF_Jk9c5UFYJm9k531N2N0001O1OZOTJXGl5^901O001O00000000000000M3J6L4N2O100O1O100O11O1O:jIdFT5U:O1O00000000000000O1L4C=M300001O00000000001O001O00001O1NiE"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/sofa222222cabinet/000175_mask_rle.json b/Navigation/GroundDetection/sofa222222cabinet/000175_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa794040cede12001156f31fbb4aad068385d285
--- /dev/null
+++ b/Navigation/GroundDetection/sofa222222cabinet/000175_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/sofa222222cabinet/000175_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "sofa222222cabinet"
+    ],
+    "scene_description_en": [
+      "sofa",
+      "cabinet"
+    ],
+    "scene_description_cn": [
+      "沙发",
+      "柜子"
+    ]
+  },
+  "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/sofa222222door/066230_mask_rle.json b/Navigation/GroundDetection/sofa222222door/066230_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..97e0d35ecd0d574ed5c7e34cbeb0f556dc94e57a
--- /dev/null
+++ b/Navigation/GroundDetection/sofa222222door/066230_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/sofa222222door/066230_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "sofa222222door"
+    ],
+    "scene_description_en": [
+      "sofa",
+      "door"
+    ],
+    "scene_description_cn": [
+      "沙发",
+      "门"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "_Yg14Q:3PFK18k9?M2O001O002N1N2O1O2N1O2N1O1O1N2O2N1O2N2N1O1O2N2N3L2O1O1O1O1O2N1O2M2O1O2N1O1O1O1O2N1O1N2O3M1O2N1O1O1O1N2O000000000000mM`HR1_7nNdHQ1[7nNfHR1Z7nNhHQ1W7oNiHR1V7nNkHQ1U7oNlHQ1S7nNoHR1P7nNRIR1l6nNTIU1i6kNYIU1d6lNlJIo47UKIkN5Q42UM2]N0]4MWMf1h2ZNXMf1h2ZNWMg1i2YNWMg1h2ZNXMf1h2ZNXMf1h2ZNXMf1h2ZNYMe1g2ZN[Me1e2[N\\Md1d2\\N\\Md1d2\\N]Mc1c2]N_Ma1a2_N`M`1_2`NcM_1]2aNdM^1\\2bNeM]1[2cNgM[1Y2eNgM[1Y2dNiM[1W2eNjMY1W2gNkMW1U2iNkMW1U2iNlMV1S2kNnMT1R2lNoMS1Q2mNQNQ1o1nNSNQ1m1oNTNP1l1POUNo0k1QOVNn0j1ROWNn0g1SOZNl0f1SO\\Nl0d1TO]Nj0d1VO]Ni0c1WO^Nh0b1XO_Ng0a1YO`Nf0`1ZOaNe0_1[ObNe0]1ZOfNd0Z1\\OgNc0Y1]OhNb0W1_OjN`0V1@kN>V1BkN=U1BmN=S1CnN<R1DoN;Q1EPO:P1FQO9o0GRO8n0HSO7n0HSO8l0IUO4l0LTO4m0LSO3m0MTO3k0NVO0k0OVO0j01VONk02C_O=b0B^O>b0B^O?b0@^O`0b0@^O`0c0_O]Ob0c0\\O^Od0b0\\O^Oe0b0YO_Og0a0YO_Oh0a0VO@j0a0TO@m0?ROBn0?POBQ1=oNCQ1>mNCT1<lNDT1=jNDW1<hNDX1<hNDY1<eNE[1APK?e30\\1_ORK=d34h1JWN7j1I\\JCf3d0P2FZJGf3c0T2BVJLd3c0Z2^ORJOc3c0b2\\O^Md0X610000O1_LYOUMg0k2YOUMg0i2YOhI1]3g0j2YOiI0]3g0j2YOiIO10Z3h0l2XOlI3V3e0n2XOiI013W3f0Q3WOhI3W3f0T3[OjLf0U3\\OjLd0T3VOgI6U3d0V3]OiLc0W3]OhLd0X3\\OhLd0X3]OgLc0X3^OgLc0Y3^OfLb0Z3_OeLa0[3_OdLb0\\3_OcLa0^3^ObLb0^3^OaLc0_3^O`Lb0a3^O^Lb0b3_O]L`0e3_O[La0e3@ZL`0g3@XL`0h3AWL`0i3_OWLa0i3@VL`0k3@TL`0l3@SL`0o3@PLa0o3@mKc0T4\\OdKl0]4TO\\KR1d4oNPK\\1Q5cNjJb1V5_NcJf1_5YN\\Jm1c5TNTJT2n5jMPJW2V6eMhI]2X6bMdIJ@c2n6bMaIL@a2Q7bM^INB_2Q7cM\\IOB^2R7cM\\I0B]2R7cMZI1D\\2R7cMZIf2f6[MYIe2h6[MVIf2j6ZMVIe2l6[MSIf2l6ZMTIf2m6ZMQIf2P7ZMPIg2P7YMoHg2R7YMlHh2T7YMjHN0a2W7iMkHT2V7lMjHIMP2Y7WNkHT2U7jMmHU2S7kMmHU2S7kMnHS2T7lMmHS2V7jMjHV2W7hMkHX2T7hMmHV2T7jMlHV2U7iMlHW2S7hMnHW2R7jMoHU2Q7kMPIT2n6nMRI1Ae1\\7[NSIQ2l6PNUIo1k6PNWIP2h6PNXI0^Od1Y7]NZIn1f6QN\\In1e6oM^I2YOb1Z8_NeGa1\\8;1SNcGa1]8`NcG_1^8;0VNbG^1_8bNaG]1_8<1WN`G\\1`8<0000000O0ZN`GZ1`8fN`GZ1`8=0XN`G\\1_8=00000001N1000O010001NTNeG`1\\8`NdG`1\\8<OTNeGa1[8<00OSNfGb1Z8<00ORNgGc1Y8<00OQNhGd1W8]NiGc1W8=000oMiGe1X8ZNhGg1W8;001O1O0lMgGm1`801O001O1O001O00000O10000000O10000O100O10000O10001N10000O100O10O11N10O11O0O0100[NjGl0V8ROmGl0H"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/suitcase222222the_front_of_the_TV_stand/2026_mask_rle.json b/Navigation/GroundDetection/suitcase222222the_front_of_the_TV_stand/2026_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcae1f69d1fa14bc319aded8cbfa143a14a6ed1c
--- /dev/null
+++ b/Navigation/GroundDetection/suitcase222222the_front_of_the_TV_stand/2026_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/suitcase222222the_front_of_the_TV_stand/2026_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "suitcase222222the front of the TV  stand"
+    ],
+    "scene_description_en": [
+      "suitcase",
+      "the front of the TV  stand"
+    ],
+    "scene_description_cn": [
+      "行李箱",
+      "电视柜的正前方"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          600,
+          800
+        ],
+        "counts": "gZf31]b0e0D;E20O00010O00001O001O1O1O0O2O001O100O0O2O1O01000N101O010O001N101O1O001O1O001O001O001O1O00001N2O001O1O001O1O001O1O0OaYm00_fRO1O2O0O1O101N1O101N00100O100O100O100O100O1O100O100O100O100O100O100O100O1O2O0O01000O2N100O010O2O0O100O100O1O100O010O2N100O010O100O010O100O2O0O2O0O100O100O10O0100O1O100O100O2O0O100O010O100O100O1O100O100O100O1O10000O101N100O100O1O100O10O0101N1000O01O101N10O10O1O100O1O100O100O100O1O10000O100O100O1O10O10O100O100O1O100O1O2O0O010O10000O1000000010O0O10O100N2L4mNRM`Aj3l=k0YOg0F:K5O1O10001O00000001O001O000000000000000000000000001O001N10001O000001N10O0101N100O10O10O100O10000O101O0O100O1O1O2OO10O100000000O10000000O0100O1O2O000O100N2O100O10000O100O00100O101N10O10O100O100O10000O2O0O100O100O100O100O100O01000O2O0O10000O100O100O10000O2N1O100O10O0100O10O01O2O0O10000O101N100O010O010O100O100O101N100O100O100O100O10000O10O0101N1O10000O100O100O010O100O1O1N2O1_Oa0C>O000O10000001O00000O101`G`Ff7`9YHbFf7^9WHgFg7Z9kGUGT8h9O10OO2O000001O00O1000000000000000000000000000000000O100000000O1000000O100N2M3L4M3N2L4M300O100000000001O000000000O101O000O1N3N1O1N200N2O2O0O1O1O2N1O1N2N200N2O100O2aL_EdNb:Y1dEcN]:Y1hEdNZ:Z1iEcNY:V1nEiNT:j0XFTOj9g0[FWOg9c0`FZOb9;iFDX95PGIQ9NXG0j8J\\G4f8EaG:`8XOoGf0S8QOUHm0m7jN\\HU1e7\\NbDAP4Q2`7XNnHg1U7TNoHj1Q<N2N2Ok@"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/table222222The_single_sofa_closest_to_the_table_lamp_on_the_left/000471_mask_rle.json b/Navigation/GroundDetection/table222222The_single_sofa_closest_to_the_table_lamp_on_the_left/000471_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddd6361991153973e50e7ec5c801f33cffe72cb7
--- /dev/null
+++ b/Navigation/GroundDetection/table222222The_single_sofa_closest_to_the_table_lamp_on_the_left/000471_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/table222222The_single_sofa_closest_to_the_table_lamp_on_the_left/000471_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "table222222The single sofa closest to the table lamp on the left"
+    ],
+    "scene_description_en": [
+      "table",
+      "The single sofa closest to the table lamp on the left"
+    ],
+    "scene_description_cn": [
+      "桌子",
+      "距离左边的台灯最近的单人沙发"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "VV2:Y:1O100O1O1lH6^3IbL<Z3DeL>Z3AgL?Z3_OfLb0Z3^OeLc0[3\\OcLg0\\3ZOZLP1h3nNlK^1U4aNjK`1U4`NkKa1V4^NjKb1Z4YNgKg1c600000001N10K]NYGd1e8^N[Ga1e8_N[Ga1e8_N[Ga1d8`N\\G`1d8aN\\G^1d8bN\\G^1c8cN^G\\1b8eN]G[1c8eN]G[1b8gN^GX1b8hN^GX1b8iN]GW1c8iN^GV1b8jN^GV1b8kN]GU1c8kN^GT1b8mN]GR1d8nN]GQ1c8oN]GQ1c8PO\\GP1e8oN\\GP1d8QO[Go0e8QO[Go0f8PO[Go0d8SO[Gm0e8SO[Gn0a8UO`Gj0^8YOaGg0^8ZObGe0_8\\OaGc0_8]OaGc0_8]ObGb0]8@bG`0^8@cG?]8BbG>]8CdG<[7iNcIk0RO<Z7jNdIk0RO:Z7lNcIj0SO:Z7mNbIj0TO8Y7oNdIh0SO9Y7POeIe0RO;Y7QOlI=jNb0Y7SOSJ4eNh0X7UOTJ2cNi0Y7UOWJO`Nl0X7WOYJL_Nl0X7YOYJJ_Nm0V6mNjJ<b0I^Nn0V6mNjJ<b0J^Nl0W6oNfJ=d0H_Nl0W6oNfJ=d0H`Nk0V6QOeJ;UOF9c00AFj0V6ROeJ;VOk05nNJj0V6SOdJ:VOo02kNOh0U6UOcJ9WO\\10VOW6UO`J9YO]11TOV6WO`J7YO_10SOX6WO_J6YO`10SOX6XOaJ1XOd10ROW6ZOeJKSOk10POX6ZOkJe1mNQOX6[OjJe1nNoNX6\\OkJd1mNPOX6\\OkJd1nNoNW6^OjJd1nNnNX6^OjJd1nNnNX6_OWJOGd1KnNV6DlI31\\1LmNW6a2iI_MX6;hIm00gNX6;hIo00fNX6;hIo00fNX6;hIP10dNX6;hIR10cNZ69fIT11bNZ69eIV10`Ng6Y2YIgMn6GRIk10^NP7DPIn10^NP7P2PIPNP7CPIQ20[NP7DPIQ20[NP7DPIQ20[NQ7BoHU20XNQ7CoHU20XNQ7CoHU20XNQ7T2oHkMR7BnHY20UNR7BnHY21TNQ7BoH[2OSNR7BnH\\20RNR7BnH\\21QNQ7CnH]20PNR7X2nHhMR7BnH`20mMR7CnH`20mMR7CnH`20mMR7CnHa20kMS7CmHb20kMY7U2hHjMX7W2gHiMZ7V2fHjMZ7W2fHhMZ7X2fHhMZ7X2fHhMY7Y2hHfMW7\\2hHdMW7]2jHbMU7`2jH`MV7`2jH`MS7CmHn21^MT7c2kH]MT7d2lH\\MT7d2mHZMT7g2kHYMU7g2kHYMU7g2lHXMS7j2lHVMT7j2lHVMT7j2mHUMS7l2lHUMS7k2nHTMR7m2mHSMS7m2mHSMR7n2oHQMQ7P3nHPMR7P3nHPMR7P3oHoLP7S3oHmLQ7S3oHmLR7R3oHmLP7U3oHkLQ7U3PIjLP7W3oHiLR71oHm20QMQ70TIl2KTMP71VIk2ITMQ7OYIl2GTMQ7OYIl2FUM_7l2aHSM_7m2aHSM_7n2aHQM`7n2`HRM`7n2310O0000010O00nNRM^Jo2_5TMaIOl0l2c5ZM\\Jf2d5ZM\\Jf2d5]MZJb2f5^MZJb2f5^MZJb2f5^M[Ja2e5^M\\Jb2e5]M[Jc2k5VMVJj2k6O00001O00mNXMZJh2e5YM\\Jf2d5YM]Jg2c5XM_Jg2a5YMiJ]2g601O000000000000GcM\\H\\2d7eM[H[2f7dMZH\\2P8VNkGS1V8hNPHV1h8O1O0000000000O100\\O`NSHa1l7dNPH\\1o7eNPH\\1P8dNoG]1R8aNoG_1Q8aNnG`1R8_NnGb1R8]NoGc1Q8\\NoGe1Q8[NnGf1i7WNUH32f1h7YNUH12g1i7YNUHN3i1h7XNVHN2k1h7WN`Hj1a7UN_Hk1a7UN^Hl1b7TN^Hl1b7UN\\Hl1d7TN[Hm1e7SN[Hm1e7SNZHn1f7RNYHo1g7QNYHo1g7QNXHP2i7oMWHQ2i7oMVHR2j7nMVHR2V8000000000001O000000001OGPNnGP2Q8QNoGo1P8RNPHn1o7SNQHm1o7TNQHk1o7UNQHk1n7VNRHj1n7WNQHi1o7WNQHi1o7WNRHh1n7XNRHh1n7XNRHh1n7XNRHh1n7XNRHh1n7XNRHh1n7YNRHf1n7ZNRHf1n7ZNRHf1n7ZNRHf1m7[NTHd1l7]NSHc1m7]NTHb1k7_NUHa1k7`NTH`1k7`NVH`1j7aNUH_1j7bNWH]1i7cNWH]1h7dNXH\\1h7dNXH\\1g7fNYHY1g7hNXHX1h7hNXHX1g7iNYHW1f7iN\\HV1d7hN^HX1c7YNkHg1R8O0000O100O0N2CWNoGa1m7oNlGj0_8XO`G;l8EUGI]95b0N2N3O0O1O1O10001O0000000000001O000001O01O000001O0001O00000O2O0O1O1O1OXb\\14S[cN6hI<X6NVI:j61eH5[7b1000O1K6B=H8G9J6H8M4E:G:EY]3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/table_leg/000605_mask_rle.json b/Navigation/GroundDetection/table_leg/000605_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..1664dd4f884140a587c6a71d0cfcd826e5a573b6
--- /dev/null
+++ b/Navigation/GroundDetection/table_leg/000605_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/table_leg/000605_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "table leg"
+    ],
+    "scene_description_en": [
+      "table leg"
+    ],
+    "scene_description_cn": [
+      "桌腿"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          768,
+          512
+        ],
+        "counts": "V=n71THf1g0i;V7XDmHe;T7ZDQIa;P7\\DSIb;P7[DPIf;P7ZDQIe;P7YDQIh;n6WDSIi;n6TDTIl;l6SDUIm;l6RDTIn;l6QDUIo;l6oCUIR<j6mCWIS<i6mCWIS<i6lCXIT<h6jCZIV<g6hCZIX<g6fCZIZ<f6eC[I[<f6bC\\I^<f6_C[Ia<k6VCXIj<o80000000000001O00000000000000000000000000000000000000001O0TFgBQ9X=mF]Ca8c<^GmCS8S<lGZDh7f;XHiDY7W;fHlDX7T;hHnDV7R;iHPEV7P;jHPEV7P;jHPEV7P;jHPEV7P;iHQEW7o:iHQEW7P;gHPEZ7Q;dHYC2a0[7Z<^HVCc03P7f=e11O2N2N1O1O000000001O00000000001O002N1O1O1O001O00O011O0O10O1001O03M8H6J1O1O000000000O10O0H9H8O101O0010O00000000000000001O0000000O11O01O0000000000000000001O0000000000000000000000001O00000000000000001O0000000000000000000000000000001O00000000001O00000000000000000000001O000000000000000000000000001O00000000000000001N3N;EQ1nN5L1O1O000002N0000000O1M3]Oc0YOg0M3O10000000000000000000000001O001O`0@3M1O1O00000000O1O1O1K5D<0000002^Gf@Z8c?M1O1O1O001O1O1O1O1O4Lf0hH^_Of5Rb0\\O5K2N1O1O1O001O000000001O0000000000001O0000001O00001O0000O10000000000000000001O00000000000000001O000000000O1001O000001O0000000000000000001O00000000000000001O00O1001O0000000000000000001O00000000000000000000001O0000000000000000001O000000000000000000001N11O00N200000001O01O1O00000000000001O000000000000000000000000001O00000000001O000N3N2B=@`0VOk0QOn0A`0]Oe0RO]Q<e2flC4M3N2BUMb[On2]d0TMa[Om2^d0;0O010N3M101N2O1M4L3O0010001O000O1000001O0O100O3N002cMgZOc00=Ye0POhZOG3>3i0g1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/tall_cabinet/41159465_1853.715_mask_rle.json b/Navigation/GroundDetection/tall_cabinet/41159465_1853.715_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d7e2f474704f68a874eeeccae15ff55068529ca
--- /dev/null
+++ b/Navigation/GroundDetection/tall_cabinet/41159465_1853.715_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/tall_cabinet/41159465_1853.715_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "tall cabinet"
+    ],
+    "scene_description_en": [
+      "tall cabinet"
+    ],
+    "scene_description_cn": [
+      "高柜"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "koi23h>7M1N2O1N2L4M3M3N2M3N2L4O1L4O1N2O1N2M3O1L4O1K500LSNUCm1j<TNTCh1R=1OTOn0M011O0O30K32O1O1O2NO1N21O00N2O20O1O2NJWOUBl0i=6N101O001M300REkNn7Y1oGkNP8U1nGnNP8S1mGQOQ8o0hGZOV8g0hG\\OV8e0hG^OV8c0gGAW8>cGKZ87dGLY83gG1Y8MdG8[8GfG:Z8DfG>[8_ObGf0^8WOcGk0]8SOdGn0\\8POdGR1\\8kNcGY1]8dNcG_1]8_NbGd1^8XNdGj1]8RNdGP2]8nMbGT2^8iMcGY2]8eMcG]2]8bMbG`2^8^MbGd2^8ZMcGg2]8WMcGk2]8RMUG2POP3T;?N2N2M3L4M3N2ROnKlFT4S9mKjFV4V9jKiFW4n8hK_F6a0S4m8ULPGn3o8TLnFn3o8VLnFl3k8bKkFf04l3n8W1JWJSGk5l85O1M3K5O1N200M3K5O1LZImGg6R84O1O100001O1O1O1O1O1O1O1O2N1O1O1O1O1O1O1O2N1O2N1O1O2N1O1O1O1O1O1O1O001O1O00O10000O1O100O100O100O100O1O100O1O100O1O100O100O100O1O100O100O1O100O1O100O1O100O100O10000O1O10000O1O100O1O100O1O1O1O100O100O100O100O100O1O100O1O100O100N2]OlHVIX7d6e0I70000O10000O100O[K_Im0a6lNdJ6\\5FjJ8V5DoJnLiNl2W66QKkLWOc2h5<XKPM^OV2Z5j0bIPM`1060YN]1a6X1]IcM2Ia1Ni03gM402d6\\2b5^OnCnMK2X<c1fC\\N2Nn<`1>@eBYO]=?f0N2O1O0O2O1N2O1N2O2N1O1O1O2N1O1O^dd2"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/tea_table/41125564_3407.309_mask_rle.json b/Navigation/GroundDetection/tea_table/41125564_3407.309_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ce2e54594f782a1baf8550799c4a0e22838175f
--- /dev/null
+++ b/Navigation/GroundDetection/tea_table/41125564_3407.309_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/tea_table/41125564_3407.309_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "tea table"
+    ],
+    "scene_description_en": [
+      "tea table"
+    ],
+    "scene_description_cn": [
+      "茶几"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "P_?3m>4L2N4L000fAJj=6SBOk=2QB6j=b0N1O1XBQO]=_1J3M3MmNoB;m<n0N3M3M2N4L5K4L1O5K1O4L1O2N5K2N3M2N2N3M2N3M1O1O1O1O00001O001O00001O00001O0000000000001O001O001O001O1O001O1O1O1O1O2N4L1O3M1O2N5K1O4L1O8H1O1O2N2N4L1O2N2NMoF]Jk8c5UG^Jj8b5VGcJe8m5O4L2N4L2N1O4L3M3M1O6J1mIhH\\4[7`KfH`4\\7^KeHa4]7]KcHc4`7ZKaHiNLi5e7\\KfH`4]7^KdH`4_7\\KeHa4_7ZKhH`4Y7^KhHXOYOV5S8]KeH]OYOU5S8PKnG2g0HXOV5U8mJPH1e0LUOV5e9jJ[FU5e9kJ[FU5j9N1O1O1O000000000000000000000000000000O100001O0000NPKTFP5i95O1O1MiJ\\FX5b94O100003M1O1O001O000000000000000000001O000000001O1O001O001O00000000000000001OO1N2O1O1O1O1N2K5M3O1N2O1O1O10000O10000O1O1O1N2O1M3I7K5K5M3N2O10000O1000000O10000000000VOYI[Ig6^6fI\\IZ6`6oI[IQ6b6UJ[Ik5`6]1M3M3N2N2N2N2O1O1O1N2O1TO^GYKc8e4dGTK^8k4l000O100000000000000O11O0000000000000000000000000000001O0000O1000000000000000000000000000000O1O1O1O100O1O100O100O1O100O1O1O100O1O100O1O100O1O100O1O100O1O1O1O100OhEhKj9W4UFkKk9U4TFlKl9S4UFnKj9Q4VFPLj9P4UFPLl9o3TFRLl9m3UFSLk9m3UFSLk9l3TFVLl9j3SFWLm9h3TFXLl9g3TFZLl9e3UF[Lk9e3TF\\Ll9c3TF^Ll9a3UF_Lk9`3UFaLk9_3TFbLl9]3TFdLl9[3UFeLk9[3TFfLl9Y3TFhLl9X3TFhLl9W3UFiLk9W3UFiLk9V3UFkLk9T3VFlLj9T3VFmLi9S3XFlLh9T3XFlLh9S3ZFlLf9T3ZFlLf9T3[FkLe9U3[FkLe9U3\\FjLd9W3]FgLc9Y3_FeLa9\\3_FcLa9^3^FbLb9a3]F]Lc9e3^FRL^O3T:l3j02N2N3M3M3M2N3M2N2N2N2N3fIWKW2j4hMVKX2l4eMVKZ2k4eMUK[2l4cMUK]2k4cMUK]2k4bMVK^2j4bMVK^2k4`MWK_2j4_MWKa2i4_MWKa2i4^MXKb2i4\\MXKd2h4[MYKe2h4YMZKf2f4ZMZKf2g4XMZKh2f4WM[Ki2e4VM\\Kj2e4UM[Kk2e4TM\\Kl2e4RM\\Kn2e4QM\\Kn2d4QM]Ko2d4oL]KQ3d4mL\\KT3e4kL[KU3e4jL\\KV3e4hL[KY3f4eL[K[3f4cLZK^3g4`LYKa3i4\\LWKe3j4YLVKh3k4VLUKk3l4SLTKn3m4PLTKP4m4mKTKT4n4iKRKX4o4fKQK[4Q5bKPK^4Q5`KoJa4S5[KnJf4S5XKmJi4U5SKlJn4W5mJkJS5X5hJiJY5Z5bJgJ_5\\5\\JeJe5^5TJeJm5e5`IcJa6m61O1O1O1O100O1O1O1O1O100O1O1O1O1O1O1O100O1O1O1O1O1O100O1O1O1O1O1O1O1O100O1O1O1O1O1YN\\HQLe7m3_HQLa7m3cHPL^7n3eHPL\\7o3fHoK[7P4gHnKZ7R4fHmK[7R4gHlKZ7S4hHlKX7T4hHkKY7T4hHkKY7U4hHiKY7V4hHiKY7V4iHhKX7U4kHjKV7U4kHjKV7T4mHjKT7U4mHkKS7U4mHjKT7U4mHjKT7U4nHiKS7V4nHiKS7V4nHiKS7W4nHgKS7X4nHgKS7Y4mHfKT7Z4mHdKT7[4nHcKS7]4mHcKS7]4nHaKS7_4nH_KS7a4nH]KS7c4oHYKS7g4c100000000001O001O001O001O1O001O1O2N1O1O001O001O001O1O1O001O000000000000O1O1O1O100O1O1O1O100O1O1O1N2O1O1O1O1O1O1O1O1O1O1O100O1N200N2O100O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1N2O100O1O1O1N2O1O1O1O1O1O1O2N0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_area_where_the_dark_brown_wood-patterned_floor_tiles_meet_the_white_baseboard__located_at_the_rear_right_of_the_toilet_on_the_right_side_of_the_frame/row_121_col_image_mask_rle.json b/Navigation/GroundDetection/the_area_where_the_dark_brown_wood-patterned_floor_tiles_meet_the_white_baseboard__located_at_the_rear_right_of_the_toilet_on_the_right_side_of_the_frame/row_121_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..0765c028451251061765d3fe137b4cc6562210df
--- /dev/null
+++ b/Navigation/GroundDetection/the_area_where_the_dark_brown_wood-patterned_floor_tiles_meet_the_white_baseboard__located_at_the_rear_right_of_the_toilet_on_the_right_side_of_the_frame/row_121_col_image_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_area_where_the_dark_brown_wood-patterned_floor_tiles_meet_the_white_baseboard__located_at_the_rear_right_of_the_toilet_on_the_right_side_of_the_frame/row_121_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the area where the dark brown wood-patterned floor tiles meet the white baseboard, located at the rear right of the toilet on the right side of the frame"
+    ],
+    "scene_description_en": [
+      "the area where the dark brown wood-patterned floor tiles meet the white baseboard, located at the rear right of the toilet on the right side of the frame"
+    ],
+    "scene_description_cn": [
+      "位于画面右侧、马桶右后方的深棕色木纹地砖与白色踢脚线相接的区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          300,
+          300
+        ],
+        "counts": "\\6o2\\62O00000000000000000O10YNjI8W6DmI;S6DoI;S6BnI>W6]OjIb0\\6WOeIi0^6ROdIn0_6oNbIP1`6jNdIU1_6hNbIX1Z7OO20N01001O000000O1]OeNUI[1k6eNUI[1l6eNRI\\1n6dNRI]1n6cNPI^1P7bNPI^1Q7bNmH_1S7bNjH`1W7aNfH`1[78001O1O001O001O001N2O00100N110O1O001O1O001O1O1O1O001O001O001O1O00001O001O0000001O0000001O00000000001O00000000000000000O10000000000001O0O10000000000O10000000000O10000O10O11N100O100O100O100O1O1O1O1O1O1O1M3M3L4L4L4L4L4L4M3L4L4L4K5L4M3M3M300O1001O0000001N10001O000010O04L3M2N000000000000O1000000000000000000O01001O000001O000O1001O01O00001N100000001O001O0000001O001Oe0[O2N000010O0001O000000001OO11O00000000000000O10000000O02O000O10O1000O2O0000O01000001N1000O10O10001O0O1N102N11N11O01O1O0O101O001O001O0010O000001O0O101O00001OmH"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_area_where_the_dark_gray_floor_tiles_meet_the_white_wall_tiles__located_at_the_rear_right_of_the_curved_bathtub_on_the_right_side_of_the_frame/row_148_col_image_mask_rle.json b/Navigation/GroundDetection/the_area_where_the_dark_gray_floor_tiles_meet_the_white_wall_tiles__located_at_the_rear_right_of_the_curved_bathtub_on_the_right_side_of_the_frame/row_148_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..fef6962f9d79274793047657804a90792175f100
--- /dev/null
+++ b/Navigation/GroundDetection/the_area_where_the_dark_gray_floor_tiles_meet_the_white_wall_tiles__located_at_the_rear_right_of_the_curved_bathtub_on_the_right_side_of_the_frame/row_148_col_image_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_area_where_the_dark_gray_floor_tiles_meet_the_white_wall_tiles__located_at_the_rear_right_of_the_curved_bathtub_on_the_right_side_of_the_frame/row_148_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the area where the dark gray floor tiles meet the white wall tiles, located at the rear right of the curved bathtub on the right side of the frame"
+    ],
+    "scene_description_en": [
+      "the area where the dark gray floor tiles meet the white wall tiles, located at the rear right of the curved bathtub on the right side of the frame"
+    ],
+    "scene_description_cn": [
+      "位于画面右侧、弧形浴缸右后方的深灰色地砖与白色墙砖相接的区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          1600,
+          1200
+        ],
+        "counts": "m[eR13ka12N2N2O1N2O1N2N2N2O1N2N2N2O1N2N2O1O1O1O1O1O1O1O100O1O1O1O100O1O100O1O1O100O1O100O100O1O100O1O100O1O1O100O1O100O100O1O1O100O100O1O1O1O1O100O1O1O100O1O1O1O100O1O1O1O1O100O1O1O1O1O100O1O1O1O1O1O100O1O1O1O100O1O1O1O100N2O100O1O1O1O1O1N2O1O1O1O1O1O1O1O1O1O1O1O1N2O1O1O1O1O1O1O1O1N2O1O1N2O1N200O1O1M3O1O1O1N2O1O1O1O1N2O1O1N2N2O1N2N2N2N2N2N2N2N2O1M3M3N2N2N2N2N2N2M3L4N2N2M3J6N2DZI\\eNh6SZ1k0@`0B>D<I7A?K5L4M3M3O1001O00000000001O0000001O0000000000001O000000001O00000000001O00001O00001O00001O000000000000000000001O0000000000000000001O0000000000001O0000001O0000001O000000000000001O000000001O00000000001O0000001O0000001O000000001O000000001O000000001O00000000001O000000001O00000000001O000000001O00000000001O0000001O00000000001O0000001O000000001O000000001O0000001O000000001O00000000001O00001O0000001O000000001O00000000001O000000001O000000001O0000001O0000001O00000000001O000000001O0000001O0000001O0000000000001O001O001O0000001O00000000001O00001O00001O00000000001O00000000001O0000000000000000001O1O001O0000"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_back_of_the_chair22222__the_front_of_the_cabinet/062831_mask_rle.json b/Navigation/GroundDetection/the_back_of_the_chair22222__the_front_of_the_cabinet/062831_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d958fb612bd534a63b75625af869ae0a1fa97bf
--- /dev/null
+++ b/Navigation/GroundDetection/the_back_of_the_chair22222__the_front_of_the_cabinet/062831_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_back_of_the_chair22222__the_front_of_the_cabinet/062831_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the back of the chair22222  the front of the cabinet"
+    ],
+    "scene_description_en": [
+      "the back of the chair",
+      "the front of the cabinet"
+    ],
+    "scene_description_cn": [
+      "椅子的背面",
+      "柜子的正面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "d]U11b:2N2bELZ:9N1O00HhE4X:4O1JFPF<b1Ef6`0YIEc6;\\IHQOLh6;WJJoNLj6:WJMcNMLH[7=VJ0_N2\\7MUJe0l5TOcHJc1R1k5SObHLb1Q1m5XORJg0o5YOPJh0Q6TORJl0n5SORJn0o5QOQJo0n5POaHM]1S1R6PO`HN^1R1R6lN_H112]1Q1S6kN`H104]1P1R6lNaH004\\1Q1S6kNaHO06\\1o0S6mNdH4X1P1Q6oNfH2Y1o0o5QOhH0Y1o0n5ROhH0Z1n0n5ROhH0Z1o0l5POkH2Y1n0l5POkH2Y1n0k5ROjH1\\1l0j5QOmH2X1n0k5oNnH3W1n0k5mNPI4X1m0j5mNnH5Y1I`NS1Y7nNoH1]1S1l7L4L3M1O4M1N4K4CjE6[:JdX13ZgN7lEIY9c0fFFm8?oFH>]Oj7j1QHYNg7n1WHWNIFj7n2NWNYHb0d7]O[He0d7ZO\\Hg0c7ZO]Hf0b7ZO^Hf0b7ZO^He0[7^1H8M3O2O00000001O00001VNPINP7k11O0XNoHMQ7k10YNoHKQ75oHLP7l11XNoHKQ7l10ZNoHIQ7m11ZNnHGS79nHFS7:lHFT7:lHFT7m1003[NiHGc7M]H3i7Y13M1^NSH;m7V100OaNTH8S7Q2ObNnH\\OR7d0nH\\OQ7e0oH[OP7U20bNPIXOo6i0QIWOo6W2O10cNRITOm6m0SISOm6Z2O100OeNUIoNk6]2O100O1OeNXIlNh6T1XIlNg6a20cNYImNf6S1ZInNf6`2ObN[IoNe6`2O100O100O10[N^IXOa6h0_IYOa6f0_I[Oa6d0_I]O`6\\20000O100000000001O000nM`I0`6R200003M3gMZI>i6^OWIc0i6d10000O1J6KRLcIo3^6300000aMbIh0^6g1000_MbIl0]6f10eMcI?\\6ZOdIn0[6dMeIW10V1Z6dMfIV10V1Z6dMfIU10X1Y6dMgIS10Z1X6dMhIh3X6XLiIg3V6[LiIe3V6\\LjIk00a1V6dMjIj00c1U6e1OQLlId00Z11oMS63lIR31kLS63lIR31kLR6f3nIZLR6U1mIo01lMR6e3oI[LP6f3PJZLo57oIm21lLo58PJ80U2n5eMRJX3k5kLUJ10Y2j5gMVJO0Z2k5e10SLUJQ3k5oLUJQ3k5l0LZKYJ_10f1g5iMYJB0f2g5hMYJk2g5Q10eLYJi1g5gMYJ]O0m2g5fMYJi2g5WMYJi2g5WMYJi2f5T10TLZJWO0W3f5bMZJVO0Y3e5bM\\Jf2d5[M[Je2f5ZMZJf2f5[MZJnN0c3g5`MYJa2g5V100O1000000000O1000000010O000001O00001O2[KZJX4R6O000000000000000000000000000000000000001O00000000000000001O000000001O000000001O000000001O000000000000001O0000000000001O00000000001O000000010O000O101O000000001O001O0000000000001O000000O1O1M3N2N2O1N200O1000000001O00001O1O001O001O1O001O1O001O1O001O0010OO2O1O0K]IYLd6U3cInLd6o2c0G9L4G9jMPH`1Y8YNmGV1EmNOMW9o0=J=WOoE9X\\7"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_biggest_sofa_222222_stool/062927_mask_rle.json b/Navigation/GroundDetection/the_biggest_sofa_222222_stool/062927_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b8cbdb8ce5b1a0f1341d9694c2bb153bca7abbe
--- /dev/null
+++ b/Navigation/GroundDetection/the_biggest_sofa_222222_stool/062927_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_biggest_sofa_222222_stool/062927_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the biggest sofa 222222 stool"
+    ],
+    "scene_description_en": [
+      "the biggest sofa",
+      "stool"
+    ],
+    "scene_description_cn": [
+      "最大的沙发",
+      "凳子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "bPa11c:3OOO111M1000002N00001O000O0mHHj39ULGk39TLHl39SLFn3=nKEQ4<nKDR4<mKES4<lKDT4=iKEV4<iKEW4<hKDX4>eKCZ4?eKA[4?eKA[4`0cKA]4`0bK@]4a0bK@^4`0bK@^4`0aKA_4?aKA_4>aKC^4>bKB^4>aKC_4=aKC_4=aKC_4=`KD_4<bKD^4<aKE_4<_KDb4<]KEb4<[KGe4:VKJj47mJ1S50]J?c5AgIU1X6mNfIT1Z6mNdIT1\\6nNaIS1_6nN_IS1a6POZIR1e6_100000000O100000000O1000000O100000000O100000000O2O000O1O100N1N3G9000000O100000cLlIQO0U3T6jMlIQO1T3S6PNlIP2T6jMlIUO0P3T6kMlIUO0P3T6kMlIVO0n2T6kMlIXO1l2S6lMlIYO1k2R6lMmIZO1i2R6XNnIh1S6kMlI^O0g2T6kMlI_O0e2T6lMlI_O0d2U6mMkI@0b2V6lMjIC1`2U6mMjID1^2V6lMiIG1]2V6lMiIH0\\2W6lMiII0Z2X6lMhIJ0Z2X6lMhIK0X2X6bNhI^1Y6bNgI]1Y6lMgIk2Y6UMgI00S2Y6fNgIZ1X6fNiIY1X6lMgI50o1Y6lMgI60m1Y6mMgI60m1Z6lMfI80k1Z6lMfI:0j1Z6lMfI;0h1[6lMeI<1g1[6kMdI`00e1\\6kMdIa00c1]6kMcIb00c1]6kMcIW3^6hLbId00a1^6oNbIP1^6kMbIh00\\1^6bMeI3Mo00\\1e6dM\\IQ1OZ1g6cMYIT11X1f6dMYIU10W1g6cMZIW1OU1g6dMZIW1OU1g6dMZIX1OS1h6dMYIZ1OQ1k6oNVIP1j6QOUIo0l6POUIVOOW1l6DTIUO0W1m6CSII9Hd6`0SIEc0C[6h0RIBk0@S6n0SI@Q1\\Ol5U1SI]OY8c0gG]OZ8c0eG\\OX8XOjG]1NYOX8\\OiG[1OXOY8]OiG[1NWOX8_OjGZ1OUOX8BiGY1OSOY8DhGZ1OPOY8HhGW1OQOY8HhGX1NoN[8IgGX1NnN\\8KfGW1NmN]8KeGX1NlN^8LdGY1NiN`8NbGa1_8_NaGY1NfNc80`GZ1MdNd83^GY1NcNe84]GZ1N`Nf87\\GX1e8iN[GX1d8iN\\GV1d8jN\\GU1e8kN\\GT1d8lN\\GS1f8mNYGS1g8mNZGQ1h8nNXGQ1j8oNUGQ1k8oNUGP1m8POSGo0m8QOSGn0n8SORGk0P9TOPGl0P9TOPGk0Q9VOoFh0S9WOmFh0U9WOkFi0U9WOlFg0U9ZOjFf0W9YOiFf0X9ZOiFd0Y9\\OfFd0Z9\\OgFb0Z9^OfFa0\\9_OcF`0^9@cF?]9BbF=_9CbF<_9CaF<`9E_F:b9F_F9a9H^F7c9I^F6b9J^F5c9L\\F3e9M\\F2e9NZF1g90YFOh90XFOi91XFMj92VFNj92WFLk93UFMl93SFLn94SFJo96PFIR:660010O000000001O0O100O2O1Mem[1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_bottom_of_the_bookshelf222222The_bottom_of_the_chair_closest_to_the_camera/1159289_mask_rle.json b/Navigation/GroundDetection/the_bottom_of_the_bookshelf222222The_bottom_of_the_chair_closest_to_the_camera/1159289_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c5770cdd78a765b849df65f8a3ea76be15203a8
--- /dev/null
+++ b/Navigation/GroundDetection/the_bottom_of_the_bookshelf222222The_bottom_of_the_chair_closest_to_the_camera/1159289_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_bottom_of_the_bookshelf222222The_bottom_of_the_chair_closest_to_the_camera/1159289_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the bottom of the bookshelf222222The bottom of the chair closest to the camera"
+    ],
+    "scene_description_en": [
+      "the bottom of the bookshelf",
+      "The bottom of the chair closest to the camera"
+    ],
+    "scene_description_cn": [
+      "书架底部",
+      "离镜头最近的椅子底部"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          600,
+          800
+        ],
+        "counts": "^>Z4^>000O1001O001O2N1O1O1O1O2N1O1O1O1O2N1O1aLRAR3Q?jLQAU3Z?O2N3M3M5Kb1^N00001O00001O00QNoNXBP1g=TOVBl0i=WOVBh0i=8YAGg><WACh>e0RAZOn>i0PAVOP?l0o@SOR?m0n@ROR?o0n@POS?o0m@QOS?P1l@POV?n0k@QOX?l0h@TO[?i0e@WO]?g0c@YO]?g0d@XO\\?g0e@YO[?g0f@XOZ?g0g@YOZ?e0h@ZOX?d0j@\\OW?`0m@_OS?<SACn>9VAFj>5\\AJe>1`ANa>2`ALa>3`ALa>3aAJa>5bAH`>6`AJa>5_AKc>2^ANc>1^AOb>O_A1b>N_A1b>M_A3b>K_A5c>H^A8a`00000000000000001O1O0000000000000000000000000000000000000000000000000000000000000000001O1O1N2M]c7Lc\\H<G6\\L^OjDf0T;\\OiDg0T;\\OiDf0V;[OgDi0W;XOgDj0X;VOhDk0W;VOgDl0X;TOgDn0X;SOfDn0Z;SOeDm0Z;TOeDm0[;TOdDl0\\;TOdDl0\\;UObDl0^;TObDl0];VObDj0^;WOaDi0_;XO`Dh0`;XO`Dh0`;YO_Dg0a;ZO^Df0b;ZO^Df0a;\\O^Dd0b;]O]Dc0c;^O\\Db0c;_O]Da0c;@\\D`0d;A[D?e;BZD>f;CXD>h;BXD>g;DXD<h;EWD;i;EVD<j;EUD;k;EUD;j;GTD:l;FTD:l;GSD9m;GRD:n;GQD9o;GQD9o;HPD8o;IQD7o;IQD7o;HRD8n;EUD;l;AVD`0k;ZOZDf0h;UOZDl0i>00000O10000000000001O000000000000O1000000O10000002N2N;E2M4IPc73P]H:G<D5K2O0O11N2N1O1O00001O001O00001O001O001O001O001O1O001O001O1O001O1O1O1O001O1O1O001O001O001O001O1O001O001O1O001O1O001O1O1O1O1O2N1O2N1O1O001O1O001O00001O000O2O001O000O2O1O`XQ44ZgnK3O1N2N2O000000000000000000001O0000O2O001O001O1O2N2N00001O00I1e]OOYb0901UBh0S8YOiGR1k7SORHU1h7mNTH\\1e7eNUHd1g7^NTHh1i7YNoGQ2g7WMmDi0W3X2h7PMoDi0m2f2P8bLSEi0i2j2R8]LUEi0g2n2R8XLYEj0a2R3T8UL[Ei0[2Y3Y8nK]Ei0S2`3_8gK^Ej0m1e3d8aKaEi0d1m3j8YKeEi0\\1S4n8TKgEh0X1X4Q9nJjEh0Q1^4l9\\KRFf4P:YKnEh4T:VKkEk4W:SKhEn4Y:RKeEo4]:oJbER5`:mJ_ES5d:kJZEV5h:hJWEY5j:gJTEZ5m:fJQE[5P;fJmD[5U;dJiD]5W;eJdD^5\\;dJ^D`5c;bJSDe5m;\\JRDd5o;]JoCc5m;bJRD^5f;n0N2N2O1C=N2M3O1O1O100O1000YIZE\\5f:^JaEa5`:\\JcEc5]:[JcEg5^:VJaEm5`:fIYEm6i:nHWEU7h:>O1O1O100O100001O00001O1jHVE\\6m:_ITEb6a;0O100000000001O001O1OVOj0N2O1O10000O1001O00001O1O2N6J1O1O3mHkD]6i;O001O0000001O1O1O2N2N7I1OO1N2ZOmJ\\D^4a;eK_D[4`;eKaD[4^;fKbDZ4];a10000000000001O1O1O1O2N?AB>N2O10eMaD]M^;c2dD\\M\\;c2eD]M[;b2gD]MY;b2hD^MX;_1SEhLHh1U;o0eEVMYOj1R;?VFfMiNk1R;MgFUNZNm1P;KhFVN[Nn1o:IbG6d8TO`DmNP3n1a8QOQHm0U8lNmGS1U8gNPHX1S8_NSHa1o7YNUHg1^<000O100001O00000000001O000000001O000000001N1000000O100M4]Oc0DQki0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_bottom_right_area_of_the_light_beige_tiled_floor__located_at_the_lower_right_of_the_wooden_hallway_door_on_the_left_side_of_the_frame/row_109_col_image_mask_rle.json b/Navigation/GroundDetection/the_bottom_right_area_of_the_light_beige_tiled_floor__located_at_the_lower_right_of_the_wooden_hallway_door_on_the_left_side_of_the_frame/row_109_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf4cb3644c2723ca93f38c76682cdfd43ca3e3ab
--- /dev/null
+++ b/Navigation/GroundDetection/the_bottom_right_area_of_the_light_beige_tiled_floor__located_at_the_lower_right_of_the_wooden_hallway_door_on_the_left_side_of_the_frame/row_109_col_image_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_bottom_right_area_of_the_light_beige_tiled_floor__located_at_the_lower_right_of_the_wooden_hallway_door_on_the_left_side_of_the_frame/row_109_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the bottom right area of the light beige tiled floor, located at the lower right of the wooden hallway door on the left side of the frame."
+    ],
+    "scene_description_en": [
+      "the bottom right area of the light beige tiled floor, located at the lower right of the wooden hallway door on the left side of the frame."
+    ],
+    "scene_description_cn": [
+      "位于画面左侧、走廊木门右下方的浅米色地砖的右下角区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "Y]j2:33Q>Z1TO101O0O10000O1000000O1000000O1000000O10000000000O1000000O10001O000O10000000000000000O1000000O0O2N2M3N2N2M3M4N1N1O2N3K4N2N2N200N2O1N2N2N1O2L4N2N3M2O0O2N2O1N2M3M3N2N2N2L4N2N2M3M3N2O1O1O1N2N2M3M3I7N2L4N2L4O100000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000001O0000000000000000O2O1O2N2N3M1O3M6K2M4L2N2N2N1O4L2N3M2M4M1O3N1N2M3N3M2N2N2N1O1O1O1O1O102M2N3M3M1O3M2N3M2N2N2M3N2N2O1N2M3N3N1N3L3N2N2N2N2N2N3M2N2N3M2N2N2N2N2N3M2N3M2N3M2N2N3M2N3M2N2N2M3N2N2NUnj2"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_bottom_right_area_of_the_light_wooden_window_seat__located_below_the_large_window_on_the_right_side_of_the_frame/row_104_col_image_mask_rle.json b/Navigation/GroundDetection/the_bottom_right_area_of_the_light_wooden_window_seat__located_below_the_large_window_on_the_right_side_of_the_frame/row_104_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a23198adc66c22d611628e1028714f19b0c7c7d
--- /dev/null
+++ b/Navigation/GroundDetection/the_bottom_right_area_of_the_light_wooden_window_seat__located_below_the_large_window_on_the_right_side_of_the_frame/row_104_col_image_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_bottom_right_area_of_the_light_wooden_window_seat__located_below_the_large_window_on_the_right_side_of_the_frame/row_104_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the bottom right area of the light wooden window seat, located below the large window on the right side of the frame."
+    ],
+    "scene_description_en": [
+      "the bottom right area of the light wooden window seat, located below the large window on the right side of the frame."
+    ],
+    "scene_description_cn": [
+      "位于画面右侧、大窗户下方的浅木色窗台的右下角区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          768,
+          1024
+        ],
+        "counts": "me\\3f0Wg06K5K5\\YOmN20de0b1YZO`Nee0d1VZO_Nhe0m1O10O001O0001O10O000O101N11O01O0O2O000N3N1O2O0N2O2N2O0O2N2O1N2N1O2N2N2N2O1N2N2NlZOTOXc0k0g\\OXOXc0f0g\\O_OWc0>i\\OEVc0:k\\OGUc07k\\OKUc03i\\O1Wc0Mi\\O5Vc0Kh\\O8Xc0Fg\\O=Yc0Be\\Oa0[c0_Oc\\Oc0\\c0]Ob\\Of0^c0YO`\\Oj0`c0TO_\\Oo0ac0PO^\\OR1bc0mN]\\OU1cc0hN^\\OZ1bc0dN^\\O^1bc0aN^\\O`1Pe01O1N2N2L3M3O2O2M3M200O100O1000000000000001O0000000000001O00000000000O11O01O00000000000000001O000000000000000000000000000000000000O100O1O100O10000O10000000000O1000000O1000000O10000O1O1O1O1O100O100O10000001O001O0000D^MY[Oc2cd0dMX[O^2fd0?O1O10000O1000000000000000000000000000000001O00000000000000000000000000000000000000000000000000000000000000000000001O00000000O10000001OO1000000000000001O00000000000000000000000000000000000000000000O1001O00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000001O000000000000000000000000000000000000000000000000O10000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000O1000000000000000000001O0000000000000000O10000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000O10000000000000000000000000000000000000000000000001O000000000000001O00000000001O0000000000001O00000fNV[O^Ojd0b0V[O^Ojd0f0U[OWOkd0h0X[OVOid0h0[[OUOed0k0a[OoN_d0Q1a[OoN_d0Q1a[OoN_d0Q1a[OoN_d0P1b[OPO^d0P1b[OPO_d0o0a[OQO_d0n0b[ORO^d0n0b[ORO^d0m0c[OSO]d0m0c[OSO^d0l0b[OTO^d0k0c[OUO]d0k0c[OUO]d0k0c[OUO]d0j0d[OVO\\d0j0d[OVO\\d0j0d[OVO\\d0j0d[OVO]d0i0c[OWO]d0i0c[OWO]d0i0c[OWO]d0i0c[OWO]d0i0c[OWO]d0i0c[OWO]d0i0c[OWO]d0j0b[OVO^d0j0a[OWO`d0i0][OYOcd0h0\\[OXOdd0i0Y[OYOgd0h0W[OYOid0i0T[OXOld0n11O0000001O0000001O00001O001O1O1O001O1O1O001O1O001O1O001O001N101O1N2O0100O01O001O1O1O001iN\\ZO0ee0M`ZO0`e0OcZOO^e0OdZOO]e01dZOM^e02bZON^e01cZOO^e00cZOO]e01cZOO^e0OdZOO]e01fZOJ]e05X1M5Jgic1JbV\\N00010O0001O0000001O000O2OTX>"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_bottom_right_area_where_the_white_baseboard_meets_the_black-and-white_tiled_floor__located_at_the_lower_right_of_the_white_door_on_the_right_side_of_the_frame/row_1048_col_image_mask_rle.json b/Navigation/GroundDetection/the_bottom_right_area_where_the_white_baseboard_meets_the_black-and-white_tiled_floor__located_at_the_lower_right_of_the_white_door_on_the_right_side_of_the_frame/row_1048_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..dee7796d27e542072181aa5e2fc04ccd25a5e25a
--- /dev/null
+++ b/Navigation/GroundDetection/the_bottom_right_area_where_the_white_baseboard_meets_the_black-and-white_tiled_floor__located_at_the_lower_right_of_the_white_door_on_the_right_side_of_the_frame/row_1048_col_image_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_bottom_right_area_where_the_white_baseboard_meets_the_black-and-white_tiled_floor__located_at_the_lower_right_of_the_white_door_on_the_right_side_of_the_frame/row_1048_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the bottom right area where the white baseboard meets the black-and-white tiled floor, located at the lower right of the white door on the right side of the frame."
+    ],
+    "scene_description_en": [
+      "the bottom right area where the white baseboard meets the black-and-white tiled floor, located at the lower right of the white door on the right side of the frame."
+    ],
+    "scene_description_cn": [
+      "位于画面右侧、白色房门右下方的白色踢脚线与黑白地砖相接的右下角区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          640,
+          480
+        ],
+        "counts": "ca0i13hN`a0l1O1000G_^OSNaa0V20000O100O10000OROb^O\\O^a0d0b^O\\O^a0d0b^O\\O]a0d1000POc^O]O]a0c100O100000000O1000000O100O10000001O1iNe^OGYa0nNg^O_2Xa050iNh^OFXa0`1010O1001O1NO22N000O1000000O10000O100O1000000O10O1N20O100000000O10003M0O10000000000000\\MR_OV2o`0iMQ_OW2n`0>N200O1000000O10000O100000O1jMV_OV1i`0Q101O0O1000000O1000000O1000000O1000000O100000000O100000000000000O1O10000O1000O02O0000000O10000O100000000O100ZK]LTE2n2a3k7gMjGZ2V8mMdDeNa2^3j8gNjFZ1V9ZOTFh0m9OXE4h:1RE0n:3dDZLJd3a;5aD7_;I_D9a;G_D9a;G_D9b;R40000001O1aK\\D`0d;@\\D`0e;_O[Da0e;m31O1O001O002N1O0000001O00001O001O001O0000001O<D4L3M7I6J2N1O1O0O2N20000O001O1O001O001O1O1O001O1O001O001O001O00001O001O1O1O001O001O0000001O001N1nJTBP4m=oKSBP4n=S1OkJSBU4n=iKRBX4n=hKRBX4o=eKSB[4m=eKRB\\4n=dKRB\\4o=cKQB]4o=cKQB]4P>i00hJoAa4R>\\KPBd4Q>[KnAf4S>ZKlAf4T>ZKlAf4U>YKkAg4U>YKkAg4U>b01O1fJiAi4W>WKiAi4X>?1O00001O1eJeAo4[>:110cJdAT5^>jJbAV5_>iJaAW5`>fJbAZ5b>0000000000O1010O0001O00001O1O00001O00000000O1000000O11O001O1O001O1O001O001O1O001O1O1O2N2N00001O00001O00001O1O001O1O001O1O001O001O1O002N1O2N001O001O001O00001O001O001O1O001O1O1O001O001O1O001O1O2N1O2N001O0000001O001O001O001O1O001O1O1O001O001O1O001O001O001O2N6JO10000001O001O00001O1O001O1O001O001O1O001O1O1O1O001O1O001O001O1O1O2N2N3M00000000001O001O001O001O001O1O1O001O1O001O1O1O001O001O1O1O001O1O0K60a]O"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_bottom_wall_area_where_the_light_brown_carpet_meets_the_wooden_baseboard_at_the_corner_of_two_walls_on_the_right_side_of_the_frame/row_101_col_image_mask_rle.json b/Navigation/GroundDetection/the_bottom_wall_area_where_the_light_brown_carpet_meets_the_wooden_baseboard_at_the_corner_of_two_walls_on_the_right_side_of_the_frame/row_101_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1a2c7cb6d9848c8b5535f0fb067ed1b83857fb9
--- /dev/null
+++ b/Navigation/GroundDetection/the_bottom_wall_area_where_the_light_brown_carpet_meets_the_wooden_baseboard_at_the_corner_of_two_walls_on_the_right_side_of_the_frame/row_101_col_image_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_bottom_wall_area_where_the_light_brown_carpet_meets_the_wooden_baseboard_at_the_corner_of_two_walls_on_the_right_side_of_the_frame/row_101_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the bottom wall area where the light brown carpet meets the wooden baseboard at the corner of two walls on the right side of the frame"
+    ],
+    "scene_description_en": [
+      "the bottom wall area where the light brown carpet meets the wooden baseboard at the corner of two walls on the right side of the frame"
+    ],
+    "scene_description_cn": [
+      "位于画面右侧、两堵墙夹角处的浅棕色地毯与木质踢脚线相接的墙底区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          768,
+          1024
+        ],
+        "counts": 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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_coffee_table222222the_front_of_the_floor-standing_cabinet/107903_mask_rle.json b/Navigation/GroundDetection/the_coffee_table222222the_front_of_the_floor-standing_cabinet/107903_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b62048bbdcc315680e56cf787047a3970aaba6f
--- /dev/null
+++ b/Navigation/GroundDetection/the_coffee_table222222the_front_of_the_floor-standing_cabinet/107903_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_coffee_table222222the_front_of_the_floor-standing_cabinet/107903_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the coffee table222222the front of the floor-standing cabinet"
+    ],
+    "scene_description_en": [
+      "the coffee table",
+      "the front of the floor-standing cabinet"
+    ],
+    "scene_description_cn": [
+      "茶几",
+      "落地橱柜的正面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          1024,
+          683
+        ],
+        "counts": "Pl0m2;kMdk0Y300O100O10000O10000000000000000O1O1O1O1N2O1O1O1O1O1N2O1O1O1O1O1O1O100O1N2O1O1O1O1O1O1O1O1N2O1O1O1O1O1O1O1O1O1O1N2O1O1O1O1O100O1K5N2N2O1N2O100N20000000000000000000000000000000000O100O10000O10000O100000000000000O100O100N20000000000000000O100O100O10000O100O100O100000000O10000O1000000000000O10000O100O10000O1000000000000000000000000O10000O10000000000O1000000000000O100000000O15K1O002N2N1OO10000001O2N1O1O3M2N001O3M3M00N200M3O100O1000000O1O100O100O1O1O1O100O1M3N2I[IQWOg6Pi041OL4N20000O1O1O1000000O10000000000O1O100O100000000O100O100O1000000000000O1000000O1O1000000O100000000O1O1O1000000O10000000000O10000O1O100O1000000O1O100O100000000000000000000O100O100O100000000O100O100O10000O100000000O10000O100O10000O100O100O10000O100000000O100000000O100O100O100O1h^ObGn:^8REbGm:_8SEaGm:_8REbGn:^8REbGn:^8REbGm:_8REbGn:^8REbGn:^8REbGn:^8REaGo:_8PEaGQ;_8oD`GR;`8V6100O1O100O1000000O100O100O100000000000000000000O10000O10000O100O10000000000O100O1O100000000001O1O1O2N1O00001O00000000000000000000O1000000N2O1O1M3M3M3N2O1O100M3O1M3QOgFQ[O_9]d0XGS[OS9bd0[1N2@`0L4M3O1O1O1O1O1O1O1OfHd\\OR2[c0mMi\\OQ2Vc0oMm\\Oo1Vb0SIU^On4Fo1Tb0WIP^Ol4NSKG[6[b0jIi]Ok45nJK[6Wb0]O`^Ob0`a0^Oa^Oa0_a0_Od^O>\\a0Bf^O<Za0Ci^O;Wa0Ek^O9Ua0Gm^O7Ta0Hm^O7Sa0HP_O6Pa0JR_O4n`0KT_OcL[NS1ab0Z2U_O`L`NR1[b0]2W_O_LaNR1Xb0_2W_O^LcNR1Vb0`2X_O^KcNYO2h2Tb0_2Y_OYKlNYOIo2Rb0_2Z_OTKSOZOAS3Rb0_2\\_OoJVO]O]OT3Rb0^2\\_OnJMd2g`0^2]_OkJOf2d`0^2__OiJ0h2a`0^2b_OfJ0k2_`0^2b_OdJ2m2\\`0_2c_OaJ5n2X`0a2SB_Mm=a2SB_Mm=a2TB^Ml=c2SB]Mn=b2RB^Mn=b2RB^Mn=b2RB^Mn=a2SB_Mm=a2SB_Mn=_2SBaMm=_2SBaMm=_2TB`Mm=^2UBaMk=_2VB`Mj=_2WBaMi=_2WBaMi=_2XB`Mh=_2YBaMg=_2YBaMh=VNa]Ol2g4nNh=SNh]Ok2`4ROh=QNn]Oi2Z4VOh=oMQ^Oi2X4XOg=nMU^Oe2V4]Oe=lMX^Oc2W4@a=lMZ^Oc2U4Aa=kM\\^Oc2R4Cb=iM^^Oc2P4Db=hM_^Od2lNjLm4j2h=hM`^Oc2n3Eb=hMa^Oa2jNmLn4j2g=hMb^O`2m3Ha=hMc^O_2gNoLP5j2f=gMd^O_2l3J`=fMg^O\\2l3M]=gMh^OY2m30[=gMj^OV2l33Z=fMQ_OP2g39X=gMT_Ok1f3>V=gMW_Of1e3c0T=gM]_OS1l3V1h<fMb_Ol0h3^1e<fM[@4P3W2e<eM^@NP3]2b<dMTG\\2k8eMUG[2k8eMTG\\2l8cMUG]2k8cMUG]2k8cMUG]2l8aMUG_2j8bMVG^2j8bMVG^2j8aMVG`2j8`MVG`2j8`MUGa2j8_MXG`2g8`M[G_2d8bM\\G^2c8cM]G]2c8bM^G^2d8`M]G_2e8_M\\G`2d8`M\\G`2d8`M]G_2c8aM^G^2b8bM`G\\2`8cMcG[2]8dMeG[2[8eMfGZ2[8dMgG[2Y8eMjGX2V8hMlGV2T8jMmGU2T8iMnGV2Q8iMSHU2j7mMYHQ2g7PNYHo1f7RN[Hm1e7SN]Hk1d7TN^Hj1b7VN_Hi1a7VNaHi1_7WNcHg1lb0O1O1O2N1O001O2N1O1O1O1O1O1O1O1O2N1O2N1O1O1O1O1O1O1O1O001O1O2N1O00000000001O00000000001O001O001O1O1O1O1O2N2N4I[PQ1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_front_of_the_TV_stand/2378882_mask_rle.json b/Navigation/GroundDetection/the_front_of_the_TV_stand/2378882_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..71ab513c950db2e58de2fad23a511cc32e27e412
--- /dev/null
+++ b/Navigation/GroundDetection/the_front_of_the_TV_stand/2378882_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_front_of_the_TV_stand/2378882_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the TV stand"
+    ],
+    "scene_description_en": [
+      "the front of the TV stand"
+    ],
+    "scene_description_cn": [
+      "电视柜的前面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          375,
+          500
+        ],
+        "counts": "g6`2W9001O001O00001O00001N10001O0O1010O01O001O01O010O01O001N101O0O10]NWG8i8AdG8]8@oG:R8ESH7n7EYH6j7F[H6g7AeH;_9K4MVj?6`U@6M2N2O1N3N1O1O100O1O100O10O02O0O100000000000000000O10000001O000000O1010O0000000000O2O0000001O2YO_EDM056mS9e0`VG9N100O10000000000000000000000O1000000000000000000000000O100000000O10001O00000000O10O2OO100001OO10O10000000000O100000000000000O1000001O0eMiNVJW1j5iNUJX1k5iNTJW1l5iNTJW1l5iNTJW1l5iNTJW1l5iNTJW1k5kNSJU1n5kNRJU1n5kNRJU1n5kNRJU1n5kNRJV1l5lNRJU1n5kNRJU1n5kNRJU1n5kNRJU1n5kNQJV1o5kNPJU1P6kNPJU1P6kNPJU1P6kNoIV1Q6kNnIU1Q6lNoIT1Q6lNoIT1Q6mNnIS1R6mNnIS1R6mNmIT1S6lNmIT1S6lNmIS1T6mNlIS1S6nNlIS1T6mNlIT1S6mNlIR1U6hNYHFa1c1V6dN]HH]1d1V6dN^HG[1f1W6aN`HIY1f1W6aNTJ_1l5_NVJa1j5^NVJc1j5\\NWJd1i5[NXJe1h5ZNhH0l0g1P7ZNoHf1P7[NPIe1P7[NPIe1P7[NoHf1Q7[NnHf1Q7ZNoHe1R7[NnHe1S7[NkHg1T7YNlHg1T7YNlHg1T7ZNjHg1V7YNjHg1V7ZNiHf1W7ZNiHe1X7\\NhHd1W7\\NiHd1W7\\NjHb1W7_NhHa1Y7^NhHa1X7`NgH`1Y7aNgH^1Y7bNhH]1X7dNiHZ1W7gNiHW1X7iNPI2n7Nm11O1O2N2N9G1O1O1O101N2N2N2N4dF]O\\7_20000000001O01O00000000001O00000000000O2O000000000000000000000000001O0000000000000000001O00000000000000000000001O00000000000000001O00001O0000000000O100O1O1^Ob0M30000001O1O001O000000001O001O00001O00001O0000001O00001O00001O0000001O0000001O00001O00001O00001O00001O00001O00001O001O0000001O00001O00001O00001O00001O00001O001O001O001O1O00001O0kMTG_1l8[N[Gd1e8YN_Gf1b8TNcGl1T90001O00O100N2N2L5K3L5O1O110O01O0[NmFf0S9XOQGe0Q9YOQGf0o8YORGb0JhNN"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_front_of_the_TV_stand222222the_front_of_the_sofa/107932_mask_rle.json b/Navigation/GroundDetection/the_front_of_the_TV_stand222222the_front_of_the_sofa/107932_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..07010d0f7b545059d9e59f6d3157d9a1dbe86a63
--- /dev/null
+++ b/Navigation/GroundDetection/the_front_of_the_TV_stand222222the_front_of_the_sofa/107932_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_front_of_the_TV_stand222222the_front_of_the_sofa/107932_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the TV stand222222the front of the sofa"
+    ],
+    "scene_description_en": [
+      "the front of the TV stand",
+      "the front of the sofa"
+    ],
+    "scene_description_cn": [
+      "电视柜的正面",
+      "沙发的正面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          684,
+          1024
+        ],
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+}
diff --git a/Navigation/GroundDetection/the_front_of_the_bedside_table/41069165_2028.258_mask_rle.json b/Navigation/GroundDetection/the_front_of_the_bedside_table/41069165_2028.258_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..5da673ef6bcb3109cfca98ade2428c6fb195bcff
--- /dev/null
+++ b/Navigation/GroundDetection/the_front_of_the_bedside_table/41069165_2028.258_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_front_of_the_bedside_table/41069165_2028.258_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the bedside table"
+    ],
+    "scene_description_en": [
+      "the front of the bedside table"
+    ],
+    "scene_description_cn": [
+      "床头柜的前面"
+    ]
+  },
+  "mask_annotation": {
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+      {
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+          480,
+          640
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_front_of_the_bedside_table/41069168_2235.157_mask_rle.json b/Navigation/GroundDetection/the_front_of_the_bedside_table/41069168_2235.157_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..6972c78428c7219e51b3f7cd5fe7d0edcdaef7d1
--- /dev/null
+++ b/Navigation/GroundDetection/the_front_of_the_bedside_table/41069168_2235.157_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_front_of_the_bedside_table/41069168_2235.157_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the bedside table"
+    ],
+    "scene_description_en": [
+      "the front of the bedside table"
+    ],
+    "scene_description_cn": [
+      "床头柜的前面"
+    ]
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+          480,
+          640
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_front_of_the_bedside_table/41126461_5396.736_mask_rle.json b/Navigation/GroundDetection/the_front_of_the_bedside_table/41126461_5396.736_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..df6861f455f8d34457ff901cece0e295304cdf3e
--- /dev/null
+++ b/Navigation/GroundDetection/the_front_of_the_bedside_table/41126461_5396.736_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_front_of_the_bedside_table/41126461_5396.736_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the bedside table"
+    ],
+    "scene_description_en": [
+      "the front of the bedside table"
+    ],
+    "scene_description_cn": [
+      "床头柜的前面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
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+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_front_of_the_bedside_table/41127001_5592.063_mask_rle.json b/Navigation/GroundDetection/the_front_of_the_bedside_table/41127001_5592.063_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..6da037aef998f7a8a1bb60c30be053ebf2b9c75f
--- /dev/null
+++ b/Navigation/GroundDetection/the_front_of_the_bedside_table/41127001_5592.063_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_front_of_the_bedside_table/41127001_5592.063_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the bedside table"
+    ],
+    "scene_description_en": [
+      "the front of the bedside table"
+    ],
+    "scene_description_cn": [
+      "床头柜的前面"
+    ]
+  },
+  "mask_annotation": {
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+      {
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+          480,
+          640
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_front_of_the_black_bedside_table/40958749_1069.665_mask_rle.json b/Navigation/GroundDetection/the_front_of_the_black_bedside_table/40958749_1069.665_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7f2f1b224c5251be417b4e1c69b81c3b141ba16
--- /dev/null
+++ b/Navigation/GroundDetection/the_front_of_the_black_bedside_table/40958749_1069.665_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_front_of_the_black_bedside_table/40958749_1069.665_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the black bedside table"
+    ],
+    "scene_description_en": [
+      "the front of the black bedside table"
+    ],
+    "scene_description_cn": [
+      "黑色床头柜的正面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "kSU41l>4O1N1O1O1O1O1O1O1O1O1O1O1O100O1O2M2O1O1O1O10000O100O1O1O1O1O100O100O1O1N2O1O100O1O100O1N2O1O10000O1O100N2O1O1O100O010N200O1O1O1O1O1O1O100O1O2N100O100N2O1O100O1O100O1N2O100O1O1O1O1O1O1O1O1O10000O1O0O20000O100001O01O0O1\\Od0N2O1O1O10O01N2O1O1O1O100O1O100O2N1O100O1O1O1O1O1O1O00100O1O1O2O0O1O1O1O100O100O1O1O100N2O1O100O1O1O1O1O100O1O100O1O100O1O1O1O1O1O1O1O1O100O1O1O1O1O100O1O1O1O100O1O1O1O1O1O1O1O1O1O1O1O1O2N1O100O1O100O1O10O010000000000001O00010O001O001O001O001O00001hKYGU2g8hM]GW2c8gM`GX2a8eMaG[2_8bMeG]2\\8_MhG`2X8^MjGb2W8[MlGd2T8ZMnGf2R8WMRHh2o7TMTHl2l7RMWHm2j7oLYHP3h7nL[HQ3f7lL\\HT3d7iL`HV3a7fLcHY3]7eLeH[3\\7bLgH]3^901O001O1O001O0O2O1O010O001O001O0010O01O001O1N101O001O001O001O1O001O001O1O001O1O001O001O1O001O001O001O001O001O1O001O001O001O001O00001O001O1N10001O0O2L3N2M4L3M3M4K4J6L4L5L3M4K5L4J6LWU6"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_front_of_the_cabinet222222Chair/004972_mask_rle.json b/Navigation/GroundDetection/the_front_of_the_cabinet222222Chair/004972_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..1879ebfcfdc2ebaaa7f9ccad92871685ec90f593
--- /dev/null
+++ b/Navigation/GroundDetection/the_front_of_the_cabinet222222Chair/004972_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_front_of_the_cabinet222222Chair/004972_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the cabinet222222Chair"
+    ],
+    "scene_description_en": [
+      "the front of the cabinet",
+      "Chair"
+    ],
+    "scene_description_cn": [
+      "柜子的正面",
+      "椅子"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          968,
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_front_of_the_chair/41159586_50554.270_mask_rle.json b/Navigation/GroundDetection/the_front_of_the_chair/41159586_50554.270_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..d28e8c0c5b9ac970527f987fea4946a49d45974c
--- /dev/null
+++ b/Navigation/GroundDetection/the_front_of_the_chair/41159586_50554.270_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_front_of_the_chair/41159586_50554.270_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the chair"
+    ],
+    "scene_description_en": [
+      "the front of the chair"
+    ],
+    "scene_description_cn": [
+      "椅子的正面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_front_of_the_chair/41159586_50561.270_mask_rle.json b/Navigation/GroundDetection/the_front_of_the_chair/41159586_50561.270_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f7b3c4d68decff1c170e4914d544069c5de9ca9
--- /dev/null
+++ b/Navigation/GroundDetection/the_front_of_the_chair/41159586_50561.270_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_front_of_the_chair/41159586_50561.270_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the chair"
+    ],
+    "scene_description_en": [
+      "the front of the chair"
+    ],
+    "scene_description_cn": [
+      "椅子的正面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_front_of_the_door/2378852_mask_rle.json b/Navigation/GroundDetection/the_front_of_the_door/2378852_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..8814242f3651a27bf50c60fbd6345da334ced69f
--- /dev/null
+++ b/Navigation/GroundDetection/the_front_of_the_door/2378852_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_front_of_the_door/2378852_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the door"
+    ],
+    "scene_description_en": [
+      "the front of the door"
+    ],
+    "scene_description_cn": [
+      "门的正面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          296,
+          500
+        ],
+        "counts": "d5=:IQ86PHJP86PHJP85QHKo75RHJn75SHKm74THLDMT86XHMDNS84ZHNBOT81]HO_O0T81]HO_O0T80^H0^O0T8O`HO]O2S8NaH0\\O2S8MbH1ZO3m8MSG3Q900000O1N201N1001O3M^Q2LfnM5K4RHGd6<YIEg6=UIEk6>QICo6?nHBR7a0jH@V7b0hH^OW7e0hHZOW7h0mHROR7R1`02O3L5L3L5L2N1O01O000000000000mHZNd6f1\\IZNd6g1[IYNf6f1ZIZNf6f1>000000000000O100000000000lH[Nf6d1ZI\\Nf6e1YI[Ng6e1YI[Ng6e1YI[Ng6e1>001O5eHUNo6S2O0000000000001O00O2O01O0000O10000000O1O1O1O1O1N2N2M3M3M3M3M3M3L4J6L40000000000000000O1000000000000000000000000000000000000000000000000000gMVJT1j5kNZJR1o5eNTJX1m5gNaJk0`5cNlI7\\1?i4XOmI8j10Y4FPJ9kU:EReL0VUI5[8>N101O001O1O001O001O1`I[O[4e0TKLl45gJ7X5JPJn0P6SOmIo0S6S10000000000000000000000000000000000000000000000O1000001O00000000O10000000O1001O0]MQJm1i6L1O1O1O1O1O1O2N1O1O4L101N0O3N1O1O2N1O1O1O1O1O1O2N100N2O1O2N1O1O1O1O1O1O2N1O1O1O1O1O1O1O001O00001O1O1O2N1O1O1O1O1O100O2N1O0O2O1Ojn]1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_front_of_the_fridge/2378852_mask_rle.json b/Navigation/GroundDetection/the_front_of_the_fridge/2378852_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..e86bfabc4b3208a773d0fc785931176f870956d3
--- /dev/null
+++ b/Navigation/GroundDetection/the_front_of_the_fridge/2378852_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_front_of_the_fridge/2378852_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the fridge"
+    ],
+    "scene_description_en": [
+      "the front of the fridge"
+    ],
+    "scene_description_cn": [
+      "冰箱的正面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          296,
+          500
+        ],
+        "counts": "d5=:IQ86PHJP86PHJP85QHKo75RHJn75SHKm74THLDMT86XHMDNS84ZHNBOT81]HO_O0T81]HO_O0T80^H0^O0T8O`HO]O2S8NaH0\\O2S8MbH1ZO3m8MSG3Q900000O1N201N1001O3M^Q2LfnM5K4RHGd6<YIEg6=UIEk6>QICo6?nHBR7a0jH@V7b0hH^OW7e0hHZOW7h0mHROR7R1`02O3L5L3L5L2N1O01O000000000000mHZNd6f1\\IZNd6g1[IYNf6f1ZIZNf6f1>000000000000O100000000000lH[Nf6d1ZI\\Nf6e1YI[Ng6e1YI[Ng6e1YI[Ng6e1>001O5eHUNo6S2O0000000000001O00O2O01O0000O10000000O1O1O1O1O1N2N2M3M3M3M3M3M3L4J6L40000000000000000O1000000000000000000000000000000000000000000000000000gMVJT1j5kNZJR1o5eNTJX1m5gNaJk0`5cNlI7\\1?i4XOmI8j10Y4FPJ9kU:EReL0VUI5[8>N101O001O1O001O001O1`I[O[4e0TKLl45gJ7X5JPJn0P6SOmIo0S6S10000000000000000000000000000000000000000000000O1000001O00000000O10000000O1001O0]MQJm1i6L1O1O1O1O1O1O2N1O1O4L101N0O3N1O1O2N1O1O1O1O1O1O2N100N2O1O2N1O1O1O1O1O1O2N1O1O1O1O1O1O1O001O00001O1O1O2N1O1O1O1O1O100O2N1O0O2O1Ojn]1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_front_of_the_rubbish_can/2377947_mask_rle.json b/Navigation/GroundDetection/the_front_of_the_rubbish_can/2377947_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..718829f3e8c31740d42bbe8d21ff2827adb8a9cf
--- /dev/null
+++ b/Navigation/GroundDetection/the_front_of_the_rubbish_can/2377947_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_front_of_the_rubbish_can/2377947_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the rubbish can"
+    ],
+    "scene_description_en": [
+      "the front of the rubbish can"
+    ],
+    "scene_description_cn": [
+      "垃圾桶的正面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          375,
+          500
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_front_of_the_sofa/000593_mask_rle.json b/Navigation/GroundDetection/the_front_of_the_sofa/000593_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..50b44ace7b8cac161d60999b76a10726be4ad305
--- /dev/null
+++ b/Navigation/GroundDetection/the_front_of_the_sofa/000593_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_front_of_the_sofa/000593_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the sofa"
+    ],
+    "scene_description_en": [
+      "the front of the sofa"
+    ],
+    "scene_description_cn": [
+      "沙发的正面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          421,
+          512
+        ],
+        "counts": "U<n0V<2O0O1O1O100O100O1O100O1O100O101N100O1O1O100O1O10O10O1O1O100O100O1O100O1O100O1O100O1N200O1O100O1O10000O2OO2O0000000000000O11O0000000O100000000001O0000000000O100O100O1O1O1[OoMUFR2k9SNmEP2S:a0001O0000000000000000000000001O00a0_Ob0^O2N010O1O3M2N001N1000000000O100O1O1O100O10000000000000000000000000000000000O1001O00000000000000000000000000O1001O00O11O00000000000001O0000000000000O1000O11O000001O00000000000000000O1000000000000000000000000000000000O10010O0000000000000000000000O1000000001O0000000000000000000000O1001O00O1001OO100001OO100001O00000000000O1000000001O000000O10000000O10000001O0000000000000000000000000000000000000000000000000000000000000000000000000001O001O1O1O1O0O2O0000O101N002L3O1O1O0N3jN[NQF8JHOo1U:m0O1000000000000000000001O00001O1O1O001O000001O00O2O00000000001O000000000001OO1000O1O1O1L400O10000000000000000O100001O00000000000001O000000O11O00000000000000O1000000000O1000000000000001O00000000O10000000000000000000001OO10000000000000000000000001O000000000000O1000000000000000O1000000000000000001O0000000000000000O10000000000000000000000000nE"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_front_of_the_sofa222222the_door/107932_mask_rle.json b/Navigation/GroundDetection/the_front_of_the_sofa222222the_door/107932_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0051cef01eb6cc81f0d59dd0ddd296014323b50
--- /dev/null
+++ b/Navigation/GroundDetection/the_front_of_the_sofa222222the_door/107932_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_front_of_the_sofa222222the_door/107932_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the sofa222222the door"
+    ],
+    "scene_description_en": [
+      "the front of the sofa",
+      "the door"
+    ],
+    "scene_description_cn": [
+      "沙发的正面",
+      "门"
+    ]
+  },
+  "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`0j1O10000000000O100000000000000O10000000000O100000000O10000000000O1000000000000O1000000000000O100000000000000O10000000000O10000000000O1000000000000O1000000000000O10000000000O10000000000O100000000O10000000000O10000000000O100000000O1000000000000O10000000000O1000000000000O10000000000O1000000O1000000O1000000O10000000000O1000000000000O10000000000O100000000000000O1000000O10000000000O100000000000fKR@V3n?iLU@U3l?iLV@V3k?hLV@X3l?eLV@Z3n?]LW@c3i`001O001O00001O0000001O00001O00001O00001O00001O0000001O00001O001O001O1O001O001O1O001O1O001O1O001O1O001O00001O00001O00001O000000001O0aMT^OKBU1[b0kNX_Ob0h`0[O^_Oa0lb0FoYe0F\\QZO5JN=M8l0Qb0h1O1000001O1N100000000001O00002N1O2N3M7I3M2N9G<Dc0[O8J4KSh]6"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_front_of_the_washbasin/2378897_mask_rle.json b/Navigation/GroundDetection/the_front_of_the_washbasin/2378897_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..a20bbfe65201e45da0ef8c4396fb015be864d9e0
--- /dev/null
+++ b/Navigation/GroundDetection/the_front_of_the_washbasin/2378897_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_front_of_the_washbasin/2378897_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the washbasin"
+    ],
+    "scene_description_en": [
+      "the front of the washbasin"
+    ],
+    "scene_description_cn": [
+      "洗手池的正面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          500,
+          333
+        ],
+        "counts": "_[a04_?<D5L5K4L6K3M5L4J4N4K5J4L5K5K4L6J4K7G6L7K4lFgLc5_3UJeLj5`3`HQN`7Q51O2N`0@:F4L2N1O1O1O1O1O001O0000001O0000000000000000000000000000O10000O10000O100O1gNaJ]H_5a7gJZHZ5e7iJXHX5g7lJUHU5i7oJUHQ5j7SKQHo4n7UKnGl4P8]1N2N2L4001O00000000O11O0000O1O100000000O10000000000000000O10000000000O1000000000000O1000000000000O1001O000000O100000000000000O100O100000000O10000000000000000O100000000000000000000000000000000000000001O004L5K1O0000O1N2M3N2000XLjHROU7j0TIROm6h0]ISOc6f0fIXOZ6b0oI[OQ6a0UJ]Ol5a0WJ]Oi5`0]J]Od5?aJ_O_5?eJ_O\\5?gJ_OY5?kJ_OV5?mJ_OS5`0PK^OQ5?SK_Om4?VK@k4>XK@h4mNVHa0U3`0f4hN]Hd0Q3b0c4_NfHn0j2a0b5]OaJa0_5\\OfJb0Z5gN_KW1a4dNeK[1\\9N2N2N2N2N2N2N2N2N2N2N2N2N2N1O3M2N2N2M3N2N3MYX21^gMOk@2n>>K4K6J6N1O20000001O1O1O1N2O1O1O1O1G\\A@e>:aAE`>4gAKQ?000d?OV@7K4N3O11O001N2O1N102N1O1N2O001O00O0101O0000O02O00O0O2O12N00O1O1000010O0Z6"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_light_beige_bathroom_tile_area_located_at_the_lower_left_of_the_wainscoting_on_the_left_side_of_the_frame/row_153_col_image_mask_rle.json b/Navigation/GroundDetection/the_light_beige_bathroom_tile_area_located_at_the_lower_left_of_the_wainscoting_on_the_left_side_of_the_frame/row_153_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..83becf9dba888b580041cbf80ac6359be60ba4eb
--- /dev/null
+++ b/Navigation/GroundDetection/the_light_beige_bathroom_tile_area_located_at_the_lower_left_of_the_wainscoting_on_the_left_side_of_the_frame/row_153_col_image_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_light_beige_bathroom_tile_area_located_at_the_lower_left_of_the_wainscoting_on_the_left_side_of_the_frame/row_153_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the light beige bathroom tile area located at the lower left of the wainscoting on the left side of the frame."
+    ],
+    "scene_description_en": [
+      "the light beige bathroom tile area located at the lower left of the wainscoting on the left side of the frame."
+    ],
+    "scene_description_cn": [
+      "位于画面左侧、护墙板左下方的浅米色浴室地砖区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          1024,
+          718
+        ],
+        "counts": "`k0]4ck01O000O100O10000O10O0101O0O3N000O10000OO2002M10000O10000O10000O1000000O1000000O1000000O1O100O100O10000O100O10000O1000000O10000O10000O10000OO2000O102N0O10000O10000O10000O10000O10000O100O10000O10000O10000O10000O100O10000O10000O10000O1000000O100O1000000O100O10000O1000000O10000O10000O10000O100O100O10000O10000O10000O10000O10000O10000O100O100O10000O10000O10000O10000O1000000O10000O10000O10000O100O10000O100O1000000O10000O100O1000000O1000000O1000000O100O1000000O10000O100O10000O100O10000O10000O10000O10000O100O100000000001O001O1O001O001O1dJZWO\\3gh0XLhWOd3Yh0QLSXOm3ng0oKWXOm3Sh0[K_XOe4^i0O1O2N1M3O2N1O1O1O110N1O001O1O1O1O001O001O0000001O001O001O00001O0000000000001O000000O100000000000000O10000O100O10000O100O100O1O100O100O100O1O100O100O1O100O100O1O100O100O1O100O100O100O1O100O1O10000O1O10000O10000O100O100O100O100O1O10N20O102N0O1O1O100O100O100O1000000O10000000000003M6JT1lN?A2N2N1O1O1O1O1O1O1O1O1O1O1O1O2N1O1cNoROIRm00YSOKhl0O_SOObl0DkSO;Wl0_OmSOa0jm0O1O1O1O002N1O1O1O1O1O0N4N1N2O100O1O1O2N1O1O2MWPR8"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_light_beige_bathroom_tile_area_located_to_the_front_right_of_the_toilet_on_the_right_side_of_the_frame/row_128_col_image_mask_rle.json b/Navigation/GroundDetection/the_light_beige_bathroom_tile_area_located_to_the_front_right_of_the_toilet_on_the_right_side_of_the_frame/row_128_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..9928a2dba6c79978ef275e099196941268a73840
--- /dev/null
+++ b/Navigation/GroundDetection/the_light_beige_bathroom_tile_area_located_to_the_front_right_of_the_toilet_on_the_right_side_of_the_frame/row_128_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_front_right_of_the_toilet_on_the_right_side_of_the_frame/row_128_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the light beige bathroom tile area located to the front right of the toilet on the right side of the frame"
+    ],
+    "scene_description_en": [
+      "the light beige bathroom tile area located to the front right of the toilet on the right side of the frame"
+    ],
+    "scene_description_cn": [
+      "位于画面右侧、马桶右前方的浅米色浴室地砖区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          768,
+          1024
+        ],
+        "counts": "S_S;`0^g03M2O1M3N2O1N2N2O1O1O1O1N2O1N2O1O1N2N2O1O1N2O1O1O1N2O1O1O1N2O1O1N2O1O1O1N2O1O1O1O1N2O1N2O1O100O100O1000000000000O100000000O1000000O100O100O100O1O100O10000000000000000000000O100N2N2VO[MW\\Og2dc0m0N2O1O1N2O1N2O1N2O1O1N2N2N2O1O1N2O1N2O1N2O1N2O1O1N2O1N2N2N2O1O1O1N2M3O1O1O1O1O1N2O1000000O1000000000000000000O1O1^O^Jd^Od5[a0b0O0000O101O00000000001O01O0000000000O2O00000000000000O1000000O100O1O1O1M3O1L4K5O100O10000000000000000000000001O0000000000000000001O000000000000010O00000O100000001O00000001O000001O00000000000O101O000000000000001O00000000000000001O0000000000001O000000000001O01O0000000000000O10001O000000000000000000001O000000000000001O00000000000000001O000000000000001O00000000000O101O01O000000000001O0000000000001O00000000001WJj^Of4Va0TKU_Og4k`0VK\\_Of4d`0YK__Oe4b`0XKb_Of4^`0ZKd_Od4\\`0[Kf_Od4Z`0\\Kg_Oc4Y`0]Kh_Ob4X`0^Kh_Ob4X`0]Kj_Ob4V`0^Kj_Ob4V`0^Kk_Oa4U`0_Kk_Oa4U`0`Kj_O`4V`0`Kj_O`4V`0`Kj_O`4W`0`Kh_O`4X`0aKg_O_4Y`0bKf_O^4Z`0cKd_O^4\\`0cKc_O]4]`0eK`_O\\4a`0eK\\_O\\4d`0fKY_O[4g`0eKY_O[4g`0fKV_O\\4j`0dKT_O^4l`0cKQ_O_4o`0aKQ_O_4o`0aKQ_O^4Pa0bKP_O^4Pa0aKQ_O^4Qa0aKo^O\\4Ta0cKn^Oj3da0VL]^O_2mb0`MV]Oh1WOjMUd0<h\\Og0^d0WOf[OKPOLcdf3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_light_gray_bathroom_tile_area_located_below_the_seashell-patterned_shower_curtain_on_the_left_side_of_the_frame/row_150_col_image_mask_rle.json b/Navigation/GroundDetection/the_light_gray_bathroom_tile_area_located_below_the_seashell-patterned_shower_curtain_on_the_left_side_of_the_frame/row_150_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..1548270711a73e5587755d0f675851201525e287
--- /dev/null
+++ b/Navigation/GroundDetection/the_light_gray_bathroom_tile_area_located_below_the_seashell-patterned_shower_curtain_on_the_left_side_of_the_frame/row_150_col_image_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_light_gray_bathroom_tile_area_located_below_the_seashell-patterned_shower_curtain_on_the_left_side_of_the_frame/row_150_col_image_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the light gray bathroom tile area located below the seashell-patterned shower curtain on the left side of the frame"
+    ],
+    "scene_description_en": [
+      "the light gray bathroom tile area located below the seashell-patterned shower curtain on the left side of the frame"
+    ],
+    "scene_description_cn": [
+      "位于画面左侧、贝壳图案浴帘下方的浅灰色浴室地砖区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          512,
+          335
+        ],
+        "counts": "koa03`>8\\B0`=Y1O10000O10000O1000O10O2O00000O1000000O10000O100O10000O100O10000O10000O1000000O1000000O100000000O1O100O100O1000000O100000000O10000O10000O10000O10000O100O10000000000O100O10000O1000000O1000O010001O0O10000O10000O1000000O10000O10000O100O011O00000O100O1000000O10000O100000000O10000O10000O10000O1000000O10000O10000O1000000O1000000O10000O10000000000002N1O2SOYC]Ni<]1cC[N_<`1gC]N[<_1iC_NY<\\1lCbNV<[1Z1L3N3L3N3M3L4M2N2N2M4M9GPbd1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_part_of_the_table/000471_mask_rle.json b/Navigation/GroundDetection/the_part_of_the_table/000471_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..faa3d260f0b6cf718386fc8e174e4f555df9694f
--- /dev/null
+++ b/Navigation/GroundDetection/the_part_of_the_table/000471_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_part_of_the_table/000471_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the part of the table"
+    ],
+    "scene_description_en": [
+      "the part of the table"
+    ],
+    "scene_description_cn": [
+      "桌子的一部分"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "VV2:Y:1O100O1O1lH6^3IbL<Z3DeL>Z3AgL?Z3_OfLb0Z3^OeLc0[3\\OcLg0\\3ZOZLP1h3nNlK^1U4aNjK`1U4`NkKa1V4^NjKb1Z4YNgKg1c600000001N10K]NYGd1e8^N[Ga1e8_N[Ga1e8_N[Ga1d8`N\\G`1d8aN\\G^1d8bN\\G^1c8cN^G\\1b8eN]G[1c8eN]G[1b8gN^GX1b8hN^GX1b8iN]GW1c8iN^GV1b8jN^GV1b8kN]GU1c8kN^GT1b8mN]GR1d8nN]GQ1c8oN]GQ1c8PO\\GP1e8oN\\GP1d8QO[Go0e8QO[Go0f8PO[Go0d8SO[Gm0e8SO[Gn0a8UO`Gj0^8YOaGg0^8ZObGe0_8\\OaGc0_8]OaGc0_8]ObGb0]8@bG`0^8@cG?]8BbG>]8CdG<[7iNcIk0RO<Z7jNdIk0RO:Z7lNcIj0SO:Z7mNbIj0TO8Y7oNdIh0SO9Y7POeIe0RO;Y7QOlI=jNb0Y7SOSJ4eNh0X7UOTJ2cNi0Y7UOWJO`Nl0X7WOYJL_Nl0X7YOYJJ_Nm0V6mNjJ<b0I^Nn0V6mNjJ<b0J^Nl0W6oNfJ=d0H_Nl0W6oNfJ=d0H`Nk0V6QOeJ;UOF9c00AFj0V6ROeJ;VOk05nNJj0V6SOdJ:VOo02kNOh0U6UOcJ9WO\\10VOW6UO`J9YO]11TOV6WO`J7YO_10SOX6WO_J6YO`10SOX6XOaJ1XOd10ROW6ZOeJKSOk10POX6ZOkJe1mNQOX6[OjJe1nNoNX6\\OkJd1mNPOX6\\OkJd1nNoNW6^OjJd1nNnNX6^OjJd1nNnNX6_OWJOGd1KnNV6DlI31\\1LmNW6a2iI_MX6;hIm00gNX6;hIo00fNX6;hIo00fNX6;hIP10dNX6;hIR10cNZ69fIT11bNZ69eIV10`Ng6Y2YIgMn6GRIk10^NP7DPIn10^NP7P2PIPNP7CPIQ20[NP7DPIQ20[NP7DPIQ20[NQ7BoHU20XNQ7CoHU20XNQ7CoHU20XNQ7T2oHkMR7BnHY20UNR7BnHY21TNQ7BoH[2OSNR7BnH\\20RNR7BnH\\21QNQ7CnH]20PNR7X2nHhMR7BnH`20mMR7CnH`20mMR7CnH`20mMR7CnHa20kMS7CmHb20kMY7U2hHjMX7W2gHiMZ7V2fHjMZ7W2fHhMZ7X2fHhMZ7X2fHhMY7Y2hHfMW7\\2hHdMW7]2jHbMU7`2jH`MV7`2jH`MS7CmHn21^MT7c2kH]MT7d2lH\\MT7d2mHZMT7g2kHYMU7g2kHYMU7g2lHXMS7j2lHVMT7j2lHVMT7j2mHUMS7l2lHUMS7k2nHTMR7m2mHSMS7m2mHSMR7n2oHQMQ7P3nHPMR7P3nHPMR7P3oHoLP7S3oHmLQ7S3oHmLR7R3oHmLP7U3oHkLQ7U3PIjLP7W3oHiLR71oHm20QMQ70TIl2KTMP71VIk2ITMQ7OYIl2GTMQ7OYIl2FUM_7l2aHSM_7m2aHSM_7n2aHQM`7n2`HRM`7n2310O0000010O00nNRM^Jo2_5TMaIOl0l2c5ZM\\Jf2d5ZM\\Jf2d5]MZJb2f5^MZJb2f5^MZJb2f5^M[Ja2e5^M\\Jb2e5]M[Jc2k5VMVJj2k6O00001O00mNXMZJh2e5YM\\Jf2d5YM]Jg2c5XM_Jg2a5YMiJ]2g601O000000000000GcM\\H\\2d7eM[H[2f7dMZH\\2P8VNkGS1V8hNPHV1h8O1O0000000000O100\\O`NSHa1l7dNPH\\1o7eNPH\\1P8dNoG]1R8aNoG_1Q8aNnG`1R8_NnGb1R8]NoGc1Q8\\NoGe1Q8[NnGf1i7WNUH32f1h7YNUH12g1i7YNUHN3i1h7XNVHN2k1h7WN`Hj1a7UN_Hk1a7UN^Hl1b7TN^Hl1b7UN\\Hl1d7TN[Hm1e7SN[Hm1e7SNZHn1f7RNYHo1g7QNYHo1g7QNXHP2i7oMWHQ2i7oMVHR2j7nMVHR2V8000000000001O000000001OGPNnGP2Q8QNoGo1P8RNPHn1o7SNQHm1o7TNQHk1o7UNQHk1n7VNRHj1n7WNQHi1o7WNQHi1o7WNRHh1n7XNRHh1n7XNRHh1n7XNRHh1n7XNRHh1n7XNRHh1n7YNRHf1n7ZNRHf1n7ZNRHf1n7ZNRHf1m7[NTHd1l7]NSHc1m7]NTHb1k7_NUHa1k7`NTH`1k7`NVH`1j7aNUH_1j7bNWH]1i7cNWH]1h7dNXH\\1h7dNXH\\1g7fNYHY1g7hNXHX1h7hNXHX1g7iNYHW1f7iN\\HV1d7hN^HX1c7YNkHg1R8O0000O100O0N2CWNoGa1m7oNlGj0_8XO`G;l8EUGI]95b0N2N3O0O1O1O10001O0000000000001O000001O01O000001O0001O00000O2O0O1O1O1OXb\\14S[cN6hI<X6NVI:j61eH5[7b1000O1K6B=H8G9J6H8M4E:G:EY]3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_side_of_the_black_chair/41125564_3442.308_mask_rle.json b/Navigation/GroundDetection/the_side_of_the_black_chair/41125564_3442.308_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..c73a8fe8d816342da13838afc09450b261a945ba
--- /dev/null
+++ b/Navigation/GroundDetection/the_side_of_the_black_chair/41125564_3442.308_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_side_of_the_black_chair/41125564_3442.308_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the side of the black chair"
+    ],
+    "scene_description_en": [
+      "the side of the black chair"
+    ],
+    "scene_description_cn": [
+      "黑色椅子的侧面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "5g5V93N20000000O100O100O1O1N2O100N200O100O1O10000000000001O1O1O1O001O1O1O2N1O2N1O2N1O1O2N1O1O2N1O1O1O1O2N1O1O1O1O1O2N1O1SK^IZ1c6bNbI\\1_6`NdI`1]6]NfIb1Z6]NgIc1Z6YNjIf1W6XNjIh1V6UNmIk1S6RNPJn1P6QNQJo1P6oMRJP2n5nMTJR2l5kMWJU2j5hMXJX2i5eMYJ[2g5cM[J]2f5aM\\J^2d5`M^J`2c5XMdJh2\\5QMlJn2U5mLoJS3R5iLQKW3P5eLSK[3m4cLUK]3l4`LVK`3k4]LWKc3j4[LWKe3i4YLZKf3h4VLZKj3g4QL]Ko3e4iKaKW4d701O0000000000000000000000001OO100O100UOeKPG\\4n8jKlFX4T9iKjFX4U9kKhFV4W9lKgFU4Y9lKfFT4Z9mKeFS4[9mKdFT4\\9mKcFS4]9mKdFR4[9oKfFP4Z9PLgFo3Y9QLhFn3X9RLhFn3X9RLiFm3V9TLkFk3T9WLkFi3R9ZLnFf3Q9[LoFe3P9\\LPGd3o8^LPGb3P9^LPGb3o8_LQGa3o8_LQGa3n8`LRG`3n8`LRG`3n8aLQG_3o8bLoF_3Q9aLoF_3R9bLkF_3U9V1000000001O001O3M2]JdF^5`9O0000001O4L1O2N1O1O0000O100M3N2O1O100000000000000N200O10000O1001O000000000000000000000000O100O10000O1000000000000001O00000000000000000000000000dNcJUI]5i6eJXIZ5g6hJXIX5e6lJZIT5c6oJ]IQ5_6SKaIm4\\6VKdIj4V6\\KjId4R6`KnI`4m5eKSJ[4h5jKWJW4e5lK\\JT4`5oKaJQ4[5RLfJn3W5TLiJm3Q5XLPKh3k4[LWKe3e4_LZKb3b4bL^K^3_4dLbK\\3Z4gLfKZ3X4gLiKY3o3oLQLQ3n3oLRLR3m3oLSLQ3l3oLTK`M?b5\\4oLPKfMb0[5]4PMoJgMc0Z5]4QMkJjMf0V5^4eM`K\\2`4eM^K\\2a4eM_K[2a4fM]K[2b4fM]K[2c4eM]K[2b4gM\\KZ2c4gM\\KZ2c4gM\\KZ2d4gMZKZ2e4gMZKZ2f4gMXKZ2f4iMYKW2g4iMXKX2g4kMUKW2j4P4L4K5J6N2O1O100O1O1O1O1O1N2O1N2O1O1O1O1O10000O100O100O10000O10000001O000000O100O1O10000O1HfDgL];S3;F:J6N2N2O1O1O1O100O100001O1O2N1O1O1eCdMP<n2H3M1O1O001O1O2N1O1O001O1O1O001O1O1O1O1O1O001O001O1O001OO100O1O100O10000O11O_NTEnNl:P1ZElNf:S1bEfN^:Y1eEeN[:Z1jEbNV:^1nE^NR:a1WFPNdN1W;o1e1000000001O1O1O3M3M2N4L3M4L3M4L4L5K2N1O4L3M3M3M1O1O0000O1O1O100O1LgD`LZ;_34N2N2N2O1O1O1O1N2N2J6J6I7O1O1O1O1O100O10000001O001O2N1O2N1O1O2N1O1O1O2N1O1O2N1O1O2N1O1O2N1O1O1O2N1O2N1O1O1O1O1O1O1O1O1O1O2N2N1O2N1O1O1O1O1O001O0000O1000000O1O100O1O1O100O100O1O100O1O1O100O1O100O1O1O1O10gD_LS;`3700O1O100O1O1O100O1O100O1O1O1O100O100O100O100O10000O100O1O1O100O1O100N2O1N2N2O1O1N2HdChM`<T28M3N2O1O1O1O1O100O1O100O1O1O1O100O1O1O1O100O1O1O100O1O100O1O1O100O1O1O1O100O1O1O1O100O100O1O100O1O100O1O1O100O1O100O100O1O1O100O100O1O1O100O1O1O1O1O100O1O100O1O1O101NP]1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_side_of_the_pool_table222222the_front_of_the_shelf/1143_mask_rle.json b/Navigation/GroundDetection/the_side_of_the_pool_table222222the_front_of_the_shelf/1143_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a48e708e37b264451525cb0f65e75ae0c70aa95
--- /dev/null
+++ b/Navigation/GroundDetection/the_side_of_the_pool_table222222the_front_of_the_shelf/1143_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_side_of_the_pool_table222222the_front_of_the_shelf/1143_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      " the side of the pool table222222the front of the shelf"
+    ],
+    "scene_description_en": [
+      "the side of the pool table",
+      "the front of the shelf"
+    ],
+    "scene_description_cn": [
+      "台球桌侧面",
+      "架子的正前方"
+    ]
+  },
+  "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_:Obo00am31ZVK3M200N3N1M3M3O2N100O2O1XC^On;c0oCDk;>SDEFCn;l0nCTO3b01^Om;h1RDXNn;i1RDVNm;l1RDTNn;l150O1O001O1O0100O10O100N2hD`Nl9`1RFYOW9h0VFnM<X2FPN\\8k1aGmM<Y3b7kNQHlM<k3D`Lo6j1_IV2`6jM^IX2b6iM\\IX2d6jMWIZ2h6fMTI^2l6cMSI]2l6eMSI[2m6eMTIZ2k6hMUIW2k6iMUIW2l6hMUIW2k6jMTIV2l6jMUIU2k6lMUIS2j6oMVIP2j6QNVIn1j6TNTIl1k6VNVIh1j6XNVIh1k6XNUIg1k6[NTId1l6]NTIb1l6_NTI`1l6aNTI^1l6bNUI]1k6dNUI\\1j6eNVIZ1j6gNVIX1k6gNVIW1k6jNUIU1l6kNSIU1m6lNTIS1k6nNTIR1l6oNUIo0k6`LSIR21]1l6`LTIT20[1m6_LUIV2NZ1m6`LUIW2NX1m6aLUIW2OW1l6aLVIZ2MT1l6cLVI[2NQ1j6fLXIZ2No0g6kLZIW2Om0e6nL\\IV20j0c6QM\\IW20h0d6RM[IW22e0c64]IKc6TM^I8MQ12b1c6UM^I7NS11`1c6WM\\I70T10]1d6XM\\I70V1OZ1f6XM[I80W1OX1f6YM[I72X1MW1f6ZM[I72Y1MU1g6XN]Ic0NS1e6YN_Id0LR1e6YN`If0KP1e6ZN`Ig0Lm0d6ZNYIbN8X2Jk0e6ZNdIm0Fh0f6ZNdIeNEX21h0f6\\NdIcNFZ20e0f6aNdIl0Eb0g6aNeIn0D`0g6aNfIP1D=f6cNeIR1E:f6dNeIS1E8f6fNdIS1F6f6gNcIV1G1f6jNbIV1HOf6lN`IW1JLf6nN_IW1LHf6QO]IZ1LDf6SO^IZ1LCd6TO`IZ1M@c6VO`I\\1L]Od6WO`I]1L[Oc6XObI^1KYOc6YObI`1KUOc6ZOcIc1IROd6[OcId1JoNc6]OcIe1JmNc6^OcIf1KjNb6@cIg1KhNb6D`Ie1OeNb6E_Ih1NbNc6G^Ih1O`Nc6H^Ij1N]Nd6I^Il1MZNf6J\\Im1OWNe6L\\In1OUNe6N[Io1ORNf60ZIo12nMd6n3[IQLe6P4\\InKd6T4[IkKe6W4[IgKe6[4[IcKf6]4[IaKe6a4[I\\Kf6f4ZIXKf6k4YISKg6o4ZInJf6T5[IiJe6Z5[IcJf6_5YI_Jg6f5XIVJh6l5ZIPJf6S6]IfId6i63hIUI[5i6RJkIn5T6QJnIn5R6RJoIm5R6QJoIo5Q6PJQJo5o5PJSJo5m5PJTJP6m5oITJP6l5oIVJP6j5PJWJP6n6O00001O00000mKoGU2Q8YLQHGO9c0KCj3l9N2N00001O00001O001O00001O00000000O100O1O1N2O100O100hNSL[Hm3_7aL^GDd0k3k7mLTHR3k7QMSHo2m7QMSHo2m7QMSHn2n7QMSHo2n7PMSHo2o7oLQHQ3o7oLQHQ3P8mLQHT3n7lLSHS3R8fLPHZ3\\90001O00001N100000001O00001O000001O01O00001O00001O00000001O0001O00000O101O0O10001O001O00001O00001O0000010O000000001O0000]NeL_H[3_7hLUGNK3S1V3n7gLVGOI44Li0Y3U8hLWG4JLM0i0X3X8lLoF`0h0d2W8gMhGX2X8hMhGX2X8jMfGV2Z8jMfGV2Z8lMdGT2\\8hMQGROd0U3\\8lMdGT2\\8mMcGS2]8mMcGS2]8mMcGS2]8nMbGR2_8mMaGS2_8mMaGS2`8eMPGUOd0T3^8[MlFA\\1j2j9O1O00001O001O001O000000001O001O00000000000000O1O1N2I7jNRMZFOd0R3_8XMhF>?[2b8\\NXGf1f8l1O1O1O1O100O1O100O100O1O100O1O1O1O1N200000000001O1O00000000000000000000000000O1O2N0[OgJbHZ5\\7iJcHW5\\7SKZHn4f7g00000001O0000000000001O0000000000000000001O000000001O0000000000001O00000000000000001O000000000000001O00000000000000001O00000000000000001O00000000001O00000000000000001O000000000000001O0000000000001O0000000000000000000000001O0000001O001O1O2N3M3M2N1O1O4L3M3M3M3M5K2QNgFQO]9j0dFVO^9h0bFXOe9B[FgN0`037L]O33LGn9=SFD35a03[OG`01DON0j:2TE5;IE1f00]OOc00f0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_side_of_the_sofa222222the_front_of_TV_stand/1997_mask_rle.json b/Navigation/GroundDetection/the_side_of_the_sofa222222the_front_of_TV_stand/1997_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bf4711b566a5fc1eab5dd5a8fa68747cf16eae7
--- /dev/null
+++ b/Navigation/GroundDetection/the_side_of_the_sofa222222the_front_of_TV_stand/1997_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_side_of_the_sofa222222the_front_of_TV_stand/1997_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the side of the sofa222222the front of  TV stand"
+    ],
+    "scene_description_en": [
+      "the side of the sofa",
+      "the front of  TV stand"
+    ],
+    "scene_description_cn": [
+      "沙发的侧面",
+      "电视柜的正面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          600,
+          800
+        ],
+        "counts": "U<a6W<0N4M1000000000000000000000000O10000000000000000000000000000O100000000000000000000000000000000O10000000000000000000000000000O1000000000000000000O1000000000000000000000000000000001O1O2N1O0000000000000000000000000000000000O100O1O1N2N2O1O1N2O1O1O1O1N2O1M3O1N2O1N2M3N2N2L4M3K5F:K5N2000000O1000000O1000000O100000000000000000000001O0000001O0000000000O100000000000000O100N2N2O100000000O10000000000000000000000000000000000000000000000000000000000O10000O^HYFU6g9^10000O10000000000000000000000000000000000000000000000000000000000000000O1000000O1000000O100O100O100O100000000O10000001O000000001O001O001O000000000000000000000_JdFf1\\9YNgFe1Z9XNiFg1X9WNjFh1\\9QNfFn1_9jMeFU2^9fKPFT1c0V3c9_KlEY1c0W3e9[KiE]1c0X3g9WKhE`1a0Y3Z:fLeE[3c:\\L^Ed3c:[L\\Ef3g:WLYEi3g:WLXEj3i:TLWEm3j:RLUEo3l:PLSEQ4n:nKQES4Q;kKnDV4T;hKjDZ4X;cKhD^4Z;`KdDb4];]KbDd4`;ZK`Df4b;XK^Dh4c;WK]Di4e;TK\\Dl4d;TK\\Dl4e;SK[Dm4e;SK[Dm4e;SK[Dm4e;RK[Do4e;QK[Do4e;QK[Do4e;QK[Do4e;QK[Do4e;QK[Do4d;RK\\Dn4d;RK\\Dn4d;RK\\Dn4d;RK\\Dn4d;RK\\Dn4d;RK\\Dn4d;QK]Do4c;QK]Do4c;eJPD2=Y5d;aJUD36]5T<`JlC`5f<0000000002ZKSC]3o<bLRC\\3o<cLTCZ3m<nKgBb0=_3R=_LoBa3R=^LoBa3T=[LnBd3U=XLnBf3`;TLZE3IW3R>O1O001O1O1O1O00MjLe@U3`?OLlLd@T3\\?lLe@S3Z?nLf@R3Z?nLf@R3Y?nLg@S3Y?lLg@U3X?kLi@U3\\?1N2UOTMiAm2U>[MaAi2]>j0L4N2L4O1O1000000000000003gKVB^3i?dL_@S1Ta0_O2N1O00000000001O001O1O3M2N2N3M3M2N2N1NZdn4Kk[QK1O2N2O0100O100O100O11OO01000000000O100O10O100000000l]^1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/the_top_right_edge_of_the_dark_red_wooden_shelf_next_to_the_bed_on_the_left_side_of_the_frame/1165_mask_rle.json b/Navigation/GroundDetection/the_top_right_edge_of_the_dark_red_wooden_shelf_next_to_the_bed_on_the_left_side_of_the_frame/1165_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d4992448c0a3cd669e5bd6b9fea6314d5306266
--- /dev/null
+++ b/Navigation/GroundDetection/the_top_right_edge_of_the_dark_red_wooden_shelf_next_to_the_bed_on_the_left_side_of_the_frame/1165_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/the_top_right_edge_of_the_dark_red_wooden_shelf_next_to_the_bed_on_the_left_side_of_the_frame/1165_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the top right edge of the dark red wooden shelf next to the bed on the left side of the frame"
+    ],
+    "scene_description_en": [
+      "the top right edge of the dark red wooden shelf next to the bed on the left side of the frame"
+    ],
+    "scene_description_cn": [
+      "位于画面左侧、床铺旁的深红色木质搁板的右上角边缘"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          467,
+          625
+        ],
+        "counts": "o[P15Z>5L3J6J6K5L4K5M3K5L4J6L4L4N2O1O100O1000000000000O100000000000000000000000000O11O00000000O1000000000000000000000000000000000000O100000000000000000000000000000000000000000000000000000000O1000000000000000000000000000000000000000000O100000000000000000000000000000000O100000000000000000000000000000000O100000000000000000000000000000000O10000000000000000000000000000000000000000000000O10000000000000000000000O10000000000000000000000000000O100000000000000000000000000O1000000000000000000O10000000000000000000000000000000000O1000000000000000000000000000000000000000000000000000000O10000000000000000000000O100000000000000000000000000O100000000000000000000000000000000O100000000000000000000O1000000000000000000000000O100000000000000000000000000O100000000000000000000000000000000O100000000000000000000000000O100000fMfD[1Z;[NUE`1k:^N[E^1e:aN^E]1b:bNaE\\1`:bNcE\\1]:cNeE\\1l;M1O1O2N1O1O1O2N1O1O002N1O001O1O1O001O0O2N2J6H[eg1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/thr_front_of_the_cabinet_222222_the_front_of_the_oven/002229_mask_rle.json b/Navigation/GroundDetection/thr_front_of_the_cabinet_222222_the_front_of_the_oven/002229_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..520b11b4036752f6f099fbb16c6065cee83c6131
--- /dev/null
+++ b/Navigation/GroundDetection/thr_front_of_the_cabinet_222222_the_front_of_the_oven/002229_mask_rle.json
@@ -0,0 +1,32 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/thr_front_of_the_cabinet_222222_the_front_of_the_oven/002229_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "thr front of the cabinet 222222 the front of the oven"
+    ],
+    "scene_description_en": [
+      "thr front of the cabinet",
+      "the front of the oven"
+    ],
+    "scene_description_cn": [
+      "柜子的正面",
+      "烤箱的正面"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          683,
+          512
+        ],
+        "counts": "`cT18Se0<C<E:F9G8H9G:F0001O00000000000000000000000000000000000O1001OO100001O000000O1001O00000000O100000000001OO1001O00000000O10O2N1O100O1O100000000000000O100N2O1M2N4M2M2N4L3N2M3O1M3N2M3N2M3N2M3N2N2M3N2M3M3N2M3N2M3M3M3L4N2\\Od0O1O10000O1O1O1O1O1O1O100O1fMSJ\\D1XOm5Z<XJXDO\\Oi5Z<cJPDFDh5\\<kJeCAMd5^<mK_CT4a<mK^CS4b<nK\\CS4d<QLVCQ4j<X2000000000O1000000000000001O0000000001OO10000000000000000000000000000000000000000000000000000000000000000000000000O1O100000000000000001O0000000000001O0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000O11O0000000000O1001O00000000O1001O00000000000000000000000000000000000000000000O11O00000001O001hGeC^7Y=K3M4L4L5K3M4L4L7I4L3M3M4L4L3M5K5K2N2N4L4L3M4L4K7J3M3M4L4M2M3M3M2N3M3M5K4L4L5K3M4L3M4L4L3M6I4M4L4L3M2N2O2M7I4L4L4L4L4L3M4L5K3Mafn1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/toaster/41069134_4092.207_mask_rle.json b/Navigation/GroundDetection/toaster/41069134_4092.207_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1287502d581db4b28456658448ecf4b27b6c67e
--- /dev/null
+++ b/Navigation/GroundDetection/toaster/41069134_4092.207_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/toaster/41069134_4092.207_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "toaster"
+    ],
+    "scene_description_en": [
+      "toaster"
+    ],
+    "scene_description_cn": [
+      "面包机"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/towel_rack/41048247_4146.862_mask_rle.json b/Navigation/GroundDetection/towel_rack/41048247_4146.862_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd3a2b0e5dc8c8d060803ca3f9bba025f7dafd85
--- /dev/null
+++ b/Navigation/GroundDetection/towel_rack/41048247_4146.862_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/towel_rack/41048247_4146.862_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "towel rack"
+    ],
+    "scene_description_en": [
+      "towel rack"
+    ],
+    "scene_description_cn": [
+      "毛巾架"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/two_target_area/000279_mask_rle.json b/Navigation/GroundDetection/two_target_area/000279_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..a277d308033b440a0f2b1b0e0e6b9c8a0d285c32
--- /dev/null
+++ b/Navigation/GroundDetection/two_target_area/000279_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/two_target_area/000279_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "two target area"
+    ],
+    "scene_description_en": [
+      "two target area"
+    ],
+    "scene_description_cn": [
+      "两个目标区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "e8o1g800O00N21O4L2N1YNTGc1W9H5K1O1O2N2N6J2N2N2N1O1O2N2N3M;EcjV20\\UiM4M1O2M100O100O100O10O1000000O100O100O1O1000001O000000001M22N1O001jFIl77THJk76THKl75SHMD3WO<Y7FjILEi0`6[OjINEg0a6[OjIOCg0c6ZOYIGM97f0c6]OfINFe0d6]OfINEf0e6ZOhHGl0;Fd0f6ZOhHGl0<Dd0e6UOkH3j06Dc0f6AeIMDb0f6BfIMAc0g6CgIK@c0h6ChIK]Od0k6AQIXOc0R2]6fNeIZ1[6gNdIY1\\6hNbIY1^6gNbIY1^6hNaIX1^6kN_IV1a6jN_IV1a6jN_IV1a6jN_IV1a6kN^IU1b6kN^IU1b6kNdITOC_1i6^OfJKZ55lJET5;lJEU5;jJEV5;jJEU5<kJDU5<kJDU5<kJDU5=jJCV5>iJBW5?ZI^O7CA`0n6a0VI_OOMK3P7d0SI5MWOn6Y2RIgMm6Z2SIfMm6Q3O100000000000000O100O1000000000iLVI_O6k2d6cMdI[2\\6cMhI[2[6XMYI2?c2[7NO^MQH`2n7aMUH\\2k7eMUHZ2j7hMUHX2l7gMSHZ2n7600001OO1O100000000O1002N000000O1O1002N1O0000000RNUHR1l7mNUHFMm0U8kNhHU1]8O0000O11O000000001O001O1O00000000001O001O001O001O0000000000001O00001O001O000000001O1O0000000000001O000000001O001O00001O001O0000000000001O000000001O001O1O0000001O00000000000000001O00001O000000000O101O0000000001O0000O101JjEKV:5jEKW:3jEMXZ:"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/two_target_area/000320_mask_rle.json b/Navigation/GroundDetection/two_target_area/000320_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..4831db13361292c1828910303381157cfedd620d
--- /dev/null
+++ b/Navigation/GroundDetection/two_target_area/000320_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/two_target_area/000320_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "two target area"
+    ],
+    "scene_description_en": [
+      "two target area"
+    ],
+    "scene_description_cn": [
+      "两个目标区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          771,
+          512
+        ],
+        "counts": "g`i0<fg04M2M4TZOAnc0f0h[O]OWd0`1kZObNUe0V200O10000O1000000O100000000O1000000O10000000000O1000000O10000O1000000O01O1002M10000001O>B?A3M1O001N100001N1M3O1001O1O1O1O2N2N2N2L7K8H8H6K2M100O000O01O001O2K3I8I7N2O1O1O1O10000O10000O100O10000O10000O1000000O10002N000O10000O1000000O10000O100O100O1000000O1000O0101O00O02O000O10000O1000000O1000000O1000000O10000O10000O1000000O10000O10000O10000O10000O100O1000000mMlMW^OT2ea0QNY^OP2fa0RNY^On1ga0SNX^Om1ha0TNW^Ol1ia0TNW^Ol1ja0TNV^Ok1ia0WNX^Og1ha0ZNd^OY1Za0jNh^OS1Ua0QOk^On0Ra0VOm^Oj0n`0[OR_Oe0i`0AU_O`0i`0CV_O=i`0DV_O=j`0DS_O>m`0Cl^Oc0Sa0_Of^Og0Ya0[Oa^Oj0_a0VOR^OY1ma0iNg]Ob1Yb0_Nc]Od1]b0]Na]Od1^b0^N`]Oc1ab0]N]]Od1cb0n1001O0000000000;E1O1O001O00O1O100M3J6I7J6K5O11O001O1O001O1O1O000000001O001O1O2N001O1O1O1O1O1O001O001O001O1O1O00001O00001O00003M1O001O001O0`Nm\\OPNSc0m1R]OQNob0m1S]ORNmb0m1V]OPNkb0MP]Of07[Okb0IT]Ok02ZOlb0GU]On01ROSc0Lo\\OR10fN\\c05e\\OU1`d0gNb[OY1_d0cN\\[Oc1gd0ZNU[Oj1ae00010lNVZO0ke0J\\ZO4ee0H`ZO7`e0DeZO;\\e0CfZO=[e0@eZOa0]e0\\OcZOf0Yf03N3M2N3M2O2N20O01OQOjYO2Tg0O2O00O0L4K6G8M4L4O010O1O0100O2O0O101N102N0O2O0O100O2O001O2N1O2N2N1O2O2N0O01O001O1O001O010O0010O01O1O0010O10O0100N3M3Kfi9DPRm1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/two_target_area/000336_mask_rle.json b/Navigation/GroundDetection/two_target_area/000336_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..2590b6ec4f2fe86e0c82978a740ff72601a82ef3
--- /dev/null
+++ b/Navigation/GroundDetection/two_target_area/000336_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/two_target_area/000336_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "two target area"
+    ],
+    "scene_description_en": [
+      "two target area"
+    ],
+    "scene_description_cn": [
+      "两个目标区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          384,
+          512
+        ],
+        "counts": "ble15g;7ZDEa;=O2N2O1N2O1N2O001O1O1O1O1N101O1O1O0O2O1O100O001O1O1O001O1O000101N1O100O101N10O1LlNZET1i:1O10010N2N5dElNa9l1XFTNV9`2K?B2N2M101N1001OO1000000000000001O00001O0000EeLQH[3k7kLPHX3o7iLoGY3Q8gLoGY3Q8;000000000000000000000000001O1O1O1O1O1O1OMZLmGe3S8[LmGe3S8[LmGe3S8\\LnGb3\\8L1O1O1O1O001O1O2N=C1O1O00O1O1I7O1001O00O100L4N2L4O1N2N2L4N2O1001O00001O001O00001O00001^LiGY3`8O1O001O000000001O00000000000000O100DiLoGW3o7mLnGT3R8lLjGX3V89O100000000001O00000000001O00001O00001O1dLeGQ3[8oLfGP3i8jLcGa2o8O001O00O1M3UO_MjGn2P8d0O1O1001O1O4gLdGf2k80001O000000001OITMZGl2R8iMmGW2S8k000000000000000001O0000001O00001O001O1O1O8H3M1O1O1O00001O00000000000000001O0000001O9G1O1O001O0000001O0000001O0000001O000000000000001O0000O1001O000000000000000000000000O11O00000000001O0000001O0000001O0000001O0000001O00001O00001O0000001O000000001O0000001O0000001O00001O001O001O1O1O001O1O1O001O0000000000000O101OPF"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/two_target_area/000337_mask_rle.json b/Navigation/GroundDetection/two_target_area/000337_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..03dbb9755bfa5a87369637c7fc9b2a59704973fe
--- /dev/null
+++ b/Navigation/GroundDetection/two_target_area/000337_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/two_target_area/000337_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "two target area"
+    ],
+    "scene_description_en": [
+      "two target area"
+    ],
+    "scene_description_cn": [
+      "两个目标区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          343,
+          512
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/two_target_area/000570_mask_rle.json b/Navigation/GroundDetection/two_target_area/000570_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc228509168ba3878b0e0030db57f92c9c7c6604
--- /dev/null
+++ b/Navigation/GroundDetection/two_target_area/000570_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/two_target_area/000570_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "two target area"
+    ],
+    "scene_description_en": [
+      "two target area"
+    ],
+    "scene_description_cn": [
+      "两个目标区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "g]c134j0h8l0@>\\Oe0I7N2N2O100O1000000000000001O001O1OO1O1O100O1000000001O0O11N10000000000000000000000O100O1000000000000000000000000O1000000000000000000000000000000000000000000O100O1O1000000O10000000000000000000000000000000000000000O10000O1001O001O001O3cLkHU3[7O2N9G0000O1L4O11O00001O001O1O001O001O1O001O1O001O001O1O001O001O1O001O1O1O001O001O001O1O001O001O1O005K7I1O0000L4M300001O001O001O00000000000000000000001O001O1O1O1O001O1O002N3M000000000000001O00N2O1O10000001O1O1O1O1O1O001O001O2N1O1O001hNgFS1^9O3M1O000000O100001ON2M3O100O10000O10000000000001O1O2N1O1WOaF:a9E_F5h9IZFOn9O=Nibl0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/two_target_area/000579_mask_rle.json b/Navigation/GroundDetection/two_target_area/000579_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff89a92fec934968b071d991bc9a6fe372b88dec
--- /dev/null
+++ b/Navigation/GroundDetection/two_target_area/000579_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/two_target_area/000579_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "two target area"
+    ],
+    "scene_description_en": [
+      "two target area"
+    ],
+    "scene_description_cn": [
+      "两个目标区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          771,
+          512
+        ],
+        "counts": "ji?3ng02O3M1O1O1O1O1N200N2O1O1O1N10001O2N2N1N2O1O1O1O1O1O1N2O1O1O1O1O1O1O1O1N2O1O1O1O1O1O1N2O1O1O1O1O100003M6J2N1O0000O1O1O1O1O1N2O1O1O1N2O1O1N2mNYNi[Oh1Ud0T1N2O1O1O1O1O1O1O1N2O1O1O1O1O1O1N200O100000000001O0000001O0000001O000000001O0000000000O100O1N2O1O1N2O1O1N2O1O1O1O1N2O1O1N2N2O1O1O1O1DbKQ]O`4mb0<O1N2O1N2O1O1O1N2O1O1O1O1O1O1N2O1O1O1O1N2O1N2O1O1N2O1O1O1O1O1O1O1O1O100O10000O1O100N2O1O1O1WOeIi_O\\6V`0gIf_O[6Y`0gIe_OZ6[`0gIb_O[6_`0eI^_O]6b`0dI\\_O]6d`0dIX_O_6h`0>0000O100000000000000O1O1N2E;M3O1N2O1O1O1O1O1OjHV@U6i?hI]@V6f?dI]@\\6f?_I[@b6i?XIX@i6_`02O1N2O1N2O1O1N200001O1O001O1O001O1O001O1hIf_Oe4\\`0SKm_Oj4ia0M2N1O1O1O001O1O1O001O00001O000000001O00000000000000000000O100000000O100O100O1O100N2O1M3gNUKV_Oo4Z`0e1O1O1O100O100O100O1O1O1O1O100O1O1O100O1O10000O100O100001O1O2N2N3M2N3M2N\\OhH^@W7`?nH]@R7b?WIV@i6j?h000O1O100O1O100O100O100O100O1000000O100O10000O1000000000000N2001O1O2N2N4L2N001O\\OXHl@i7T?[Hh@e7X?c000O1001O001O00000000000000000000O1000000000000000000000000001O001O7I2N3M3M1O1O00000000001O000000001O000000001O000000000000O1000000O10000O100000000_OSHi@P8W?>001O00000000000000001O00O11O00000000000O10000000000001O00O11O00000O10000001O002N1O3M2N3M2N3M2N2L3Oi_O"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/two_target_area/000806_mask_rle.json b/Navigation/GroundDetection/two_target_area/000806_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..602f4a5f0ca1a0f0272b7531a31725be36e2130b
--- /dev/null
+++ b/Navigation/GroundDetection/two_target_area/000806_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/two_target_area/000806_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "two target area"
+    ],
+    "scene_description_en": [
+      "two target area"
+    ],
+    "scene_description_cn": [
+      "两个目标区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          341,
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/two_target_area/000952_mask_rle.json b/Navigation/GroundDetection/two_target_area/000952_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dadaf688327f300e67f2af2610e56985ffb8c4e
--- /dev/null
+++ b/Navigation/GroundDetection/two_target_area/000952_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/two_target_area/000952_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "two target area"
+    ],
+    "scene_description_en": [
+      "two target area"
+    ],
+    "scene_description_cn": [
+      "两个目标区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "o6W2]82O1O2N0010O01O0000001O001O000O100O10001N10000O1000000O10001N1000000O10001O000O1000001N10000O1M3K5O100O101O0O10000O101O000O100011N1O00O1L4O100O101_OaLiI`3V6`000O10001O0000000000000000000010O0000000001O00001O001O001O00000001N100000000000000000000001O0001O00?A>C1N:F1O1O01N10000O1O11O001O01O0O100000000010OO1000001O0001O0000001O01O00aNeHD[77RIAn6<XIAh6<^IAc6;dIBZ6;mIBS6<RJAm5=XJAh5=\\JAc5=bJA^5=gJ@Y5?iJAU5`0mJ^OS5a0PK]OQ58bHM`2In4c0b2O1O100O101N2O0O100O10000O10000M030O01O2N2N1O1O100O100M^ORFd0l9]OUFb0j9_OXF>P:0000ImELS:4mEH01R:2PFNON01R:4mEM0O10R:3nEN3OP:2UFNl9OVF1V:11Oe:2XE4M0O101O10OO2O1N2N3N2O1N1O3M2N2ZGVO]7m0\\HXOc7k0SH\\Om7h0jG]OV8a1000000000001O00000001O00010O0001O001O002THYNf6l2N1000000O100O1O1001O2N00O1001OO1002N1O01O0O100001O2N1OK5M3O1I7K5D<O10000O100001OO10000001O0000001O1N4M002N1O3M1O3RL[If3f6YLZIg3g633M2N2N1O2N3M2N1O3M1O1O2N4L2N2N1O2N1O1N3N3M1O2N2N2N4M0O2N1O4L1O2N2N2N2N2N2N2N3M1O2N2N2N2N2N4L1O3M1O2N2N1O4L1O2N2N2N2N1O4K^Y[1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/two_target_area/001460_mask_rle.json b/Navigation/GroundDetection/two_target_area/001460_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..77072494ed6e70b0de2f2ccdc842368202964460
--- /dev/null
+++ b/Navigation/GroundDetection/two_target_area/001460_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/two_target_area/001460_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "two target area"
+    ],
+    "scene_description_en": [
+      "two target area"
+    ],
+    "scene_description_cn": [
+      "两个目标区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          323,
+          512
+        ],
+        "counts": "V9c01DW9e0O000O1000000O1O100O100O1O100O100O10000O1O011O000O100O10000O10000O1O10000O1O10000O100O100O100O10000O101N100O100000ZOcGF]8P10000O100O100O1000O0100O100O10000O2O0O100O100O100O100O10000O10000O100O100O1O100O1000000O10000O01000O10000000000000000000000000000000000001N1002N000001O0000001O00000000001O0000000O10000000001O0000000000001O000000001O000001O00000000O1010O00O10001O0001O00000001O000000000O11OO101O00000000000010O0000000001O0000000000000O2O0000000001O01O0000001O0O100000000O12N0000000001O0000000000001O00000000001O00000000001O0000000000000000001O0000001O000000000000000O2O000000001O000000000000001O001OO1000000001O000000001O01O00000000O2O0000000000001O00000000001O000000001O00001O000000000001O0001O0000000000001O00000000001O0000001O0000001O1O2N3M3M3M3M2N4L2N3M3M3M[PY1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/two_target_area/1159380_mask_rle.json b/Navigation/GroundDetection/two_target_area/1159380_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6bc4e8c41b01c731ce8475cb8bb19e03362ceee
--- /dev/null
+++ b/Navigation/GroundDetection/two_target_area/1159380_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/two_target_area/1159380_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      " two target area"
+    ],
+    "scene_description_en": [
+      " two target area"
+    ],
+    "scene_description_cn": [
+      "两个目标区域"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
+        "size": [
+          1024,
+          768
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/two_target_area/1159414_mask_rle.json b/Navigation/GroundDetection/two_target_area/1159414_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..a97b5bd731b1874a7a702c7ef7780e34b91039fc
--- /dev/null
+++ b/Navigation/GroundDetection/two_target_area/1159414_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/two_target_area/1159414_image.jpg"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "two target area"
+    ],
+    "scene_description_en": [
+      "two target area"
+    ],
+    "scene_description_cn": [
+      "两个目标区域"
+    ]
+  },
+  "mask_annotation": {
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+          678,
+          1024
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+      }
+    ]
+  }
+}
diff --git a/Navigation/GroundDetection/wardrobe/41127001_5619.563_mask_rle.json b/Navigation/GroundDetection/wardrobe/41127001_5619.563_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a86eb1c39e41a48ebc13d86eacdeaa6621525c7
--- /dev/null
+++ b/Navigation/GroundDetection/wardrobe/41127001_5619.563_mask_rle.json
@@ -0,0 +1,30 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/GroundDetection/wardrobe/41127001_5619.563_image.png"
+  ],
+  "task_type": [
+    "GroundDetection"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "wardrobe"
+    ],
+    "scene_description_en": [
+      "wardrobe"
+    ],
+    "scene_description_cn": [
+      "衣柜"
+    ]
+  },
+  "mask_annotation": {
+    "masklet_ground": [
+      {
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+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}