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Manipulation/ContactRelationship/ContactRelationship_TypeOne/A_bottle_that_is_green__brown__and_white/head_color_fram_5_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/A_bottle_that_is_green__brown__and_white/head_color_fram_5_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "A bottle that is green, brown, and white"
+    ],
+    "reference_object_description_en": [
+      "A bottle that is green, brown, and white"
+    ],
+    "reference_object_description_cn": [
+      "绿色棕色白色的瓶子"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/A_bowl_for_holding_pancakes/COCO_train2014_000000009425_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/A_bowl_for_holding_pancakes/COCO_train2014_000000009425_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "A bowl for holding pancakes"
+    ],
+    "reference_object_description_en": [
+      "A bowl for holding pancakes"
+    ],
+    "reference_object_description_cn": [
+      "放烙饼的碗"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
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+          480,
+          640
+        ],
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+      }
+    ],
+    "masklet_contact_target": [
+      {
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+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/Blue_bowling_ball/1085_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/Blue_bowling_ball/1085_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Blue bowling ball"
+    ],
+    "reference_object_description_en": [
+      "Blue bowling ball"
+    ],
+    "reference_object_description_cn": [
+      "蓝色的保龄球"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          317,
+          350
+        ],
+        "counts": "WSY1`0Z97I7J6J4L3N3M2M3N2N2N2N3M2N2N3N0O10O001O001N1O1N3N2O001O1N2O00100N200O1O1O1O100O100O1O100O100O101N10000O2O001O001N101O001O001O1O1O1O1N200O1O1O1O1O2N1O1O2N3M3M4K`UZ1"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          317,
+          350
+        ],
+        "counts": "_]T1=]97I8J3L3N3M3L2O3M1O2N2N2N100OO2N1O2O0O2O001N2O001O1O1O001O100O1O1000dIVOe3i0WLCb3<\\LK`35^LNa31]L2c3M\\L5d3KYL8g3HWL:j3DVL=j3CUL>k3BTL?l3ARLa0n3_OQLb0P4]OoKd0Q4\\OnKe0S4ZOlKg0T4XOmKh0S4XOlKi0U4VOjKk0V4UOiKl0X4SOhKm0Y4ROfKo0[4POdKQ1\\4oNdKQ1]4nNbKS1_4lNaKT1`4kN_KV1b4jN]KV1d4iN[KX1f4gNZKY1h4eNWK\\1j4cNVK]1l4aNSK_1P5_NPKa1R5]NnJc1U5ZNkJf1e610000000000O100000000000000000010OO10000001OO2O0000001O010O001O00001O1O1O001O001N2O1O1O100O1O1O1O1O2N1O1O2N2N1O3L3N2K6I\\co0"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/Maroon_suitcase/COCO_train2014_000000004574_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/Maroon_suitcase/COCO_train2014_000000004574_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Maroon suitcase"
+    ],
+    "reference_object_description_en": [
+      "Maroon suitcase"
+    ],
+    "reference_object_description_cn": [
+      "褐红色行李箱"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          640,
+          480
+        ],
+        "counts": "Ydh52mc02N2O0O2O0O101N1O101N101O0O2O0O2O001O001O001O10O01O10O010O0000001O1O00000000002O0O001O0001N1000001O000O101O010O00000010O001O010O0001O01O0010O0000000010O10O01O10002M0010O00001O000010O1O10O010O000100O0001O0010O10O001O000100OYO_Oo]Ob0gb00100O01O10O01O100O10O100O1O1N3M8FaRR1"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          640,
+          480
+        ],
+        "counts": "SYS63lc02N1O2O0O100O1O100O10000O100000002N2N2N1O2N1O2N101N1O1O2N1O2O2M2N3N1N2N2N2O1N2N1nN^Nf^O5f0^1a`0gN`_OY1^`0iNa_OX1]`0iNc_OW1]`0jNb_OV1^`0jNc_OU1]`0lNb_OU1]`0kNd_OT1\\`0mNc_OS1^`0lNb_OT1^`0lNb_OT1^`0lNb_OT1^`0mNb_OR1^`0nNb_OR1^`0nNb_OS1^`0mNa_OS1_`0mNb_OR1^`0nNb_OR1_`0nN`_OR1``0oN`_OQ1_`0oNa_OQ1``0oN__OR1``0oN`_OP1a`0PO__Oo0a`0SO]_On0b`0TO\\_Om0c`0TO]_Ok0d`0TO\\_Om0c`0SO]_Om0c`0TO]_Ok0c`0UO]_Ol0b`0TO^_Ol0b`0TO__Ol0``0TO`_Ol0``0UO__Ol0``0TOa_Ok0``0TO`_Ol0``0TO`_Om0_`0TOa_Ok0``0TO`_Ol0``0TO`_Ok0a`0VO__Oi0b`0VO^_Oj0b`0VO__Oi0a`0XO^_Oh0c`0WO^_Oh0b`0YO]_Og0d`0XO]_Oh0b`0XO^_Oi0b`0WO^_Oj0``0VO`_Ok0``0TO`_Om0_`0TOa_Ol0^`0TOc_Ok0^`0UOa_Ok0_`0UOb_Oj0^`0VOb_Oj0^`0WOb_Oh0^`0XOb_Oh0_`0XOa_Og0``0XO`_Oh0a`0XO__Of0c`0YO^_Of0c`0ZO]_Od0e`0[O\\_Oc0g`0[OZ_Oc0j`0YOY_Od0k`0XOW_Of0m`0UOU_Oj0n`0QOV_Om0Pb0N2M3M4L3LnUP1"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/Open_box/COCO_train2014_000000000955_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/Open_box/COCO_train2014_000000000955_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Open box"
+    ],
+    "reference_object_description_en": [
+      "Open box"
+    ],
+    "reference_object_description_cn": [
+      "打开的箱子"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          640,
+          480
+        ],
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+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/Right_robot_gripper/head_color_fram_9_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/Right_robot_gripper/head_color_fram_9_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Right robot gripper"
+    ],
+    "reference_object_description_en": [
+      "Right robot gripper"
+    ],
+    "reference_object_description_cn": [
+      "右边机器人夹爪"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      1
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
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+      {
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+          480,
+          640
+        ],
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+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "bn\\45h>8H5M2M3N1N3N1O2N1O1O2N1O2N1O2O0O101N100O100O100O100O1O100O100O010O10O10O10O10O10O100O100O100O01000O10000O1000O10O100000O10O1000O100O100O010O1O100O100O100000O01000O10000O101N1O100O2O1N3M2O1N2N2N3M2N5I<BVX_3"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/Striped_Throw_Pillow/1083_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/Striped_Throw_Pillow/1083_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Striped Throw Pillow"
+    ],
+    "reference_object_description_en": [
+      "Striped Throw Pillow"
+    ],
+    "reference_object_description_cn": [
+      "条纹抱枕"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      1
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
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+      {
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+    ],
+    "masklet_contact_target": [
+      {
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+          550
+        ],
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+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_beef_that_is_the_second_farthest_from_the_bread/COCO_train2014_000000007856_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_beef_that_is_the_second_farthest_from_the_bread/COCO_train2014_000000007856_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The beef that is the second farthest from the bread"
+    ],
+    "reference_object_description_en": [
+      "The beef that is the second farthest from the bread"
+    ],
+    "reference_object_description_cn": [
+      "离面包第二远的牛肉"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
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+          640
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+      }
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+          640
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+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_bowl_in_the_lower_left_corner/COCO_train2014_000000010414_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_bowl_in_the_lower_left_corner/COCO_train2014_000000010414_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The bowl in the lower left corner"
+    ],
+    "reference_object_description_en": [
+      "The bowl in the lower left corner"
+    ],
+    "reference_object_description_cn": [
+      "左下角的碗"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          420,
+          500
+        ],
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+      }
+    ],
+    "masklet_contact_target": [
+      {
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+          420,
+          500
+        ],
+        "counts": "T_7?`<=B=E:G7I5K6K5K5K4L4M2M4M2M3N3L3N2NdMYFTOOW2f9ZN^FCOKM=:9G1c9KmFJM3H9[9JQGJM0J;V9LTGHNOL<o8MWGG1NK>k8MZGF2LLa0f8N\\GD5KIc0e8N_GB4MIc0b8NaGB5MHd0`8MdG]OZO1i02Jb0_8NdG]OZO1i02Kb0\\8OfG]OYO0j01Ld0Y8OgGB4JLf0W8OiGA4HNi0S8OkG@n0b0U7OmG_O3H0j0P8OlG@4G0k0n7OnG_OU1<l66nG_OV1<j66PH_O4E8e0c78PH_OW1:h68oG_OZ19e69QH^O[18d6;nGXOBLm1b0a6<nGVOFJl1d0`6<mGVOj1?W6>kGTOc0Ga0f0P7b0hGTOe0Dd0g0n6R1\\HYNg0d0l6S1ZH]Nk0?k6T1YH^Nl0?i6T1^HZNi0b0i6T1]H[Nk0a0f6U1_HZNk0b0e6>lG_Od0Bj0a0e6?UHVO<Jk0`0d6>XHVO;Ki0b0b6=]HTO8M1LNf0\\7=_HRO60OM0d0Z7>aHQO51ON0b0[7=bHSO31NN1b0[7;fHSOO4MN2a0[7OZHZO=4O6JN3`0]7LTIA@8IK3d0_7HWI@^Om0NK]7GXIB[Om01mNAi0i7LZICXOj0:GT7K[IFTOh0>GS7K[IGROh0`0GQ7K]IFQOi0a0FQ7K]ICSOl0`0FP7K]IBTOm0>GQ7J\\IBZOh0:Mn6J]I@^Oh07Nn6KjHXOO73h06Nn6KiHZON653C3c0>m6MjHYOM67OG6>`0l6LkHZOK6:LI5<c0k6LkH\\OI4<JL69d0k6MjH]OF4a0EM97d0j6NkHVOL9P10^Od0j6NXI^O`01\\Od0l6MZI\\O?2ZOf0m6MZIZO?3YOK]Od0`76ZIYO?2ZOFBi0[76ZIYO?O\\OJ@h0[76ZIYO?N\\OL]OOMh0a75[IZO>K]O1\\OMMh0`74^I[O<J]O2^OLKi0`74^I\\OQ11WN?Z74_IVOSOMn17YNb0W73aIUOVOOe16\\NJHi0`73aIUOT13WNd0U74`IUOT11YNf0S74`IUOU1OZNg0Q74`IWOCN^1g0_54`IXOf1d0j44_IXOh1d0i44_IXOHOT1d0f55^IWOH2S1b0g55]IXOI2R1a0h56[IXOILZO6i1`0i56ZIXOM5^OIS1d0Y67YIVOM6\\OLT1a0Z67ZIUOLc0`01Z68YITOMc0`00Z6<TJEAO[6=SJDA0\\6a0PJ\\ORO]OLf0R7b0RJVOQODJc0T7c0RJSOQOHHc0U7b0SJoNROMFa0V7c0RJnNSONEa0V7c0SJlNRO4B=Y7c0SJjNRO3VOO;`0[7d0RJjNnN7[OK8a0]7c0RJjNmN8[OK9`0]7b0]IiNB108[OM8?_7c0jJRO`MG:d0]7c0hJROoM;Y7c0gJROQN;X7c0PJhNmN9L<W7e0WIgN<7WO=V7e0dHgN324M27N>U7f0bHiN3O3MA1d04O`0U75ZH@5N4K7N24O`0U72`H_ON46G6123N`0W71aH]OM8k0GA4O?W70cH[ON9i0J_O30?W7ORID7L@20?W7NSID7N^O10`0Y7LSICBK27ON2a0X7KUIC43[OIA5b0b0Y7JUIC3OPON7:8<Y7JVIAH1YONN2?:2;Z7IVIAF;I11:[7HUIBE<G347[7HTICF9J409\\7GTIBH7J8M8]7GSICH8J6M8_7GRICG9K6L7a7FPIEH8J8L5b7FPIFG6L9J6c7EoHGH5M9G7f7DbHBE7>5M8F6i7E^H45JL:C6o7A]H54JN\\1a7fN[H64I@B<j1e7fNZH54MMX1f7gNUH76LMW1h7IUHVO2Q1i7IRHZO3n0l7ASHcNJP15m0n7]OXHIFk0T8ZOXHl1h7RN\\Hk1f7SN[H^OCe1R8mN\\H\\OGb1o7PO\\H\\OI`1l7SO\\H]OJ]1l7TO[H^OK]1j7TO\\H]OM]1h7VO\\H\\OM\\1i7VO[H]OO[1g7WOZH]O0[1g7XOYH]O0Z1i7XOWH^O1Y1i7XOVH_O1X1j7YOUH_O1W1l7YORH@3V1m7YOPHA3U1n7ZOoGA3U1o7ZOmGA4T1Q8ZOjGC5R1S8[OfGD7P1T8\\OdGE8n0V8\\OaGG9l0Y8\\O\\GI;j0Z8^OZGH<i0]8^OUGK<f0b8_OPGL>d0d8BiFMa0a0h8BeFOb0>k8`0TG_On8a0oF_OU9`0iF@Y9a0dF_O^9c0]F^Oe9b0XF_Ok9j13N3L3N4K4L4M4K4iNUEOQ;GfEF_:LSFK]Zh0?\\PXOh0]Ob0B9H6H7L4JVNZF>b9ZOnFc0m8\\OZGb0b8_ObG?[8BhG?S8AQH>m7CUH=g7C\\H>a7AcH>[7AiH?S7BPI=n6DSI=i6DYI<e6C_I<_6DcI<[6DgI_O`Mg0f8JUJ4i5LYJ4d5M_J3^5MdJ3Z5MhJ3V5NkJ2S5NoJ2o4NSK2k4NXK1g4OZK0e40]K0a40aK0]41dKOZ41hKOW41jKOT41nKOP42QLMo33RLMl34TLMj33XLLh34YLLe35[LLd34]LLa34`LL`34aLL]35dLJ[37fLIY36iLJU37kLIU37gJWOOb0X58hJZObNI_OOW1e0P6:gJ]O^NEn0e0k5:iJH@Mg5;iJFCOc5<jJBF1_5>kJ^OI5[5>kJ[OM6X5?jJYO19S5`0kJSO7<n4a0kJPO:`0i4b0fIiNa01T1c0e4c0dIlNn2a0^3d0bImNP3?\\3g0`IlNT3=\\3h0^ImNU3;]3j0YIoNZ37[3`1dL`N\\3a1cL_N]3b1bL_N]3b1bL^N^3c1aL]N_3c1aL]N^3b1eL^NZ39cIMW3HV39gIJW3LR39jIGV30P38mIDV33m28oICU35l28PJ@V38i28SJ^OV39g29TJ\\OV3;f28VJ[OU3=e28VJZOW3=c29]NGc18^NHb18^NHb18dMZO]L>o58bM]O_L:n59aM@aL7n59_MBcL4o5:\\MCfL3n5:ZMEhL1n5:XMGkLNm5;VMImLLm5<SMJPMJm5<QMMQMGn5<oLOSMEn5<lL2WMAm5=kL3XM@m5=iL5ZM^Om5=fL8]M[On5=cL9_MZOn5=lL0VMCn5=RMJPMIn5=XMDjLOn5>\\M^OgL3m5?VJWOZ3:`2?UJYOZ38a2`0SJ[OZ35c2`0SJ\\OY34e2`0QJ^OX32g2`0QJD\\OE\\37W3a0QJIk2FT3c0QJEj2JT3i0lIXOS3OQ3j0lITOU32o2i0oIROS35n2h0QJPOS38m2f0RNZOn1f0RNZOn1e0SN[Om1d0TN\\Om1b0SN_Om1`0TN@m1?SNAm1?SNAm1?SNAm1?SN@o1?QNAo1?PNBP2>PNBQ2=oMCQ2>nMAS2?mMAT2>kMCU2>jMAW2?iMAX2>hMAY2`0fM@[2?dMA]2`0bM_O`2a0_M_Oa2b0]M_Od2a0[M^Of2c0YM]Oh2c0^KXOjN5i5d0[KXOiN7m5b0XKWOZNg0_65lHROn0OB16i0_6c0fIfNEL8i0^6f0bIfNm0d0b5f0`IeNP1c0a5i0^IcNS1b0a5k0]I`NT1d0`5k0^I_NS1d0`5l0dKTO]4k0cKTO^4k0dKTO]4j0dKUO^4i0cKWO]4i0cKVO_4i0bKVO_4i0aKVOa4i0_KWOa4i0_KVOc4i0]KWOd4i0[KVOf4j0ZKVOg4j0XKUOj4j0VKUOl4k0RKVOo4j0oJVOR5k0kIkNkN9\\7k0hInNjN8_7k0eIoNiN6e7j0aIQOhN5i7j0]ITOhN1l7l0[ITOgN0P8m0WHjN2<CNV8k0SHmN2=BJ\\8m0lGnN5b0\\ODd8m0hGoN7b0YOCj8m0aGRO:n0W88RGoNe0i0[8k0bGUOa8j0]GVOe8k0XGUOj8m0QGTOQ9]24L3M4M2N3L4L3N3L4L4L4L4K5L5J7J5J6J7F=Ca0[OoP5"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_bread_of_the_drink_near_the_green_box/head_color_fram_7_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_bread_of_the_drink_near_the_green_box/head_color_fram_7_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The bread of the drink near the green box"
+    ],
+    "reference_object_description_en": [
+      "The bread of the drink near the green box"
+    ],
+    "reference_object_description_cn": [
+      "靠近绿色盒子的饮料的面包"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "lnl65g>?C4L5L0O2O001O0O2O000001O0001O00000O11O0001O000O10000000001O00000001O001O000000010O0000010O010O01O00010O01O10O01O100O101N101VOSB>Z>N0O2N100O1O2O0O1O2K^\\\\1"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "c\\n68g>:F7J9F7J7`NdNmDb1k:aNTEb1f:aNZEb1_:bNaE_1[:dNeE]1V:gNjEZ1R:jNnEU1l9QOTFo0i9TOWFl0g9VOYFj0d9YO\\Fg0e9XO[Fh0f9WO[Fi0e9WOZFi0g9VOYFj0h9TOZFk0g9SOZFm0g9ROYFn0i9POXFo0i9POWFQ1i9mNWFT1j9kNUFV1l9iNTFW1n9gNRFY1o9fNRFZ1n9eNRF[1o9eNQFZ1P:eNPF[1R:cNnE]1S:cNlE]1U:bNkE^1W:`NhEa1[:]NdEd1\\:VNbDLS1n1\\:VNhEi1]:SNbEm1i;O010O010O0001O01O0001O01O001O1O010N110O0000010O1O000001N10000100O1O2N1O1O1VOgBK\\=]O\\C`0g<^O[C>f=M4I7KSiU1"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_bread_that_is_close_to_the_drink/hand_left_color_fram_4_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_bread_that_is_close_to_the_drink/hand_left_color_fram_4_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The bread that is close to the drink"
+    ],
+    "reference_object_description_en": [
+      "The bread that is close to the drink"
+    ],
+    "reference_object_description_cn": [
+      "离饮料较近的面包"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "Yen12j>8G6M4M2M3M3@?N3K4N3I7M3N1M4K5H8M2L4M4L2N3K5J5O1G:M2M3N3M2O1O1O2N100O1010O00001O010O1O00100O1O002N1O1N3N1N3N2M4K4L4M2N3M2O2M3M3L3M4L4N1O2O0O10000O0100000O10O10O10O0100O010O0N3J6_OVCeNP=Y1<M4M3J6G`0YOj^P6"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "X_Y17h>6J4M3L4M3L5L3L5L3M3L3N2M4M4L3M2M4M3L:G3L3N2M3N2N2M2O001N2O1N2O1O1N2O1O1O1O00100O0001N1N3J5M4M3J5M4H7M4K4M4L3L4N3J5N3J6L4J6L5K=DnjP1OQUoN4N2O0O2M2L5M2M3N2N2N10O00001N2O01O2M3K501O1gEoNd6P1YIVOd6j0XI]Of6b0UIEi6;RIKn64nH1R7NkH6U7IhH<V7EfH?Z7BbHb0]7DWHc0g7DkGe0U8D\\Gb0c8n201000O100O2001ON10O1N1O2O1N2N1O1ON2O1L5K4M3K5M3J6K5M3N3I6N2ZN[EbM5P1c:\\1e1N200O1O1O1O2O0L4ZNgCc0[<XOUD:n;Bj1MaVn4"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_carambola_at_the_top_right/hand_right_color_fram_2_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_carambola_at_the_top_right/hand_right_color_fram_2_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The carambola at the top right"
+    ],
+    "reference_object_description_en": [
+      "The carambola at the top right"
+    ],
+    "reference_object_description_cn": [
+      "右上方的杨桃"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      false
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "bi\\45g;7kF0Q9<aFJ\\9`0WFEg9d0hDfN`0Y1f:Y201N2O001O1N101O1O1N1O2O1N1O2M2O1N3N1O101O1O001O1O1O1O1O100O101N1O2O0O2N101O2M2O1O0O2O000000000000000000001O010O00100O1000O0100O100O0000O2O0O1N2O001O1N2O1N2N2O2M4L4M5J5K4L3L5L3K5L5K4M4K5L4K6K5I9F8H9D<Da0SOnT]3"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "QY_2P1g=f0ZOa0@<H7K7I4L6J4K6K5L4K4L4L4M4K5L4M2M3M3L4M3M3M3M3L4M2O2N1O1O2N2N1O2N1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O001O1O1O1O100O001O1O0O2O001O1O001O00001O001O0000001O0oJQIVM1OO`4o6lMZJf1f5UNiJa1W5ZNTK`1l4\\N\\K`1d4\\NdK`1\\4XNQLc1o3VN]Le1c3VNeLh1Y3TNnLk1Q3RNUMk1k2RNZMm1d2QN`Mo1_2oMdMQ2[2kMjMT2U2kMoMT2P2jMSNV2k1hMYNY2d1eM`N]2\\1bMgN_2V1aMlN`2Q1_MROb2k0^MWOb2h0]MZOc2d0\\M^Of2?YMCi2;TMIl25SMMo20QM5m2HRM<n2ARMa0n2]OQMh0n2UORMm0P3nNPMV1o2hNQM[1o2bNPMb1P3ZNQMi1P3SNPMo1R3mMmLW2T3eMlL\\2W3_MjLc2W3ZMiLh2X3TMiLm2Y3oLgLT3Z3hLgLY3\\3aLeLa3_3YLbLh3b3QL`LQ4c3iK^LX4f3aK]L_4i3WKZLj4m3jJWLW5T4YJPLg5Z4kHSKFMN]1b7m50O100O010O0100O010O10O01O100O0010O010O001O010OO200O1O1O1O1O1O1N2O1O2M2M4N2L4N2M3M3M3N1N2N3M2N2N2L3O2N2N2M3N3N1M3O2M2N3M3M3N2M3M3L5L3L5L4K6L4I9G8H;E>B`0]O?]Of0jNSB2Wci3"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_corn_closest_to_the_camera/hand_right_color_fram_4_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_corn_closest_to_the_camera/hand_right_color_fram_4_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The corn closest to the camera"
+    ],
+    "reference_object_description_en": [
+      "The corn closest to the camera"
+    ],
+    "reference_object_description_cn": [
+      "离镜头最近的玉米"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      1
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "\\eY41;l0[9A\\FIO3g2a1_6CTG5HbN2R2e8\\4]O^IjGn6^7l0@=F9F7I6K4L5I6K6K4M4L3L5M2N1N2N2O1O1O1O1O00N2L4010O1O100O10000O1001O001O1O1O1O010O1000O0100O2N2N2N2N1O2N1O1O1O2N1N2O1O1O1O1O002N2NOfF_JW9a5mF]JQ9d5oF^Jn8f5QG[Jk8m5SGTJf8S6ZGnI^8a6I7I4L3M3M5J=C9aI^H[OF\\5U8hJZIc4f8L=C9G5J5L6J3M6H5K7C`0ASkd3"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "m]e11n>000k\\11\\TN2_>N`A4^>LbA6\\>JeA7Y>IgA9W>GjA:S>GlA<Z>2O1N2N2O1N2O1N1O2O2M2O1N2O1N2O1N2N2O0O2O1N2O1N2N3M101N3N1O1N2O1N2O1N2O1N2O1N2O0O2O2M1O2O1O1N2O1N2N2O1N2N2N2O1N2N2O1N2O1N2O1N2O1N2O1O1O1O2OO10O1O1J6M3N2N2O1O1O1O1O010OO]EgKb:W44O1O2M20001N1N2N2O1O2N1N2O1O1N3N1O1K5L5O10O01OO11N020O0001O00000O11O0OZFlLc7R3_HoL_7m2fHUMU7m2kHUMQ7m2PITMl6o2TISMg6P3YIQMa6T3_ImL\\6W3dIjLZ6W3fIjLY6W3fIjLY6V3gIkLY6U3fIlLY6U3fIlLZ6W3bIjL]6P4eGTL8MS8S5dGnJ\\8k50O02O0O10000O10O10O10000O10O02O0O1O1O1N2L4M3J6M3M3OoKaHc0^7]OlH:T7ESI5m6iMcH6MoNg0n2j6]MaIOZO[Of0T3b6VMiI5a0]2i7XMfH\\2U:J<D9G7aNeBj0T>E000000000001O1N11O00000O10O100000000000000O1J6N3O0000000000O10000000000000001O1O1O001O00000000000000000000000000000O0100000000000000000O11O0000000000000O1O1O1cIQO_Hb0d5>j15cHTOi4g0d2n0PMROP3U1hLlNX3`1\\L_Ne3f1VL[Ni3i1SLWNm3o1mKQNS4R2jKnMV4U2gKkMY4X2dKhM]4X2bKgMc4V2\\KjMh4S2XKlMk4V2PKkMR5U2mJiMU5V2oJeMT5Y2lJfMV5Y2iJgMX5Y2gJgMZ5\\2bJeM^5`2lG]MO_O]1d0i6V4dHjK\\7Y4oGYLR8Z5001O001O001O00000O2O00001O0000001O00001O00001O1O2N2N1O3M2N3N1N2N2N3M2M4M1O2N1O100O1O1O001O1O1O0oMbFbMK0d9]2fFZMK8_9_2_GaMb8_2^G`Mc8_2]GaMc8`2]G_Md8a2[G_Me8b2[G]Mf8b2ZG^Mg8b2YG]Mh8c2WG]Mi8d2WG[Mj8d2WG[Mj8f2TGZMl8h2SGWMn8o2lFPMU9Q3jFnLV9S3iFmLX9S3hFlLY9U3fFjLZ9X3eFhL[9X3eFfL]9[3bFdL_9]3_FcLa9_3^F`Lc9a3\\F^Ld9c3\\F\\Le9e3ZFZLg9f3YFYLg9i3XFVLi9j3WFTLk9m3c02O1O001N101O1O001N20O001N;FO00000000001O01O0O200O2N1O1O1N2O1O1O1O2N1O1O1O1O1O1O2N1O1O1O1O1O1O2N1O100O1O2N1O1O1O1O1O1O2N1O1O1O1N2O1O2N1O1O1O1O1O1O2N1O100N2O1O101N1O1O1O1O1O1O2N1O1O1O1O1O1O1O1O2N1O1O1O1O2N1O1O002N1O2N1O1O1O1O1O1O2N1O1O1N2O100O1N3N2NWALg>3YANh>OYA2j>1O1O1O1O2N2O001N1001O1OO100O101N1O1O1N200O1O1O2N1O2O01O2NO0A"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_corn_closest_to_the_camera/hand_right_color_fram_5_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_corn_closest_to_the_camera/hand_right_color_fram_5_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The corn closest to the camera"
+    ],
+    "reference_object_description_en": [
+      "The corn closest to the camera"
+    ],
+    "reference_object_description_cn": [
+      "离相机最近的玉米"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      1
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "beY4U1d90oHl0^6_OTG\\O0g2^8T3^O`0@?_Oa0E8F9J5K5K5I6K7J5K4N2M3N1N2O1O1N2O1O1O1O0O02K41O00100O100O100000000001O00001O100O100nF]Kf7c4UHbKj7_4SHcKn7]4PHbKR8_4kG`KX8a4fG_K[8c4aG]Ka8d4]G\\Kd8e4YG[Kh8h4TGXKo8h4nFYKS9i4gFZKZ9S53O1N1010000001O1O2N3M2N3M4L6J5K6J6J2N4L4K9H6J9F=Cg0`IVG]5_:hN9G5J9H4L3M5K4L4Kh0nLPDa1o<Bn0QO_Zd3"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "khg14k>2M2N2N2N2O1N2O1N2O1N2O1O1N2N2O1N2N2O1N1O2O1N2O1N102M2O1N3N1N2O1N2N2O1N2O1N2O1O1N2N1O2O1N2O1N2O1N2N2O1N2N2O1N2O1N2O1N2N2O2M2O1O1N2O1O1N2N2O1N2O1O1O10000000000O1G9M2O2O1O1O1O1O1O001O00O1N3N1N2O2O0O1O1O2M2O1O1N2O1O2M2N2N2K5O1O11O000001O00000001O00000000O0O^FkL\\7U3eHmLW7T3kHmLP7S3TIoLh6R3YIoLc6T3]ImL_6V3aIkL\\6W3dIjLY6Y3fIhLY6X3gIiLX6W3hIjLW6V3iIkLW6U3hIlLX6T3gImLX6W3VH]L]OMo0`0^7g3`GjL>@R8Q5fGPKY8l50000O10O010000O10000O100O100O100O1N2M3N2J7K4M3N2O01nKaHc0^7]OjH<W7ASI7m6F\\I4e6UN_H_O0[O[1m2X6VM`HKNKN3?O@N31^2h2X5\\McL]2\\8D9fNSCOV=CQC;k=O00000O2O00O2O0000001O00000000O10000000000000O0L6L300000O100000O11O01O00001O00O101O1O1N101OO101OO10010O0000000000000000O1000000000000000001O0000000000000O010O1O100aIFbH^O^5m0o1i0cHWN^4P1o2R1lLnNT3\\1bLdN^3a1]L_Nc3g1WLZNh3j1TLUNm3P2nKPNS4R2jKnMV4V2eKjM]4W2bKhM^4X2bKhMa4V2^KjMg4R2ZKkMj4T2VKjMl4X2SKfMo4Y2PKfMS5X2lJhMV5X2hJhMY5X2fJhM[5\\2`JdM`5e3WI\\Li6U4dHlK]7k5001O001O00001O00001O0O11O01O0O101O00001O00001O002N1O3M2N2N2N2O1N3M2M3N3M2N2N1O1O1O1O1O10O01O1TOZF\\Lf9^2cF_MM2a9^2gFXMK:_9^2mFkLJf0Y9_2`G`Ma8`2^G`Mc8`2]G_Mc8a2]G_Md8a2\\G^Me8b2ZG^Mf8c2ZG\\Mg8c2ZG\\Mg8d2XG\\Mi8d2WG[Mi8e2XGZMi8f2VGZMk8l2oFSMQ9P3mFoLT9Q3lFnLU9S3iFmLW9U3hFjLY9V3gFiLZ9X3eFgL\\9Z3cFeL]9]3bFbL_9_3_FaLa9`3`F^La9c3]F]Ld9d3[F[Le9f3\\FXLe9i3ZFVLg9j3XFULi9m3e01O001O1N101N101O1O001O01O1O9F1O00O10000001O010O1O1O1O1O1O1N3N1O1O1O2N1O1O1O1O1O1O1O1O2N1O1O1O1O1O2N1O1O1O1O1O1O2N1O1O1O1O2N1O1O1O1O100O1O1N3N1O1O1O100O2N1O1O1O2N1O002N1O1O1O1O2N1O1O1O1O1O1O1O2N1O1O1O1O1O1O1O1O2M2O1O1O1O100O2N1O1O1O1O2N1O1O1O1O1N3N1O1O1O2NST="
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_corn_farthest_from_the_camera/head_color_fram_9_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_corn_farthest_from_the_camera/head_color_fram_9_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The corn farthest from the camera"
+    ],
+    "reference_object_description_en": [
+      "The corn farthest from the camera"
+    ],
+    "reference_object_description_cn": [
+      "离镜头最远的玉米"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      1
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "W]i45j>5J4N2M2O1O1O1O1O0000O100000000000001O001O2M101O1N101O0O2O0O2O0O2KR^12naN201O001O010N101N101O00000000O2O0O1N3N2Mg[g3"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "nSm45f>7M3L4M3M4L3M5PBoNU11[;T1dDmN[;T1dDmNZ;U1eDlNY;V1fDkNY;U1gDlNX;T1fDnNZ;R1dDQO[;P1cDQO];o0mCfN<=f;m0mChN<;g;o0jChN>8i;P1hCiN>7BHQ<Y1nChN?7DFo;d1\\DeNFDL2R<d1[DgNJCm;e1YDiNo;Y1nCgNFDZ<d1nCjNHBZ<e1lCjNJA[<d1gCTOX<m0fCSO\\<h1002N1O1O1O1O1O0gN]C5d<J\\C6e<I[C6g<Q12M101O00O1000O10O2N@ZChNf<Y1XChNh<h1OTNZC_1g<aNZC^1f<aN\\C^1c<aN_C_1a<`NaC_1^<bNbC]1_<cNbC\\1^<dNbC\\1^<dNbC\\1^<dNbC\\1]<eNdCZ1\\<fNdCZ1\\<fNdCZ1[<hNdCX1\\<hNcCY1]<hNaCY1`<gN^C\\1`<eN^C\\1c<?3M20000001O00001NO2N2O1NZCoM_<Q29O001O1N101N^CVNP<j1PDVNP<j1PDWNP<f1RDZNP<b1SD]Nm;b1TD^Nl;b1TD_Nk;`1VD`Nj;`1WD^Nj;a1WD_Nh;b1XD^Nh;b1XD_Nf;b1ZD^Nf;c1YD]Nf;d1ZD]Ne;c1ZD^Nf;b1ZD^Ne;c1[D\\Nf;d1ZD\\Ne;f1YD[Ng;e1YD[Nf;f1ZDYNg;g1YDYNg;g1YDWNh;j1UDYNk;h1TDVNn;j1c0101[CSNT<n1kCTNT<l1kCUNT<m1iCTNX<l1gCTNY<m1gCSNY<m1eCTN\\<l1bCUN^<m1_CTNb<T2010N101N1010O10_O\\CgNb<l101N101N100O101N100O2O0O1M3I701O01O1O4M0O00O2O0N2O101N1O2O0O10001N100O1O101N100O10000O100O10000O10000O100O10000O10001N101O1N2O1O2N2M3N1O2N2N2N2N2N2N2N1O2N2N3M2N1O100O2N2O0O2N2O001N1001O1O01O0001O00000001O0001O01N100O1O1O100O1O100O1O2O0O1O101N1O101N2N100O2N1O100O2N100O2N1O101N2N2N101N2N100O1O2N2O0O2N101N1O1O101N1O2N100O102M1O]MWHjKJ50]1n7`1UHfM7SOG:O;29k7X2XHcMLVO=:D:1<j7i0SHA7fNKd0`0F@:2;k7h0TH\\NNl0>C3I_O84<j7g0VH[NN6M=a0L1L_O80\\O1n0a4"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_cucumber_closest_to_the_camera/head_color_fram_3_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_cucumber_closest_to_the_camera/head_color_fram_3_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The cucumber closest to the camera"
+    ],
+    "reference_object_description_en": [
+      "The cucumber closest to the camera"
+    ],
+    "reference_object_description_cn": [
+      "离镜头最近的黄瓜"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      1
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "Qmh4=`>9H4M3M2N2N3M2N2O2M2O1N2O001O1O010O001O0010O0O101O00001O001O1O001O1O001O1O1O1O001O1O1O1O1O1O1N2O1O1O1O1O1O1O1N2O1O1O1O001O001O00001O0O2O0O2O00001N2O001N2O1N2ORb]3"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "YeT51Y=2YD1e;O[D2c;0\\D0d;0\\D1c;0\\D0d;0\\D0d;1[D0d;1[DOe;2ZDNf;2ZDNf;3YDMg;4XDLg;6XDJh;7WDIi;7WDIh;8XDIg;7YDIf;8ZDJc;7]DJa;7_DJ^;8aDKZ;8fDHX;:hDGV;:jDFU;;kDFS;;mDES;:nDFR;:nDGQ;9oDGQ;9oDGQ;9nDHR;8nDHQ;8PEHP;8PEHP;8PEIo:6REJn:6REJn:6REJn:6REKl:6SEKm:4TEMk:3UENj:2VENi:3VEOi:1WE0g:1YEOf:2ZE0c:1\\E1c:O]E1b:0]E2a:O_E1`:0`E1^:0bE0]:1bE1\\:0dE@mNI];i0eE^OPOIY;j0gE\\OROIW;k0fE\\OTOIV;k0fE\\OUOIS;l0hE[OUOIS;l0hEZOVOKP;l0iEZOWOJo:m0jEYOWOKn:m0jEXOYOJk:P1lEUOZOKj:P1lEUOZOLh:8oDOn0N\\OJf::QEMm0N]OKe:9SENj0N_OKb::UEMj0N_OKb::UEMj0N_OKa::XEMg0NAJ_:<YELf0NCK]::[ENd0MEK[::]EMc0NEKZ::_EMb0NELX::aELb0MFMW:9bEM`0NGMV:8cEMa0MGMT:9eEM`0LHOR:8fEN?KIOQ:8iEM=KK0n98kEMKHG5e0Nm99lEV17aNm98nEU17cNj98oEV16bNj99oEW16aNi98QFY16^Ni99nE^17ZNj97nEb17WNj98nEc18UNi97oEf17SNi97oEi17PNi98oEk16nMj96PFn15lMk96oEP25kMj96PFQ25iMj97PFR24hMl95PFU22gMm95PFY2LeMT:2nET3Q:mLnET3R:mLlET3S:m00N2M2K6L4M4L4M4M;E9G3N0O2O1N10001N101O0000001O00000000002PMmDo1U<N1N2N1O1O1O1O1O1O1O001O1O1O001O1O1O1O001N2OBgNUCY1j<?0fNkBi0U=`001O1N2000000001mNnB6T=HlB7V=i01O1O1O001O1O001O0010O0001O0000001O001O8H1O00001O000000000000000000000000O1O100L400L4O11O0000000000000000001O0000000000000000001O1O0B]B_Oc=a0]B_Oc=o0O10000O11N100001O0O01000000000O10010O01O0000000O1000O1O11N10001N1O100O1O1B]BXOO0e=f0?KWB_O]=?c0K6KgS4"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_cucumber_closest_to_the_camera/head_color_fram_4_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_cucumber_closest_to_the_camera/head_color_fram_4_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The cucumber closest to the camera"
+    ],
+    "reference_object_description_en": [
+      "The cucumber closest to the camera"
+    ],
+    "reference_object_description_cn": [
+      "离镜头最近的黄瓜"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      1
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "XS\\4;^>:I5N1O10O010O1O1O1O1O1O1O1N2O1N3L6GXPg4"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_gripper_directly_below_the_viewing_angle/hand_right_color_fram_1_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_gripper_directly_below_the_viewing_angle/hand_right_color_fram_1_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The gripper directly below the viewing angle"
+    ],
+    "reference_object_description_en": [
+      "The gripper directly below the viewing angle"
+    ],
+    "reference_object_description_cn": [
+      "视角正下方的夹爪"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      1
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "aP\\42:d0[:BVGJWN0f0V2j8\\N_G:\\Ok1c8YNdG4@P3b7V3K3L5L3N2N2M3M3M3N2N2N2N2N2O1N2O001OO1M4O0001O001O1O100O100O1000000O101O001O1O001O000000000001O0000001O00001O001O1O1O001O2N1N2O1O1O2^NWJhIl5i5m1mNT1F<ZOkEmKd:^2cE_NP;i0hDdNODb00_O?b;P1Q2D:D>G\\Tj3"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_left_hand_of_a_person/frame_0000000091_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_left_hand_of_a_person/frame_0000000091_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The left hand of a person"
+    ],
+    "reference_object_description_en": [
+      "The left hand of a person"
+    ],
+    "reference_object_description_cn": [
+      "人的左手"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      1
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "koo04g76J5K5L4M3M3L4M3M3M3M3K5K5M3J6J6D<K5YNcMeMc2Z2bM]Mc2a2jMjLUOIO2U3Z3]1000000O1000O10O100O1O2N1O1O1N2O1000000001O2N4L2N1O0lLeLc1[3[NfMf0Z2QO`N=a1A`3M2K6I7L3N3M3Kh\\3Lc[l1"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "lQm04d7a0C9I5I7J5K5L3M4M2M4M2M3N2N2N2M3O1N1O2N2M201N1O2N1O2N1O101N10000O010O10000O10O010000O01O1O001O1N2O1000000001O001O2O2M1O00001OO10O1000O2O000O101N101N1O2N101N1O2N101N2N1O2N2N2N2N2M3N2N2N3L4L3M3M4M3L4K5J9H6GmVk1"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_orange_at_the_leftmost_edge_of_the_basket/COCO_train2014_000000009866_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_orange_at_the_leftmost_edge_of_the_basket/COCO_train2014_000000009866_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The orange at the leftmost edge of the basket"
+    ],
+    "reference_object_description_en": [
+      "The orange at the leftmost edge of the basket"
+    ],
+    "reference_object_description_cn": [
+      "处于篮子左边最边缘的橘子"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "\\n[3<]><H6J6J5K5K5M3L4L3N3M3L3M3N2N2N3M2O1N2N2O1N1O2O1N2N101O1O0O2O0O2O001N10001N1000001N100000000000000O10000000O1O1O1O100O1O2O000O100O100O2O0O101N10001N101O001N2O001O001N2O1O1O2M2N2N3M2N2M3M4L3M4L4L4K5J7G=BRX`4"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "naU2e0U>9H8J6I6L3L5M3L3N2M4L3N2N3M2M3N1O2N2N2N1O2O0N3O0O1O10N1O2N1O2N101O0O2O1O1O001O1O1N110O1O1O1O1O1O100O2N100O101N100O2N100O2O000O2O0O101O001N101O1O001O1O001O001N2O2N3M4L2N2N2N3M2N2M3N3K7]ObA5_a>b0dlA5K4L3N3M2N1O2O1N100O1000000O1O001O010O2O0O10O0100O100O100O100O100O10000O100000000O2O001O001O1O101N2N1O00101N1O2N2N2N00000000O2O0O1M4N1M3M4M2O2N1O2N2L4O001L4M4M2M3N3N2M3N3L4M2N2M2N2N2NUUQ4"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_orange_close_to_the_viewing_angle/hand_right_color_fram_5_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_orange_close_to_the_viewing_angle/hand_right_color_fram_5_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The orange close to the viewing angle"
+    ],
+    "reference_object_description_en": [
+      "The orange close to the viewing angle"
+    ],
+    "reference_object_description_cn": [
+      "靠近视角的橘子"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "YTS2i0P><F?B8I6J8G7K4L4K6K5K4L4M3L4L5K4M2M4M2M4M2N2N3L3N3M2M3N3M2N2N2N2N2N2N2N2N2N2N2O1N1O2O1N2N2O0O2O1N101N101O1N10001N10001O000O2O0000001O00000000001O00000000000000000001O00000000001O000O10001O000O2O001O001O0O2O001O0O2O001N101O1N2O0O2O1N2O1N2O1N2O1N1O2N2N2N2N3M2N1O2N3M2N2N2M4M2N3L3N3M2N3M3L4K5J6K5H8K5F:I8I8D<F`0ZOTWP5"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "0e6[8000000001O0000001O00001O00001O0000001O001O0000001O000000001O00000000001O000000000000001O000000000000000000000000000000000000O100000000000000000000O2O2N1O001O1N2O1O1N2O1O1N101N2O1O1N2O1N2N2O0O2O1N2O1N2N2O1N2N2O1N2N2N2N2N2O1N3M2N2N2N3M3M2O1N3M2O1N2N3M3M3L5J5M3L4M4K4L5K5I7J7I5H9H9aN]C7m<YOiC1\\iV20QdiMc0B8I5YOh0D<G9G9H7K6K4M3M4M2L4K6J4M5K4M2M4M2N2O2N1N2N2O1N2O1O2N1O1O1O1O2O0O100O2N100O100O101N10000O100O100O10000O1000000O1000O01000000O100000O1000O10O10000O100O100O10000O2N100O100O100O2N100O2N1O2N101N2N2M3N2O1N1O2N2N2N3M2M4M100O0000001O00001O0O2O001N2N2N2N2TMnDh1T;UNQEg1Q;WNREf1Q;VNSEh1o:SNVEi1P;PNVEl1Q<M4L4K6J6K5I8H=Bn]P3"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_peach_in_the_bottom_right_corner/hand_right_color_fram_4_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_peach_in_the_bottom_right_corner/hand_right_color_fram_4_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The peach in the bottom right corner"
+    ],
+    "reference_object_description_en": [
+      "The peach in the bottom right corner"
+    ],
+    "reference_object_description_cn": [
+      "右下角的桃子"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "^RY55i>6J5K5L3L5K6K4K5K4L3M4L3M4L3K5K5K5K6K4H9J5F:J6M4M101N2O0O2O1O0O2O001O001O0O101O00000000000001O000000001O0O101O0O101N101N100O2N1O2N1O2N1O2N1O2N2N1O2M3N2N2N1O3M2M4^M]Db1g<H4M4K4M4L3L4M3L5L3M4K4M4J^\\f2"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "fUQ43X>l0F=C7I7J4L4L5K3M4M2M4M3M2N2N2M3N2N2N2N1O2O1N2N2N2N101N2N2O0O2O1N1O2O1N101N101O1O0O2O1O001O00001O000000000000000000000000O10001O000O101N1O101N100O2N100O2N101N101N1O2N1O1N3M2N3M2O2M2O2M2O2M2N3M3M4L3L4K5J7J5J7J6H9G:DQc52n\\J=G5K6K5L4L3M3M4L3N2O02M7J4WOgBA\\=;eBF]=8cBG_=7aBIa=5_BLb=3^BLc=2^BOc=O]B1d=N\\B2e=L[B6f=HZB8g=FZB:h=CXB?P<\\O`E3aNa0l;@cEMaNe0j;@eEIbNg0h;BmE?R:CmE>R:ClE>S:DlE=S:EjE<V:FfE=X:FcE>\\:E`E<`:IoDd0P;AeDf0Z;`101N2N2N101N1O00O2K4N3N1O2O1O01000000000000001O0000010O010O010000O01N2N1O2O1N2N2N2N3M3L4M3L4M3L3N3L3N4K4K7I9F<BjdU2"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_right_hand_of_a_person/frame_0000005761_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_right_hand_of_a_person/frame_0000005761_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The right hand of a person"
+    ],
+    "reference_object_description_en": [
+      "The right hand of a person"
+    ],
+    "reference_object_description_cn": [
+      "人的右手"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      1
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          256,
+          456
+        ],
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+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "ndo14k74M3L101O001O00010O0001O001O001O002N2N1O001O10O010O000010O001O0010O01OdZY1"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_right_hand_of_a_person/frame_0000008521_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_right_hand_of_a_person/frame_0000008521_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The right hand of a person"
+    ],
+    "reference_object_description_en": [
+      "The right hand of a person"
+    ],
+    "reference_object_description_cn": [
+      "人的右手"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      1
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "_^[24l72N2N1N4M3M5oNDTJa0e5DWJa0e5BWJa0g5BSJb0l5k0N3N2NO2N2N2O2M3M2N2N1O1OO1N2M3M3O11O2N4L4L2N3M>A9H6J5K4L4L3MZPl0"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "PUS2`0\\78I5L4L4M3M2N2N2N3M2O0O2N2O1N2O1N2O0O2O00001N101O00001O001O000001O00001O00001TOXJ]Oi5a0]J[Od5c0`JYOa5f0cJTOa5k0k000O0100O2O1O2N1O1O10O0O2N1O2M4J6I:EkZo0"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_robotic_gripper_on_the_right/head_color_fram_10_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_robotic_gripper_on_the_right/head_color_fram_10_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The robotic gripper on the right"
+    ],
+    "reference_object_description_en": [
+      "The robotic gripper on the right"
+    ],
+    "reference_object_description_cn": [
+      "右边的机器人夹爪"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      1
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "Ugh44k>1O100O00100O010O1O0N2K5M4SC^OZ;c0fD_OY;`0fDBY;?fDBY;>hDBX;>hDAX;?hDBX;>hDBW;>jDAV;`0jD@V;?jDBU;?kDAS;`0mDAQ;a0nDAo:`0RE@l:a0UE@d:e0\\E^O`:c0aE^O\\:c0dE@Z:`0fE@Y:`0gEBW:?iEAU:`0kEAT:`0lE@R:a0oE^OQ:c0nE^OQ:c0oE]OP:d0oE\\OQ:d0PF\\Oo94cDE^16o94eDF[17o90jDHX18m9OmDIV18k90PEHT19k90QEGS1:k9OSEFS1;i9OUEFQ1<h9OWEFP1=g9L[EGn0>e9K^EFm0`0d9J_EGl0a0c9IaEFk0b0c9HcEEj0e0a9EgEFg0g0_9DkEEe0h0_9ClEFe0h0^9AnEGc0i0^9@PFGa0j0^9_OQFH`0j0^9^OSFH?2kN7a:OUFI>1nN6^:0UFK>OQO5\\:1SFM`0LRO6[:0QF2`0IUO4Z:0oE:=B\\O3X:1mE`0:\\OB3W:1hEh0<SOG3U:3cEn0=mNK2V:o1iEoM22U:Q2fEmM71S:T2dEkM91T:T2aEkM<2U:d2lE\\MV:a2kE_MX:^2hEbMY:\\2hEdMY:Z2hEfMY:Y2gEgM[:W2dEjM]:U2cEkM]:U2cEkM^:U2aEkM_:U2aEkM_:V2`EjM`:W2_EiMa:X2^EhMb:Y2]EgMb:Z2^EfMb:[2]EeMc:[2]EeMb:]2]EcMb:^2^EbMb:^2^EbMa:`2^E`Ma:b2^E^Mb:b2^E^Ma:d2^E\\MT8_OdG0U2V3SN[MT8_OlIX3nMZMb:g2]EYMb:i2]EWMb:l2[EUMe:c3O1O1O1O0cMgKTJZ4l5gKSJY4Y810O001N2L3DWE[LQ;c370O10O0100O00100O100O00100O1O10O0100O010O1O010O1O010O0010O0100O1O1O100O1O100O100O1000O01O100OA]EcLc:[3_EeL`:[3`EfL`:X3bEgL^:Y3cEgL\\:Y3dEhL\\:V3fEiLZ:V3hEjLX:V3gEjLY:V3hEjLX:V3hEiLY:V3gEkLX:V3gEjLY:V3hEjLX:V3gEkLX:V3gEjLY:V3gEjLZ:V3eEkLZ:U3gEjLZ:V3eEjL\\:V3cEkL\\:U3cElL]:U3bEkL^:V3aEjL`:U3`EkL`:V3_EjLa:W3]EjLd:h31O0O2O00001O1O0O2N2O1O1N2O1O1O1N2O0O2O1O1O1O10O01O100O100O1O10O10O100O100O10O010O001O001O0001N1M3010O01O10O010O1000O10O100O10O01O100N2MG`DXM_;h2bDXM];i2dDVM\\;j2dDVM[;j2fDVMY;k2gDUMX;k2iDUMW;k2iDUMV;k2kDUMU;k2kDUMT;k2nDTMR;k2oDVMo:k2QEUMn:l2RETMn:l2RETMm:m2SESMm:m2TERMk:m2WESMh:n2XESMg:l2ZETMe:m2[ESMd:n2]EQMc:n2^ERMa:n2`ERM_:o2aEQM^:o2dEQM[:o2eEQMZ:o2gEQMX:n2kEQMU:m2mETMQ:m2oESMP:m2RFRMm9o2SFRMl9n2TFRMk9o2UFQMk9n2WFQMh9P3XFQMf9P3[FPMd9P3\\FPMc9P3^FPMa9Q3_FoLa9Q3`FoL^9R3bFnL]9S3cFmL]9T3cFlL[9U3eFkLZ9W3eFiL[9X3dFiLZ9X3gFgLY9X2jE_Nm0YOX9j1lEUN5g0g0[OW9h1PFSN31K`0k0DW9h1RFoM>b0;GT9h1jF_N3IT9c0lE5n0^O4Ig2"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "]Q]45g>6K4M3L3M4M2O2M2O2N1N2O1O1O2O0O1O1O1O1O10O01O100000O10O10O010O10O10O1N11O000000010O01O0100O10O0100O010O010O1O1O001O0010O010O100O01000O10O1000O100O001O1O010O1O001O1O1O1N2N2O1N3N2M4M4J9DX]c3"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_robotic_gripper_on_the_right/head_color_fram_5_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_robotic_gripper_on_the_right/head_color_fram_5_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The robotic gripper on the right"
+    ],
+    "reference_object_description_en": [
+      "The robotic gripper on the right"
+    ],
+    "reference_object_description_cn": [
+      "右边的机器人夹爪"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      1
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "hln57g>5M2N1O000O101O00000000000000000O10000O10000O10000O10000O010O1K5O1000000O10O100O10O1000000O10O10O100O1O1O1O100O101O0O2O1N101N101N1O2M2O2N1N3O0O2N1O1O2N1O1O2O0O100O10000O2O0000O100000000000000O01000000O100000O10O10000O0100hNkCEU<6UDEj;7]DGc;5cDH_;5fDG[;8l1Hgje1"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "bal5a0]>5K4N2M2N^OVB2g=M_B0_=1bBO[=3fBMW=5iBLS=7mBIS=6oBIP=8PCIo<7QCIn<8RCHn<8RCIl<8TCHl<8TCHk<9UCGj<:WCEi<;WCEg<=YCCh<;YCDh<<XCDh<<WCDj<;WCEi<;WCDj<<VCDk<:VCEl<:TCEn<9SCGn<8RCFR=7oBIS=5mBIW=4jBKX=4bcn2"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_robotic_gripper_on_the_right/head_color_fram_7_mask_rle.json

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

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_second_banana_from_the_right_in_the_row_of_bananas_near_the_top/head_color_fram_4_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_second_banana_from_the_right_in_the_row_of_bananas_near_the_top/head_color_fram_4_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The second banana from the right in the row of bananas near the top"
+    ],
+    "reference_object_description_en": [
+      "The second banana from the right in the row of bananas near the top"
+    ],
+    "reference_object_description_cn": [
+      "靠近上方的一排香蕉从右往左数第二个香蕉"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "Qkj42i>?B8J6J5L3L4M3L4M2O2M3N1O2N1OiNPCa0m<ZO^Ca0a<[OhCb0V<\\OnCe0o;ZOTDg0i;WO[Dj0b;UOaDj0^;TOgDj0W;VOlDh0T;XOnDf0R;YOPEg0o:XOVEd0k:[OVEd0g<L2N3L:E[SR4"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "Qlb4<a>7H7K5L3L4M3M3M2N3M2O2N1O2NkNiBb0V=ZOUCa0i<\\O^Ca0a<]OcCb0[<^OiCb0T<\\OPDd0m;[OWDe0g;ZO\\Df0a;YObDh0\\;WOgDh0Y;UOjDk0g<O0O2O1N1O2N2O0OdNKoC3k;7SDGk;>UD_Oi;e0XDWOh;l0S14M3M3N2M3N3L3N2N3MdNQCi0m<TO[Ci0b<VOgCe0W<YOmCf0R<YORDf0l;YOVDg0i;XOZDg0e;XO^Dg0a;WOcDh0\\;WOgDh0X;WOjDi0h<N2O0O2O1N2N2N4L5K\\ei3"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_second_one_standing_upright__counting_from_left_to_right/COCO_train2014_000000009398_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_second_one_standing_upright__counting_from_left_to_right/COCO_train2014_000000009398_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The second one standing upright, counting from left to right"
+    ],
+    "reference_object_description_en": [
+      "The second one standing upright, counting from left to right"
+    ],
+    "reference_object_description_cn": [
+      "立着的从左边往右数第二个"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "Q[l33m>2N2N2N1N2O2N1O1O2N1O3M1O2N1O6I2O2N1O1O1O1O2M3N2N1O2N2O0O1O102OO000100O00100O02OO001O0010O010O10001N2N1O02N010O010O01O0100O1XJZNSNe1i1`NXNa1b1cN^N]1`1dNcNZ1Y1iNhNW1U1kNmNT1Q1mNPOT1l0oNUOP1h0ROYOP1b0SO^Om0`0TOBl09VOIj04XONh0NZO3f0G_O;`0BB`0>\\ODe0=VOFl0:POHP19mNIU16gNM[12bN0_11]N0f1OWN3j1MSN5n1LnM6T2IjM8W2JcM7`2I]M8f2HUM:n2EPM:T3EhL=Z3CcL=a3C[L=h3CUL=o3BoK=T4EeK>]4B`K=e4CWK>k4BSK<Q5EjJ<Y5CeJ>^5B]J?f5AXJ>l5BoI?T6CfI>]6B_I>f6BVI?l6ARI>R7AkH?X7AeH`0]7A^H`0f7@WH?l7BoG`0S8AiG`0Z8_OcGb0_8_O]G`0g8AVG?n8@mFb0U9^OhFa0\\9@_F`0e9_OYFa0j9AQF?S:@hEc0Z:n15M2M4M2M4L3M4L3M3N3L3N3L3N3L3N3L4L3M4M2M4M2N2L5M3M2O2M2K5M4L3L5L3O2L4N1KoAYOS>e0mAYOW>f02EkAIW>2lAMW>NmAOiTQ3"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_second_tallest_suitcase/COCO_train2014_000000009231_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_second_tallest_suitcase/COCO_train2014_000000009231_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The second tallest suitcase"
+    ],
+    "reference_object_description_en": [
+      "The second tallest suitcase"
+    ],
+    "reference_object_description_cn": [
+      "第二高的行李箱"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
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+          427,
+          640
+        ],
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+      }
+    ],
+    "masklet_contact_target": [
+      {
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+          427,
+          640
+        ],
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+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_third_banana_from_the_left_below/hand_right_color_fram_1_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_third_banana_from_the_left_below/hand_right_color_fram_1_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The third banana from the left below"
+    ],
+    "reference_object_description_en": [
+      "The third banana from the left below"
+    ],
+    "reference_object_description_cn": [
+      "下边从左往右第三个香蕉"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "_jT184OZ=_1eB[Nb<`2F7F;H6J6J6L4K6J5M4K3L4M3M3L4L5L3N2N2N1O2N1O2N1N2N20^L`G]NXO5In0^9<`H]NZNQ1U9;jHaN_Ng0h8d0jIZOU6b0UJXOj5h0[JSOf5l0`JnN^5U1V4K6M3M2O001O2N101O001O001O001O001O0O2N1N3L4M3I`AKc>36O2ObWZ7"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "cch0>W>i0XO?eB\\Nn<T2Bc0A5K6J4L4L4L3N2K5M3L4N2M4N1N3N1N3H7G\\KSFe4l9\\KRFf4m98M2O10WMfGlNX8c0eHSOZ7h0QISOn6i0YIUOf6h0aIUO_6g0gIWOX6f0mIXOT6e0RJVOo5j0WJmNl5Q1R4N2OO2M2000N3N3O1O001N2O1O1N200N10SDCY9<WF>UNEb:LSGX2T8gMgGb2V8^MdGl2X8SMfGR3X8nLeGY3W8gLgG]3W8`LfGj3V8TLjGP4T8PLiGU4U8jKjGZ4U8bKmG`4R8^KnGe4Q8ZKoGi4Q8TKmGR5n83L3N2M201N1O2N100O1N2O0O_LnFhN0]1h8jMVGj1h0XN<\\1^7cN[Go1Q1nMe0R1o6l0fJmN[5o0mJlNS5Q1VKhNl4V1YKdNi4X1b4O1N2M3N2N2M3N2O1N2O1N20OO2O1O0O2O1N2N101O1O1O1N102N1O1N2O1N3N100O1Nfji6"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_third_book_from_the_left/COCO_train2014_000000007753_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_third_book_from_the_left/COCO_train2014_000000007753_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The third book from the left"
+    ],
+    "reference_object_description_en": [
+      "The third book from the left"
+    ],
+    "reference_object_description_cn": [
+      "从左边数第三个书"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "eYa1`1^=g0kBPNo;g2Je0ZO`0A8He0[O7Io0QO`0@9F>C7I8gH[HN:W6f8Ad0\\O>B>\\K[EQ4U;E2N01O0000001O00010O000O2O00001O0000001^HXLgLN]30Aj3nN\\4_NeK=R:F9M4N1O1O2O0O2O00001N100O2O001O00001O001O001N101O001Onij6"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "hUT13j>`0Bb0kAPOX=i1C>PCeM^<n2A`0@c0]O<WEcKW:j4I=QFjJZ9d5J?hFnIc8h6@?A8H;E=C;Ee0[O9G8H?Ad0]O4K2O0j0UOQ1oNf0ZO>`GYIk7Z7THcH]7m7C;Eb0^O>Bi0WO>B;E<E7H4`LZE9TOi1X=Da0_O`0@gb:^O_oDNCO44N5M35OLX1OcN]8X7dGgH5NY5P:UO6M4N100O10000O10001O00000000000O10000000000O10000000001O0000000000000000000000O10000000001N100000001O000O10001O00000O101O00000O101O00000O2O0000000O2O001O0O1000001O0O1000001O000O101O000000001N1000000O101O00000O1000000O2O0000000O100000001O00000O100000000O101O0000000O1000001O0O10000O1000001O000000000000000O10000O10001N10000O100O10000001O000000O2M2L4N2N2O1O1O1O1O1GkIbGZ6m7fIRHl6U7SIQIa7]6_HdIR8Y6<J6O100\\O_G\\JM8e8[5cGeJ]8Y5fGfJZ8Y5gGfJZ8Y5hGfJX8Z5hGfJY8X5iGgJV8Z5jGfJV8Z5lGdJT8[5mGeJS8[5iGjJV8V5kGhJW8V5kGiJU8V5nGhJR8Y5mGfJT8n3fGiLU9T3]1O2M2N2@a0\\Od0^Oc0YOi0VObVR4"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_tomato_below_the_first_cucumber_when_counting_from_left_to_right/hand_left_color_fram_1_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_tomato_below_the_first_cucumber_when_counting_from_left_to_right/hand_left_color_fram_1_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The tomato below the first cucumber when counting from left to right"
+    ],
+    "reference_object_description_en": [
+      "The tomato below the first cucumber when counting from left to right"
+    ],
+    "reference_object_description_cn": [
+      "从左往右数第一根黄瓜下方的西红柿"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "_Sd5=_>5K6L8H4L4M3L4L3N1O2OO010O010O10O0100O100O100O100O100O100O100O100O100O1O100O2O0O2O1N2O1N3N1N0UOSBe0[>H4L4K`oo2"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "fUl31S_Q10_\\PO;hbN=K4L3N2N3L3N1O2N2N100O10O010O010O10O01000O01O010O010O100O1O2O0O2O0O2O1N2O1N2O1N3N2M2N0ZOkAb0X>_OhA=a>Idbd02X][O<G6K4L7I4M2N3M2N100O1O10OO20ON2O2N2O0010O010O10O0100O100O2O0O100O100O100O101N1O2O0O2O1N102M2O2M3M4M3L4L5IeR5AmmJ000000000000000000000000000000000000000PS60PmI0000000000000000000000000000000000000000000000000000000000000000000QUS1"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_tomato_in_the_upper_left_corner/hand_right_color_fram_1_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_tomato_in_the_upper_left_corner/hand_right_color_fram_1_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The tomato in the upper left corner"
+    ],
+    "reference_object_description_en": [
+      "The tomato in the upper left corner"
+    ],
+    "reference_object_description_cn": [
+      "左上角的番茄"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "04`4Nj51WJOi50XIc0eLCQ:IVIm0dL\\O^=V1L7_O?YCmM]<d2E9I5I7J5K5L3M3L4M2N3M3M2N3M3N1N2N3MkMhEaM1P2U:c0jE@S:h2oETKk9n4UFRKj9o422N2O1N2N1O2N2O1N2O0O2N2N1O2M3N2N1nFUJn8m5RGSJk8o5UGQJj8Q611O2M2O1N3N1O_K^Gf2a8n1N\\KaGi2]8n1OaKdG\\2[8eMeG\\2X8W2O2N1OdKlGn1T8_2O2N101N2N101O1NkKVHW1i7Q3N3N1N2O1O1N2O2M2O1O1O1N101O1O001N3N2N1O1O1O00001O1O1O001N101O00001O00001O001O000001O01O00000000010O00000001O0000010O001O001O0000001N101O001O001O0O101O001O0O101O0O2N101N101N101N101N101N101N101N1O2O0O2N10ROgHVJW7j601N1O2N2O0O2O0O2N2O0O3M2NM[InGd6S8\\ImGb6Y8O2N2O1N2N2N2N1O2O1N2N2N2N3L3N2N2N3M3L2O2N3M2N3L3M3N4K3N3L4L4J6L4L4L4K6K5K5J5K6J6K5J7J5K7H7I8Eb0\\Ojhj5>QlTJ"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "04f6Z1^I12b0LUNd0h1\\OVNc6\\1^Ie26PNHoMd6R8\\InGd6U82O1O100000001O0000000000000000000000000000001O001O1O1O001O1O1O1O1O1O1O1O1O1O001O1O1O001O00000O2OO0101O0L5L3M4M2L4N3K4M3M4L3L4M5J5L4M3K4L5M4L3N2O1N1A^F_Kd9^4`F_Ka9_4b0M3N2M4M2N1O2M3O1N2N2N2N2O1N2N2O1N2O0O2N2N101N1O2N101N1O101N1O2N101N1O101N100O1O1O1O2N2N4L5L3K5M2M3M2N3M3M2N5K6I4M7E8HP`a0I\\`^O2N3M3M2N2N2N2N2N2N2N3M001O2N002N1O2N1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O2N1O1O1O1O00001O1O00001O001O001O001O001O001O00001O0001O01N1000001O000000001O0000001O000000001O00000000001O0000000000000000000000000000000000000000O1000000O10000O100O100O1O100O1O100O1O1O100O100O1O1O1O1O1O1O1O1O1O1O1N2O1O1O1N2O1O1N2O1N2N2N2O1N2N2N2N2N2N2M3N2M3N2N2N2MSjY4"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_beige_pillow/1059_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_beige_pillow/1059_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "a beige pillow"
+    ],
+    "reference_object_description_en": [
+      "a beige pillow"
+    ],
+    "reference_object_description_cn": [
+      "一个米色枕头"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          533,
+          800
+        ],
+        "counts": "iXm5<W`03N3M1O2O001N10000000O02O00000000O1000000O0100O10000000O101O0000O100O10000O11N100000000O10001O00001O00001O1O1O1N2O3J6IllS6"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          533,
+          800
+        ],
+        "counts": "bag53X`0;N2N2O2aN@YB2YO?Z>FTB2_O8Z>LRBe0n=\\OPBe0Q>\\OjAh0W>XOfAj0Z>h01O00001M3000O0100O1O10000O10000O101O001O0iNWAb0i>^OWAb0j>]OWAb0i>]OZAa0i>\\OYAc0i>XO\\Ae0f>WO_Af0c>VO`Aj0V?O1O3M3M4M0O2N003L4K_d32_[L3N2N2O0O2O2N1N4M3M5K2N1O1O1O0001O00001O00O01000000001O0001O7I4K5L4L3M4K4LP]g5"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_blue_ball/1085_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_blue_ball/1085_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "a blue ball"
+    ],
+    "reference_object_description_en": [
+      "a blue ball"
+    ],
+    "reference_object_description_cn": [
+      "一个蓝色的球"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          317,
+          350
+        ],
+        "counts": "XSY1?Z98I7J6J5K3N2M3N2N2N2N2N3M2N3N1N2N10O0O20OO2N1O1O2M3O001O1N2O1O010O1O1O1O1O00100O2O0O1O100O100O100O2O000O2O001O0O2O001O001O001N2O1O1O1O100O1O1O1O1O1O2N1O2N2N4L4K`UZ1"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          317,
+          350
+        ],
+        "counts": "`]T1<]98I8J3L4M2M4M2N2N2N1O2N2N100O01N1O2N1O2O001N20OO2O1O001O1O100O100O10cIXOe3g0XLCb3<\\LK`35]LOb30]L2c3N[L4e3KYL8g3HXL9h3GVL;k3CUL>k3BTL?l3ARLa0n3_OQLb0P4]OoKd0Q4\\OnKe0S4ZOmKf0S4YOmKh0S4XOlKi0U4VOjKk0W4TOiKl0W4TOhKm0Y4ROfKo0[4POeKP1[4POdKQ1]4nNbKS1_4lNaKT1`4kN_KV1b4jN]KV1d4iN[KX1f4gNZKY1h4eNWK\\1j4cNVK]1l4aNTK_1m4`NRKa1Q5\\NoJd1S5ZNmJf1e60O100000000O1000000000000000000001O000000001O0000001O00001O001O001O001O001O1O001O2N1O1O001O1O1O1O1O2N1O1O2N1O2N3L3N2J7KZco0"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_carton/1019_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_carton/1019_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "a carton"
+    ],
+    "reference_object_description_en": [
+      "a carton"
+    ],
+    "reference_object_description_cn": [
+      "一个纸箱"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          800,
+          600
+        ],
+        "counts": "o\\R8430]h0`0I6hWO^Ojg0o0M2M2IfNcXO_1^g01O1O1N2O1O1O1N2N2N2O1O1O1000001O01O001O1O001O000000001O000000000000000001O000000O101N1000001OO100O1000000001\\NmXO55E;3hf01ncR2Kf]mM0aPm2"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          800,
+          600
+        ],
+        "counts": "ib_79eh07J5K3M2N2O1O001O0000001O0O11O000000000001O0O101N101N2O0O2O0O101O0lZOWOQb0i0b]OgNQNh0Zd0b0e]OFZb0:f]OGYb0:f]OGYb09g]OHXb08i]OGWb09i]OHVb08j]OHVb08j]OHVb08j]OHVb08i]OIWb07i]OIVb08j]OHVb08j]OHUb0:j]OFVb0;i]OEWb0<h]ODXb0<h]ODXb0=g]OCYb0=g]OCYb0>f]OBZb0>f]OA\\b0>d]OB\\b0?c]OB\\b0>d]OB\\b0>e]OA\\b0?c]OB\\b0>d]OB]b0=c]OC]b0=c]OC^b0=a]OC`b0=_]OCcb0;]]OEcb0<\\]ODdb0<\\]OEbb0<\\]OFeb09X]OJhb06U]OMkb03S]ONnb01n\\O4Sc0Kf\\O<Zc0Dc\\O>^c0Ba\\O>`c0C^\\O=cc0C\\\\O>dc0B\\\\O=ec0C[\\O;hc0DX\\O;ic0DX\\O;ic0EW\\O5oc0JR\\ONVd01k[OH\\d07f[OB`d0=b[OSOnd0l0c10001N10000O2O0O10001O01O000000O101N100O101O010O1O0O1000000O1O2N2N2M3GifU1FhYjN0aPm2"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_left_hand/frame_0000006361_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_left_hand/frame_0000006361_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "a person's left hand"
+    ],
+    "reference_object_description_en": [
+      "a person's left hand"
+    ],
+    "reference_object_description_cn": [
+      "人的左手"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      1
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "[S[13j76H7M5L2N000001O00001N10O1M4M2O1O100100O5L0O02M2O1O000OJ7K5M2O2M3N2NQUn1"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "daU1`0\\78J5K4K5K5M3M2N2N2M3N3M2N101N1O2O1N[OWJUOh5k0ZJUOe5k0\\JUOb5k0`JTO`5l0bJSO\\5m0fJROZ5m0hJSOV5m0lJROT5m0nJROR5m0PKROo4n0SKQOm4n0TKSOk4k0XKTOg4m0YKSOg4l0[KSOe4m0[KSOe4l0\\KTOd4k0^KSOc4m0]KQOe4n0\\KQOd4o0]KoNe4c0^JAP1Kc4b0`J@n0Nb4a0kK_OU4a0lK^OT4a0mKCo3=PLFn3:RLFn39SLGm37ULIk37ULIk37ULIk37ULIk37ULHl37TLJm35SLKm34TLKm34SLMm32TLNm30TL0l3NVL1l3NSL3m3LTL3n3KRL6o3IfK1gN6V7LhH4W7NfH3[7810O0dN@YK`0h4AWK?k4@RKa0P5_OnJa0T5_OjJa0Y5HmIK0=T6P12N3L3N2M4M3L4K6J8F`^g1"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_left_hand/frame_0000007351_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_left_hand/frame_0000007351_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "a person's left hand"
+    ],
+    "reference_object_description_en": [
+      "a person's left hand"
+    ],
+    "reference_object_description_cn": [
+      "人的左手"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      1
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "lgX14h74M3M3K5M3N2N20000001O1O1O000000O1O1O100O1O100O100O1O1O10O01O0001O00001O001O0O2O1O001O1O1N2O1O2M3N2M3M5KSQl1"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "dmW1c0V7<G7J6K5K4L4L4L4M2M4M3M2M3N3L2O2N1O1N2O1O01O0001O010O00010O0001O010O001O010O1O10O0100O0100dK\\M[3e2dL]M[3b2eL`MZ3`2eLbMZ3^2dLdM[3]2dLdM\\3]2aLeM_3\\2_LfM`3[2^LfMb3[2[LgMe3Z2XLhMh3[2SLgMl3W300000000000000001O00000000000O101O000O101O0O101O0O2O000O2O0O2O0O1O2O1N101N2O0O2N2N2N101N2N2N2N2N2N2N2N3M2M3N3L3N2M4L5K5K4L4K6I9H9DbZ[1"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_left_hand/frame_0000007411_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_left_hand/frame_0000007411_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "a person's left hand"
+    ],
+    "reference_object_description_en": [
+      "a person's left hand"
+    ],
+    "reference_object_description_cn": [
+      "人的左手"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      1
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "^WX14i74L4L4L4J6K5K4J7H8UOj0M4N2N26I5K4M1N2O1N1O1OO1O1N2O1O1N2O1N2O0O1000\\N^Jk0b5TOaJi0a5UObJh0`5WOaJf0c5VOaJg0b5TObJh0]6K6J6K5L3N2N2O10000O100O10000O0100000O10O01O001O1Neii1"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "Qm[1b0\\76J5K4L4M2N1N2O00O1000001N1O1O101O001O01jIQO[5o0cJSO\\5n0bJUO]5l0_JWOa5j0ZJ[Od5a101O001O000O1000000000000000000000O100O2O0O101O0O101O0O2O0O2N2O0O2N2N2N2N2N2N3M3L3N3K6K5JRcd1"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_left_hand/frame_0000007651_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_left_hand/frame_0000007651_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "a person's left hand"
+    ],
+    "reference_object_description_en": [
+      "a person's left hand"
+    ],
+    "reference_object_description_cn": [
+      "人的左手"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      1
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "V_\\11k77K4K5K6I6H7H8J6G9H7K6L3M3N2O20O2N1O2N2N2N0000O1O2O0N2O1N2O1O001O1O10O1VNfJn0Z5oNjJo0X5nNkJQ1V5lNlJS1V5jNmJS1V5hNnJW1T5fNoJX1n5N1N3N1M5L3N3K4L4L4K5LcQh1"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "^l_1?[7<G5K6K3M5K3M4L2O2N0O10000O11\\OlIlN37R6l0WJPOi5k0^JROc5m0h000N200O2OgJUO^3l0_LXO_3<kJJe1M_38nJIb12^35RKGa14]34SKG^19]31oLOQ30RMOl22UMMj23WMNh21ZMNf22ZMOd21_MMa22bMM\\24dML\\24dML\\23fMMX24hMLX24iMKW25iMKW24jMMT24lMLT24mMKS25mMKS24nMLR24oMLP23QNMo13QNMo12RNNm13SNMm12TNNl12UNMk13UNMk12VNNj12VNNj12VNNj12UNOk11UNOk10VN0k1OUN1k1OUN1k1OUN1k1OTN2l1NTN1m1OSN1n1OPN2P2NPN2P2OoM1Q2OnM1S20lM0U2OjM2V2OhM1Y20fM0[20cM1]2ObM1_20_M1b2O\\M2d2O[M0g2OWM3i2NUM2m2NQM3o2NoL2S3NkL3U3NiL2Y3NfL1\\3NcL3]3O`L1b3O\\L1f3OYL1h3OUL2m3NQL2P4OdK;^4FUK^OBn0[5EnJACLNn0c5JcJb0_5^O`Ja0c5@XJa0j5i02M3N3M2M4M2M4L4L5J6I9G8GgkU1"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_left_hand/frame_0000007681_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_left_hand/frame_0000007681_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "a person's left hand"
+    ],
+    "reference_object_description_en": [
+      "a person's left hand"
+    ],
+    "reference_object_description_cn": [
+      "人的左手"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      1
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "eV\\18e76L2N3M3K5L4L3M3L3M4L3M4M2M3L4M4M2K5L4N2N2N3K4J6M3K5M3N2O0b0_O6I6K3L3M3N0O00001O0000000O100O100O1kNSJ7o5HSJ4o5LRJ1Q6NRJNP61QJMQ62QJKQ64QJHR67oIFU67nIGT66oIHS66oIGT66lkf1"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "]dc13d7c0B8I6J6K3M3M2O0O2O0O^OmIZOS6`0XJ[Oh5b0_JYOb5g0k0O10000001aJXOe3g0[L]Oc3a0^LA`3>aLD]3<cLE\\3;dLG[39fLGX39iLHV3OPKKl14S32QKHo16o22SKFP28k23UKEQ27j24VKDQ28g24aMK_25bMK\\25eMK[25fMJZ26fMKX26hMJX26hMKW24jMLU25lMJT25mMLR24oMKP26PNJP26PNJP26QNJn15SNKm15SNKm15SNKl16TNKk15VNJj15WNKi15WNKi15WNKi15WNKi15WNKi15WNLh13YNMg13XNNi11WNOi11YMESO:d31WNOi11VN0j10VNOk11TN0l1OUN1k10SN1m1OSN1m1ORN2o1MPN4P2LPN4P2LoM4S2KlM6T2JkM7U2JiM7X2HgM8Z2IeM7[2JcM7^2I`M8`2I^M7c2K[M5f2KXM5i2LUM5l2KSM5m2MPM3R3MlL4U3LiL4X3MgL3Z3MdL3^3NZL8f3JXL\\OfNf0T5OULZOgNf0V50SL1m30oK2S4NiKYOoNi0Y5OYKXOLh0n4OcK2_4MaK2a4N^K1d40YK0i42RKOP59gJF\\59aJHa57_JHc5:ZJEi5;TJDo5=nICU6<jIBY6P15K4L4K6J7H:DjcQ1"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_left_hand/frame_0000008431_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_left_hand/frame_0000008431_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "a person's left hand"
+    ],
+    "reference_object_description_en": [
+      "a person's left hand"
+    ],
+    "reference_object_description_cn": [
+      "人的左手"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      1
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          256,
+          456
+        ],
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+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "[TR12l74M3N1N8H2N1O1O1O001O1O1O1N2N2O1O1O001TJVOa4k0^KXO_4i0`K[O\\4f0SK0g41TK6GfNP5U1VK<h4DXK=g4CXK`0g4@XKa0h4_OVKc0j4Y1100O010O01000O1O010O1O1N2O1O1N3N1N1O2O1N2N2O1N2N2M3M3N3K4M3M4K4K8I6J8H6K7GlRo1"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_left_hand/frame_0000008461_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_left_hand/frame_0000008461_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "a person's left hand"
+    ],
+    "reference_object_description_en": [
+      "a person's left hand"
+    ],
+    "reference_object_description_cn": [
+      "人的左手"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      1
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "eUW15g76D:hND]Jl0`5]OTJh0i5j0L3N3M2N3N1N201OlMkJ]1U5_NRK^1P5\\NTKe1c50N3N100O101O`NTJl0l5ROXJk0j5QOYJn0]6O1O000O2N001O1N2M3I7N2N2O2O1N101N2N2O2N2Lc[o1"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "Vd]15]7f0\\O>M1O010O000]JoNY4P1dKVOY4j0bK]O]4b0`KD]4=aKF^49aKJ]46aKN^42aK0]41aK1^40aK2]4O`K4`4M^K4a4N]K4a4NZK6e4c1O100O100O1O01000002N2M2O1M4K5L4L4L5dMcJl1b5PNcJj1l5L6I5L5L4J7I<Ch[h1"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_left_hand/frame_0000008491_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_left_hand/frame_0000008491_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "a person's left hand"
+    ],
+    "reference_object_description_en": [
+      "a person's left hand"
+    ],
+    "reference_object_description_cn": [
+      "人的左手"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      1
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "WRX11[7f0J4O2M2O1N3N1O1O2N101N1O2N100O100O2O0O101N3NiNhIg0W6VOnIh0Q6WOQJh0P6WOQJh0P6WOQJg0Q6XOPJg0Q6XOPJf0S6WOPJf0S6XOnIe0i6KafQ2"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "iR^16i72bNLlJ6S5KlJ6S5KmJ5Q5MlJ7R5KiJ9V5HhJ:V5IeJ;Z5GbJ<^5R110001N1000O0100O10O00010N1O101O001O0010O001O001O1O010O1O1O1O1O0O2O1M3N1O2N2M2O2M3M3M3M3L4K5M3N2N2N2Kdgd1"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_left_hand/frame_0000009691_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_left_hand/frame_0000009691_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "a person's left hand"
+    ],
+    "reference_object_description_en": [
+      "a person's left hand"
+    ],
+    "reference_object_description_cn": [
+      "人的左手"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      1
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "cVT16g76J4L4H8M2M3M4K4N2N3M2N2L4001O1O001O001O1oNcI=^6AeI=]6_OfI`0[6]OhIb0l6O001O001O1O1O1O1O0O2N1O2N2N1O1N3N1O2Njm00VRO3M3N2M3N1N3M2N3N0O2O0O010O01N2N101O\\I_Ok5`0VJBh5>WJEg5:ZJHd57]JJc55]JKc54]JLg51YJOi5NXJ1i5NWJ2k5LVJ4k5JUJ6k60O01O10O0100O1O1O100Ojbg1"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "lcU191HP73[I>`6HZI?a6d0K3N5K4L6K4K2O0000O101N100001_JPNP5o1lJVNR5n1fJWNZ5X2O10O01O01000001O1O001_MdJZ2b500O010O2N101N1O101N2N2N2N2M3N1O2N1N3N2N2N1N3N1O2N1N3L6J5L3L4L4L7FXRl1"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000005401_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000005401_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "a person's right hand"
+    ],
+    "reference_object_description_en": [
+      "a person's right hand"
+    ],
+    "reference_object_description_cn": [
+      "人的右手"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      1
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "ef`24k73M101O2N1O102M;FJjHCT7f0N3N0O]OSIDO<n60YIMh63ZIEF1k6OXI;Y7GfH9Y7701O001O1mH@d6a0ZIBd6`0YIDd6<\\IFb6m0O0000000000000000O1O1O2O0O2O100O00100O100O10O01O100O1O001O1O1O001O1O1O1O1O001O1O1O1O1O001O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1ORP;"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "ZVX22l75L5L3L6K3L5L3L3RInNj6Y1K2M3N3M2N2M2O001O000O2O00000000000000001O0000O1iNnI`0R6^ORJ`0n5_OTJ`0m5_OTJ`0l5@UJ?l5@VJ=l5BVJ<m5AVJG_O21:]6K^J1g5K[J3g5LZJ1g50ZJNg51T110O101NaH6Y73M10O001N2N2Mh`k0"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000005491_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000005491_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "a person's right hand"
+    ],
+    "reference_object_description_en": [
+      "a person's right hand"
+    ],
+    "reference_object_description_cn": [
+      "人的右手"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      1
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "an_21j7=H3M10000C_OYIc0e6^O[Ic0c6_O\\Ia0c6@\\Ic0a6_O\\Ic0c6>00O0010O001O100O001O1O001N3N1LPIUOR7j03O001O1O3L<BTai0"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "eUY2:e74L6J6K;E2M2O1O1N101O001O0000001O00000001O001O001O1_O_I@b6=hI\\OY6b0e0O0O2O2AbH6e700O101Nhao0"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000005521_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000005521_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "a person's right hand"
+    ],
+    "reference_object_description_en": [
+      "a person's right hand"
+    ],
+    "reference_object_description_cn": [
+      "人的右手"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      1
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "ibS26h73N3M5aHDR7j0K5K2N1O1N100O01O0N3O102N3M000001N1O2N100O1000N3L5L4L3N2M6H7JReU1"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "UbQ28f74M2N3M2N2N2N2N1O1O0O2O010O100O1O10O0010O001O10002N3L1000O1O1O2M2N2O1O101N1O2O0O2N2N2N2M3L\\nT1"
+      }
+    ]
+  }
+}

Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000007831_mask_rle.json

@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000007831_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "a person's right hand"
+    ],
+    "reference_object_description_en": [
+      "a person's right hand"
+    ],
+    "reference_object_description_cn": [
+      "人的右手"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      1
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "imk2239W7>K4M2N2N1N2O2N1O2N1O2N1N2M4L3L4L5G8H8L5I6H8N3N1O1O2O000O20O0000001O001O001O00EjLmKU3R4mLoKQ3Q4PMoKc00Y1Q4UNPL6GF`0k1j3ZNRMf1n2[NQMd1P3]NnLc1S3^NlLa1U3_NjLa1X3_NfLa1[3`NcL`1^3bN`L^1`3cN]L^1e3bNYL^1h3cNUL_1k3cNQL^1Q4bNmK^1T4RO[Kn0g4T11O1O2N1O2N1O2N1O2N1O1O2O0N3N2N1O2N1O2N2N2N3M4M2M5K5K9G;E3M=BnJ"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "[kU26h77J3L4M1O2N2N1O2N2N2M3N2N2N2N3N1N2O1N2O1O1N2O001N2O1O001N2O1N2O001N2O1O1O1O0O2O1O1O0O2O1O001O00001O00001O00001O001O0000010O0001O01O00001O00010O000001O01O001O0010O01O01O00001O001O0O2O0O2N10001N1O2O0O2L3L5L4L3G:J5K6L3J7H7M3O2N1O2O001N2O0010O00010O00010O01000000000nH2P61cIGI>d63ZIA0=f6i00N2N2N2N3M2M4M3LW\\8"
+      }
+    ]
+  }
+}