diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/A_bottle_that_is_green__brown__and_white/head_color_fram_5_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/A_bottle_that_is_green__brown__and_white/head_color_fram_5_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..15543ec9c12d654eee6c9e6cce53d9414caf03b8
--- /dev/null
+++ b/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
+        ],
+        "counts": "moT6;^>:B<CQO_BY1\\=9K5M3M4L1L4E43L7\\OWCbNZ=X19O2O1O100000000000000000001O0O100]OZBLg=LeBM_=Ikcg2"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "PTS64l=;[B1Y=Q1J4G107LN3F=K5000O200OO2EcD]OS9`0mFGo8;fF1V91ZFa0b9B]F`0_9C`F=P93QGKo87QGHo89QGGn8:QGGo89QGGo89QGGUO_NY9k1bGGm89SGHm88RGIm87SGJl86TGLj84VGMnNWNd9l1^GOlNUNf9l1^G;mNhMY9n1iG`0W8_OiGa0X8hMhFY1P1o0g8nNZGn0l8jN[GT1g8^NfG[1c8bN_GZ1g8_N]G\\1W;H8M2L5I8B=@n\\b2"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/A_bowl_for_holding_pancakes/COCO_train2014_000000009425_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/A_bowl_for_holding_pancakes/COCO_train2014_000000009425_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..17600b6241157407a12ab1158711cf6e7cacb900
--- /dev/null
+++ b/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": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "Ylk1R1i=;D;F:G8H7J6J6J6K4L5K4L4K5M3L4L3L5L4L4L3N3L4M2M3N2MkKVFY3h9dL_FZ3^9fLfFZ3W9eLmFZ3Q9fLQGZ3m8fLTG\\3i8dLXG]3e8eL\\G[3b8eL_G\\3_8dLcG]3Z8dLgG\\3W8dLkG\\3S8dLoG\\3o7eLSHZ3k7fL`HQ3^7PMeHn2Y7RMlHk2R7VMRIg2l6YMZIb2e6_M\\Ia2b6_MaI_2^6bMcI]2\\6cMeI]2Z6cMhI]2V6dMkIZ2U6gMlIX2T6gMnIX2Q6iMQJV2m5jMUJU2j5kMZJR2f5nM[JQ2d5oM^JP2a5QNaJm1^5SNdJl1\\5SNgJk1X5VNiJh1W5XNkJg1U5XNnJf1Q5ZNRKd1m4\\NUKc1k4\\NWKc1h4^NYKa1g4^N\\K`1c4`N`K^1_4cNcKZ1^4eNeKY1Z4hNgKW1X4iNkKU1U4kNlKT1S4lNPLR1P4nNPLR1o3nNTLP1l3oNWLo0h3ROZLl0e3TO^Lj0b3UO`Lj0_3WOcLg0]3XOeLg0[3YOfLf0Y3[OiLc0W3\\OkLc0T3]OnLb0R3^OPM`0P3@QM`0m2@VM>j2BXM<g2D[M;e2D^M:a2G`M9_2FdM8\\2GhM5X2LiM3W2LlM2T2MnM2Q2OPN1o1NRN2n1MUN1k1OVN0i10ZNMg13[NKe14]NLa15`NJ`15cNI]16dNJ\\15fNJZ16gNIX17jNHV17mNGS19oNEQ1:QODP1;RODn0<SOCm0<UOCj0=XOBh0>YOAg0>\\O@d0?@]Oa0c0n6O1O10O0100O100000000000000000000000O2O001O00010O2N1O1O001O1O001O1O1O1O2O0O1O001O1O100O1O001O1O100O1O1O00100O0010O01O01O01O01O01O01O010O00010O0010VHfNl1Z1TNfNm1Z1QNgNo1Y1RNfNo1Y1QNgNo1Y1QNgNP2Y1oMgNQ2Y1oMgNR2Y1lMhNU2W1kMiNU2X1iHhNB1\\4OZ3W1bH\\On3\\OdK2m7W1RHI]4SO`3Y2_LgMb3Y2]LgMc3Y2XLeMjK2o7Y2ULmMk3T2SLmMn3R2QLoMP4Q2nKPNR4P2nKPNS4P2kKQNU4o1kKQNV4o1hKQNZ4o1dKQN^4o1`KQNb4n1^KRNc4n1ZKSNh4l1WKTNk4l1SKTNo4k1PKUNR5k1jJWNX5h1hJWNY5j1fJUN\\5k1bJUN`5j1`JTNd5k1ZJUNg5k1XJUNj5k1UJTNm5k1RJUNQ6j1mIVNU6j1iIVNX6j1gIVN\\6i1bIWN`6i1^IWNd6h1ZIXNi6h1UIXNn6f1QIZNQ7f1lHZNW7f1gHZN\\7d1bH]N`7b1_H^Nc7a1[H_Nh7a1UH_No7_1oGbNS8]1lGbNW8]1gGdN\\8[1aGeNb8Z1\\GfNh8Y1TGiNn8V1oFkNT9U1hFkN\\9T1bFlNb9S1YFoNk9P1QFROR:m0jESO[:l0`EVOd:h0VEZOQ;d0iD_O];>QD0V<Y15I;F5I8H8C>Ef0VORf_3"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "c3g04Ll3C\\5a0hFLl3CZ5Z1fJgNY5Z1fJgNX5Y1jJfNU5[1kJfNS5[1nJdNQ5]1oJdNo4]1RKbNm4^1UKbNi4_1WKaNh4_1ZKaNe4_1[KaNd4`1]K`Na4`1`K`N_4a1bK^N]4c1cK]N]4c1dK]NZ4d1gK[NX4e1iK\\NU4e1kK[NU4d1lK]NR4c1PL\\No3e1RLZNm3f1TL[Nk3d1VL\\Ni3d1XL\\Ng3e1ZL[Ne3d1\\L\\Nc3d1^L\\Na3e1_L\\N`3c1aL]N^3d1cL[N\\3f1dLZN\\3e1eL\\NY3e1gL[NY3e1hLZNW3g1iLYNW3g1iLZNU3f1lL[NR3e1oL[NQ3d1PM\\No2d1RM]Nm2[1[MeNd2[1]MfNa2Z1`MfN`2Z1[MkNd2T1^MmNa2S1^MnNa2S1^MnNb2Q1_MPO`2P1`MQO^2P1aMQO_2n0bMSO\\2n0dMRO\\2m0dMUOZ2k0gMUOY2k0fMWOY2h0hMXOW2i0iMWOW2h0iMZOU2g0jM[OU2e0kM[OT2e0mM[OS2e0lM]OS2b0nM^OQ2c0nM^OR2b0nM_OQ2b0nM^OQ2c0oM]OQ2d0nM\\OR2d0nM]OP2d0PN\\OP2d0PN\\OP2d0oM]OP2d0PN\\OP2d0PN]Oo1c0QN]Oo1b0QN@m1`0TN@l1?UNAk1>VNCh1=XNDh19[NGe17\\NJd15]NLb14^NLb13^NNa13_NMa13_NMa13^NNb12]NOc11]NOb12]NOc10^N0b1O_N1a1O^N2b1M^N4b1K_N5`1L_NLiJoNh6U1_NLiJoNh6T1`N6`1J_N7a1I^N8b1H^N8b1G^N:b1F^N:b1F^N:b1F]N;c1E\\N<d1D\\N<d1D\\N<d1D[N=e1B\\N>d1B\\N=e1B[N?e1@\\N`0d1_O]N`0d1_O]Na0c1_O]Na0c1^O]Nc0c1]O]Nc0c1]O\\Nd0d1\\O\\Nc0e1]O[Nc0e1\\O\\Nd0d1\\O[Ne0e1[O[Ne0e1[O[Ne0e1ZO\\Nf0d1ZO\\Nf0d1ZO\\Nf0e1YO[Ng0e1YO[Ng0e1YO[Nf0f1[OXNd0j1]OTNb0n1^OQNb0P2_OPN>S2AmM<V2EhM:Z2FfM8\\2IcM5`2J`M4b2L]M2f2NYM2h2NXM0j20UM1l2NTM0n20RMNP32oLMT31mLNT32kLNV31jLNX32fLO\\3MgL2Z3MgL2Z3NeL2\\3MdL3^3LbL3_3MaL1a3O_L0c3O\\L1e3NZL3g3MYL2i3MWL3i3MVL2m3MRL3o3LRL3P4LoK4R4LnK3T4LlK3U4MkK3V4KjK5W4KiK4Y4KgK4Z4LfK3\\4LcK4_4L`K3a4M_K3b4M]K2d4N[K2g4NXK1j40SK1m40QK0Q50nJOT51iJ0X51gJN[53aJNa52]JOd52YJNi52TJOn52oIOR63iINY64bIM`64]ILe65XIKj65TILm65oHKT76iHKX76dHK^76_HKb76ZHKh79QHIQ87kGJW89bGI`88\\GIg87UGJn86nFKT96gFM[94^F0d90WF3l9LPF6Q:JkE8X:HbE<`:EZE>h:DmDb0V;c12N4L2M4M2N2nLVDi2U<L7I2N2M3M2N2N2K5M5YNiB]1Z=aNkBY1b=F=CS\\V2AiUiMh0d=d0E8G;F9F=G5K7I5K8I\\NhDSN007P1j:m0lEPOm9n0[FRO_9m0kFPOP9n0WGSOc8l0dGQOZ8n0jGF^7;eHCY7=lH@R7a0PI@l6`0YI_Oc6b0_I_O^6a0fI]OW6e0kI[OR6e0PJ[Om5f0VJYOg5h0\\JWOb5j0`JUO]5l0fJSOX5l0lJTOQ5m0QKQOn4o0UKPOi4Q1XKoNf4Q1]KnNa4R1aKnN]4R1fKmNW4U1kKjNT4U1nKkNP4U1RLkNl3U1VLkNg3W1ZLiNd3V1_LjN_3V1dLjNX3V1kLjNS3U1PMjNo2V1SMjNk2U1XMlNe2S1^MmNa2P1bMQO\\2n0hMPOX2o0jMQOT2n0oMROo1o0RNQOl1n0VNVNjJk0n6n0^NQO`1n0cNQO]1m0fNSOX1l0jNUOT1k0nNUOP1j0ROWOl0j0TOWOk0h0WOWOh0i0YOXOe0h0^OWO`0i0BXO<g0FYO8g0IYO6h0KXO4g0NYO0h01XONh02XOMh06WOHj09VOEk0?RO_Oo0c0PO\\OP1e0oNZOR1g0nNXOQ1j0oNTOQ1n0POoNQ1Q1QOmNo0T1QOkNn0W1SOfNm0[1TOdNk0^1UO`Nh0e1XOZNf0h1ZOWNe0l1[ORNf0o1YOQNe0Q2\\OmMd0U2[OkMd0V2]OiMb0Y2]OfMd0[2[OeMd0\\2]OcMc0^2\\OaMe0_2[OaMd0a2\\O]Me0c2[O]Me0d2ZO\\Mf0e2ZOYMf0h2ZOXMf0i2ZOUMg0l2XOTMh0l2XOSMi0n2WOQMi0o2WOQMi0o2WOQMi0P3WOnLj0R3VOnLj0S3UOmLl0R3TOnLl0S3TOkLm0V3ROjLo0U3QOkLo0V3POjLQ1U3POiLR1V3nNjLT1U3kNkLW1S3jNlLW1T3hNkLZ1T3fNlL[1S3fNlLY1V3fNiL[1W3eNiL\\1W3dNhL\\1X3dNhL\\1X3dNhL\\1Y3cNfL^1Z3bNfL^1[3aNeL_1\\3aNcL_1]3aNcL_1]3aNcL_1^3`NaLa1_3`N`L`1`3`N`L_1a3aN_L_1b3`N^L`1b3`N^L_1c3aN]L_1d3aN[L^1f3bNYL_1g3aNYL_1h3`NXL_1i3aNWL^1j3bNVL]1l3bNTL]1m3cNSL\\1n3dNRL\\1n3dNRL[1P4dNPL[1Q4eNoK[1Q4eNoKZ1R4fNnKY1T4fNlKY1U4gNkKX1V4hNjKS1[4mNeKQ1]4oNcKP1^4PObKo0_4QOaKn0a4QO_Kn0b4RO^Km0c4SO]Km0c4SO]Kn0b4RO^Kn0b4RO^Kn0b4RO^Ko0b4PO^KP1b4PO^KP1b4PO^KQ1a4nN`KR1`4nN`KS1_4mNaKT1_4kNaKU1_4kNaKU1_4jNbKW1]4iNcKW1]4iNcKW1]4iNcKX1\\4hNdKX1\\4hNdKX1\\4hNeKW1[4hNfKX1Z4hNfKX1Z4hNfKY1Y4gNgKY1Y4gNgKZ1X4fNhK[1W4eNjK[1U4eNkK\\1U4cNkK]1U4cNkK^1T4aNmK_1S4aNmK`1R4`NoK`1P4`NPLa1o3_NQLb1n3^NRLd1l3\\NTLe1k3[NULe1k3[NVLe1i3ZNXLg1g3YNYLg1g3YNYLg1g3YNYLi1e3WN\\Ll1`3TN`Lm1^3TNbLm1]3SNcLn1\\3RNdLn1\\3QNfLo1Y3QNgLo1Y3QNgLP2W3QNiLP2V3PNkLo1U3QNkLP2T3PNlLQ2R3PNnLP2R3PNoLo1Q3PNPMP2P3PNPMP2P3PNQMo1o2QNQMo1n2RNRMn1n2RNSMn1l2RNTMn1l2QNUMo1k2QNVMo1i2PNXMQ2g2oMYMQ2f2PN[MP2d2PN\\MP2d2oM]MQ2c2oM^MP2b2PN^MP2b2PN_Mo1a2QN_Mo1a2QN_MP2`2PNaMo1^2QNcMP2\\2oMfMQ2Y2oMgMQ2Y2oMgMR2X2nMiMR2U2oMkMR2T2nMmMQ2S2oMmMR2R2nMnMR2R2nMoMQ2R2lMQN_1kJjNd<U1^CjN]8"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/Blue_bowling_ball/1085_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/Blue_bowling_ball/1085_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcfc90ac9eada71a3ce0d3d1496c301239a6b1a1
--- /dev/null
+++ b/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"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/Maroon_suitcase/COCO_train2014_000000004574_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/Maroon_suitcase/COCO_train2014_000000004574_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..266fd35a9259da5b0ad78c8e385d9b8a00a52b44
--- /dev/null
+++ b/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
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/Open_box/COCO_train2014_000000000955_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/Open_box/COCO_train2014_000000000955_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b38e53cae50bccb77fdc4759a1e4c928bfe6ebc
--- /dev/null
+++ b/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
+        ],
+        "counts": "bdQ4i0Vc02O1O0O2O00000000000000000000000000000000000000000000001O0000001O3_]OoNma0o1C2N1O001O000000000O101O0000000000000000000000001O000000000000O11OO10000001O000000000O101O0000O10000000000O10000O100000000000000O100000000000001N0100001N1000O10O101OO10O101O00O100000O2O0000000O100000000O01000000000O1000000O100000000000000O100000000O100000000O2O0O;hNU^ODUaR2"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          640,
+          480
+        ],
+        "counts": "TQT4b0]c0=D:F<D=C8H2N001O00001O2Oj0UO1O000\\BmL[:S3cEdMh9\\2WFgMg9Y2YFgMg9Y2YFgMg9Y2XFiMg9W2YFhMi9W2WFiMi9W2WFiMi9W2VFjMk9U2UFlMj9T2VFlMj9T2VFlMj9T2UFmMl9R2UFlMl9T2TFlMl9S2TFnMl9R2TFnMm9Q2TFnMl9S2SFmMm9S2RFnMn9R2RFnMo9Q2QFoMo9Q2QFoMo9Q2QFoMo9Q2PFPNP:P2PFPNP:P2PFPNQ:n1PFSNo9m1QFSNo9m1PFTNP:l1PFUNP:j1PFVNP:j1PFVNP:j1oEWNQ:i1oEWNQ:i1nEXNR:h1nEXNS:g1mEYNS:g1lE[NS:e1mE[NS:e1lE\\NT:d1lE\\NT:d1lE\\NU:c1kE]NU:c1kE]NU:c1kE]NV:b1jE^NV:b1jE_NU:a1kE_NU:a1kE_NU:a1jE`NW:_1iEbNV:^1jEbNW:]1hEdNX:\\1hEdNY:[1fEfN\\:W1_EoNh:j0VEYOV;:jDFa;ZNUB]1Y2;W<WOiCi0Y<TOhCl0X<TOhCl0X<UOgCk0Y<UOgCk0Y<UOgCk0Y<UOgCl0X<TOhCl0X<TOgCm0Y<SOgCm0Y<SOgCn0X<ROgCo0Y<QOgCo0Z<POfCQ1Y<oNgCQ1Y<oNgCR1X<nNhCR1X<nNhCS1W<mNhCT1X<lNhCT1X<lNhCU1W<kNiCU1W<kNiCU1X<jNhCW1W<iNiCW1W<iNiCW1W<iNhCY1W<gNiCY1W<gNiCZ1V<fNjC[1U<eNkC]1S<cNmCf1j;ZNUDi1i;WNWDi1i;WNWDj1h;VNXDi1i;WNWDi1i;WNVDj1j;VNVDj1j;VNVDj1k;UNUDk1k;UNUDk1k;UNUDk1k;UNUDj1l;VNSDk1m;UNSDk1m;UNSDk1n;TNQDm1o;SNQDm1o;SNQDm1o;SNQDl1P<TNPDl1P<TNPDl1P<TNPDk1Q<UNnCl1R<TNnCl1S<SNmCm1S<SNlCn1T<RNlCn1U<QNkCo1U<QNkCn1W<QNiCo1X<PNhCP2Q=VMPCj2R?0100000000O10O1000O100000O1000000O1000O100000001O0000000000001O000000000000001N100O100O100O101O000O1O3@nU_1"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/Right_robot_gripper/head_color_fram_9_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/Right_robot_gripper/head_color_fram_9_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1f59bbc0bdbcb5785b666e29a593efef0ea8597
--- /dev/null
+++ b/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": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "^Xn41n>2O0O1O10000gBNc;3]DMc;3\\DNc;3]DMc;3\\DNd;2\\DNc;3]DMb;4]DMb;3_DM_;5`DL\\;8dDGY;=gDCX;>hDBW;?hDBW;?iDAW;>jDBU;?kDAU;?kDBT;>kDDT;;mDFQ;;oDGo:9QEIl:7TEKk:5UELj:3WEMh:4XELg:4ZELd:5]EKa:6`EJ^:7cEI\\:8dEHZ::fEFY:;gEEX:;iEEV:<iEDW:=iECU:?kEAT:?mEAS:?lEBS:?mEAR:`0nEAP:`0PF@o9a0PFAo9?QFBm9?RFCl9>SFCl9>TFCj9>UFDj9<UFEj9GkDL[1>h9EQEKV1a0i9DREJT1d0h9BUEJS1e0g9@XEJP1g0g9@YEIP1g0f9@[EIn03hN3n:1\\EIn02jN3k:2^EIl03lN1i:3`EIj03oN1f:3aEIi04QOOd:4bEIj03QO0b:5cEHi03TOO`:5dEIh03TOO_:5gEHe04WOO[:5jEHd03XO0Y:6kEGc03ZO0X:5lEHb03ZO0W:5nEGa04[O0U:6oEFa04[O0U:5oEHa03\\OOS:7oEI`01_O0P:7PFJ`0O@0o97PF;1^O10m97oEd0MTO81k97nEk0KmN<1j97nEP1HhNa01i97mEd1:UNh98cEZO8Y2?UNe98dEZO7Y2a0UNd97kEg1a0RNc98kEg1b0QNc99fEj1g0mMc99eEk1h0lMe9l2ZFTMh9j2XFVMi9j2VFVMl9i2TFVMn9i2QFWMQ:g2oEZMS:d2lE\\MV:c2iE]MY:b2fE^M\\:a2cE_M^:a2aE_M`:`2`EaMa:^2_EaMc:^2[EcMn:U2QEkMS;R2lDnMZ;m1dDTNa;l1YDUNP<Z26I8H2N2N2N3M5J5L1N1O1UOmBUOKa0Y=8[CYOi<f0i0O1O1O1O100O0100000O010000O010O10O100000O10O100O2N2O2M101O001O010O000000000000000O2O001O1O001N2O1O1Neam1"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "bn\\45h>8H5M2M3N1N3N1O2N1O1O2N1O2N1O2O0O101N100O100O100O100O1O100O100O010O10O10O10O10O10O100O100O100O01000O10000O1000O10O100000O10O1000O100O100O010O1O100O100O100000O01000O10000O101N1O100O2O1N3M2O1N2N2N3M2N5I<BVX_3"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/Striped_Throw_Pillow/1083_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/Striped_Throw_Pillow/1083_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..11ad790b6b4b1160eaeda02238336c5b9e471c77
--- /dev/null
+++ b/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": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          412,
+          550
+        ],
+        "counts": "UmW41h<6K3M3M3K4D=ROm0O2N100O101O0O10000O101N1000000O100000000O100O101N10000O100O100O10000O1O100O100O100O100O100O100O100O02O001O1N3N3dMdEQ2W;]O9F9G?A8Eoci1"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          412,
+          550
+        ],
+        "counts": "bXY34g<2O2M2O1N2O1O1N2O1O1N2O1O1N3N1O1N2O1O1N2O0O2O0O2O1N2N2O1N3N2N3L4L5L2M2N101N101N100O2N1O1O100O1O1O1O1O1O1O1O001O1O1O001O001O0010O01O11N2O2M3N3M3L3N3L3N3M3M2M3N2M3UOlDZOM4_;=g0M4N1N3N2M2N3Nc`d02Y_[Oh0YO9G>B:Fc0^O0O2N1O2N1O1O1O1O1N2O1O1O1O1O00100O1O001O001000O3N2N2M4M4L3L6K3M4L8G3N3L4M2M3M4M3L4L3M3N2M3N2N3L3N2N2M3N5Jl_S1"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_beef_that_is_the_second_farthest_from_the_bread/COCO_train2014_000000007856_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_beef_that_is_the_second_farthest_from_the_bread/COCO_train2014_000000007856_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..7505cea4bb968762fca2d176152d51b25e5ff3e6
--- /dev/null
+++ b/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": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          427,
+          640
+        ],
+        "counts": "_\\_13W=2N1O1O1O2M2M4K5M2N3N101N1O101N1O101N1O1O100O1O1O101N1O2O0O100O10001O0O10001O0O2O000O1O101O0O10001O0000001O00010O000010O00010O0001O01XO`DD_;<aDD_;<`DF_;S11O010O001O000O101O01O0001O01O1O01O0000010O0010O0010O010O010O010O01O0100O00100O0100O0010O010O10O0010O01O100O001O001O001O1O1O010O1O1O10O01O1O00100O1O010O100O1O100O01000O1O1O00100O100O100000O01O100O100PGfMm6\\2oHgMQ7Y2lHiMU7W2hHkMX7V2fHkMZ7W2bHkM_7U2VHUNj7P2lGUNT8R2bGQN_8]3001O001O001O001O1O001O1O001O001O001O1O00001O1O001O00100N101O1O001O1O1O00001O001O001O001O10O01O001O1O001O1O1O1O001O1O1N2O1O1O00001O1O001O1O1O1O001O001O1O1N2O1N2J6L4M3N3M2N2N2N1O2M3N2M3O1N2O2M2N2M3]OXD^Ol;`0a0N1N4L3K:Gb\\U3"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          427,
+          640
+        ],
+        "counts": "W9T3W:1M4N2M2N3M2O0O2N2O1N1O2N2N2M3N2N2O1N2N2O1N101N2O1O1N2O0O2O1N101O00000000000000000000000000001O0000000000000000O100001O0001O000000000000000000001O00000000000000000000001O000O10000010O000001O001O00001O00001O000000001O0000001O000O2O00001O001O00001O00001O010O001O0000001O00000000001O000000000000001O0000001O000000001N100000001O000000001O00001O00000010O01O002N001O001O000000001O000000O10000001O00000O2O00000010OO2O0010O0001N2OoMaLVJ_3i5cLWJ\\3i5eLWJZ3h5hLWJX3i5hLWJX3h5jLXJU3g5lLYJT3f5nLZJR3e5oLZJQ3e5PM[JP3d5RM\\Jm2d5SM\\Jl2d5VM\\Jj2c5VM^Ji2b5XM]Jh2b5YM_Jf2a5[M^Je2b5[M_Jd2a5\\M`Jc2_5_M`Ja2`5`M`J_2`5aMaJ^2_5bMaJ^2_5cMaJ\\2_5dMaJ\\2_5dMbJ[2]5fMcJZ2]5fMdJY2\\5gMeJX2[5hMeJX2[5hMfJW2Z5jMeJV2[5jMfJU2Z5kMgJT2X5mMiJR2W5nMjJQ2V5PNjJo1V5QNjJo1V5QNkJn1U5RNlJm1T5TNkJl1U5TNlJk1S5VNnJh1T5XNlJg1T5YNmJf1S5ZNmJf1S5[NmJd1S5\\NnJc1R5^NnJa1R5_NoJ`1Q5`NPK_1P5bNPK]1P5cNQK\\1o4dNRK[1o4eNPK[1P5eNQKZ1o4fNRKY1n4hNRKW1n4iNRKW1n4iNSKV1m4jNTKT1n4lNRKS1n4nNRKQ1n4oNSKP1m4QORKo0o4QOQKm0P5SOQKk0P5VOPKf0S5[OmJb0U5^OlJ?W5@kJ<W5EiJ7Z5JfJ3\\5MeJK[MnNU8W1bJCf5=^JnNUM3c8o0^310O0001O010O001O001O1O010O001O1O001O1O001O010O0010O01O010O010O10O01O10O010O0100O10O0010O0100O0100O01000O00100000O0100000O10O1000O0100O10O10O10O10000O010000000O10000001O00000O100000O10O100000000O1000000O1000000O100REXN@9Y:_1UFjNj9X1QFjNP:X21O1N101N2N2O0O2N2O1N101N2O1N2N2O2M2N2N4M2M3N1N3M3N2M3M3M3L5L4K4L3L5J9Coae2"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_bowl_in_the_lower_left_corner/COCO_train2014_000000010414_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_bowl_in_the_lower_left_corner/COCO_train2014_000000010414_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..962ac7e76bb7df9ba3be74c9e79b3ed186ba778b
--- /dev/null
+++ b/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": [
+      {
+        "size": [
+          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"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_bread_of_the_drink_near_the_green_box/head_color_fram_7_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_bread_of_the_drink_near_the_green_box/head_color_fram_7_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba5832a2c924ce7ca1a5b68783d1a4b0acb3e9cf
--- /dev/null
+++ b/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"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_bread_that_is_close_to_the_drink/hand_left_color_fram_4_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_bread_that_is_close_to_the_drink/hand_left_color_fram_4_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ed3056ce27694d90915834ce9b34c3a06d7f218
--- /dev/null
+++ b/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"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_carambola_at_the_top_right/hand_right_color_fram_2_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_carambola_at_the_top_right/hand_right_color_fram_2_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..a770a7574939a8abaab4004efaa9e27b191dd239
--- /dev/null
+++ b/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"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_corn_closest_to_the_camera/hand_right_color_fram_4_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_corn_closest_to_the_camera/hand_right_color_fram_4_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4beafc8e347de9b2534072e542b435d976aeae9
--- /dev/null
+++ b/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
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_corn_closest_to_the_camera/hand_right_color_fram_5_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_corn_closest_to_the_camera/hand_right_color_fram_5_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..66c5c08597c88cc7b2dfa53b0aee39b332ad655b
--- /dev/null
+++ b/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
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_corn_farthest_from_the_camera/head_color_fram_9_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_corn_farthest_from_the_camera/head_color_fram_9_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4f68b3ebf5479bf6b0e0f73f393cea8988ed147
--- /dev/null
+++ b/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"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_cucumber_closest_to_the_camera/head_color_fram_3_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_cucumber_closest_to_the_camera/head_color_fram_3_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fbce1fbc661d95d24c49159fb000977bbc96b35
--- /dev/null
+++ b/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"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_cucumber_closest_to_the_camera/head_color_fram_4_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_cucumber_closest_to_the_camera/head_color_fram_4_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6165b077989746af3fcb37873feb33049e96eb1
--- /dev/null
+++ b/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
+        ],
+        "counts": "XP]45j>2O1N1O001^BIZ<7eCLX<6gCKQ<JPC?l0KQ<:nCHP<:PDFn;;RDFm;;SDEl;<SDDm;>QDCm;?SDAl;`0SDAj;b0VD^Ok:FREm04]Of:KREk08[O`:OWEh07ZOb:NVEi08ZOa:MjDENY1f0WOb:KjDU1`0TOf:HhDU1a0TO_:ZOSET2<dNa:XOUER2:fNa:VOYES24gNd:UOZES22hNR;X1bDmMO06k0i:UO]EU2CPN5g0Y;b1eD_NZ;c201DdLSEb0LR2[;mMgDS2X;hMoDW2P;jMoDW2P;jMjD]O1k2n:nMQEXO0j2n:oMREWO2h2l:RNQEUO5h2j:SNQEUO5h2j:SNQEUO6g2i:SNREVO3j2j:oMTEWO2j2i:QNTEVO2i2j:RNSEUO3OLh2m:SNVEUO2Y2LUNl:<^E]1IUNi:?_EY1KWNf:`0aEV1JZNd:a0bES1M[Na:c0bEP1N]N_:e0cEl0O_N^:e0cEQOBh1>aN]:g0eEg0ObN\\:g0^EPOGj1a0_NY:h0^Ek0:]NX:h0VEoN6l1<]NX:k0YEi0`0\\NV:l0WEj0c0[NV:h0XEo0b0XNW:h0XEP1a0XNW:i0WEo0b0XNV:j0XEn0b0XNV:j0WEP1b0VNV:Q3hEPMX:P3hEPMX:P3hEPMX:Q3fEPMZ:P3fEoLZ:S3dEnL\\:R3bEPM^:Q3`EPM_:R3^EPMb:f3100000O1000O01O1NYOcEnL\\:S3gEkLW:V3lEhLS:X3PFeLo9Z3WFbLi9]3m0O1001O00000010OO11O01N110O001O001O000001O0000000000N3N1000001O010O000100O2N100O100O1O011N1O100O2N2O0O2N101N1O2N2N100O1O1O10O0000001O001O01O0001iNoL^FQ3d9nL[FR3i:00010O00010O00001O0001O01O0000000L3YOjLfEU3\\:nL`EQ3b:QM\\Eo2d:RMZEo2g:QMYEn2h:RMWEn2j:SMTEm2m:SMQEn2R;oLmDR3U;mLgDMNV3\\;mLfDMMW3];nLeDR3[;:000001O0000010O0N200OGiDlLV;S3lDlLS;o2SERMk:m2WESMh:m2YESMf:m2\\ESMb:m2_ETM_:m2bERM]:n2dERM[:n2fESMX:n2hERMV:P3kEoLT:Q3mEoLR:R3oEnLo9S3QFmLn9T3RFlLm9U3TFjLk9V3VFkLh9V3XFjLV94VFS3d0iLU95UFT3f0gLS93VFZ3i0cLo81[F\\3f0cLk80dF]3a0cLi8OhF_3`0aLf8OlF`3?bLb8OPG_3?aL^80UG_3>aL[80XG_3?`LX81XG`3`0`LW80YG`3a0aLT8O[Ga3a0`LS8O\\Ga3b0`LR8N]Ga3c0`Ln70_Ga3c0_Lm70`Ga3d0_Ll7O`Gc3d0^Lk70`Gb3f0_Lh7ObGb3g0_Lf7OaGe3i0\\Le70aGd3k0\\Ld7OaGe3l0\\Lb7OaGg3n0YL`71aGf3P1YL_70`Gi3Q1XL]70aGh3S1XL[71aGh3T1WL[70`Gk3U1ULZ71`Gj3W1ULY71^Gl3Y1SLY71]Gm3Z1RLX72\\Gm3]1QLW7\\3]GXM\\1\\OV7]3^GVM]1]OU7]3^GVM]1]OT7^3_GTM^1^OS7[4mHeKS7Z4nHfKR7Z4mHgKS7X4nHhKQ7Y4oHgKQ7X4PIhKP7X4PIhKP7W4QIhKP7W4QIiKn6X4RIhKn6W4SIiKm6W4RIjKm6V4TIjKl6V4TIjKj6W4WIhKh6Z4WIgKh6Z4XIfKg6Z4ZIfKd6\\4\\IcKd6]4]IcKb6^4]IcKb6]4_IcKa6]4_IcK_6^4bIbK]6_4bIaK^6_4cIaK\\6`4dI`K[6`4eI`K[6a4eI_KZ6a4fI`KY6a4gI_KX6a4hI_KX6b4hI^KW6b4jI^KU6c4jI]KV6c4kI]KT6d4kI]KT6c4mI\\KS6e4lI\\KS6d4nI[KR6f4nIZKQ6f4oI[KP6f4PJYKP6g4PJZKo5g4PJYKP6g4QJXKo5i4PJXKo5i4PJWKP6i4QJWKn5j4QJVKo5j4RJVKn5j4QJVKo5j4QJVKo5k4QJUKn5k4RJUKn5l4QJUKn5k4RJUKn5l4RJTKm5l4SJTKm5m4RJSKn5m4RJTKn5l4RJSKn5m4RJSKn5n4QJRKo5n4RJRKm5o4QJRKo5n4QJRKo5o4PJQKQ6n4oISKP6n4nISKS6l4mITKT6k4lIUKT6l4lISKU68_Hg0Nb1^1_MU68aHFKK1=1Z2\\1`MW65cHIHG7?LZ2\\1bMV65dHL01Mb11\\NY1NW66cHM00M0IP18oNY1KV4"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_gripper_directly_below_the_viewing_angle/hand_right_color_fram_1_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_gripper_directly_below_the_viewing_angle/hand_right_color_fram_1_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..c777774af61480bb474edb73e998f24f7dad7c90
--- /dev/null
+++ b/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
+        ],
+        "counts": "mWh13k>2O1N2O1N2N2O1N2O1N2O1N2O1N2O1N2N2O1N2O1O1N2N2N102M2O1O1N2O1O1N2N2O1N2O1N2O1O1N2N1O2O1N3N1N2O1O1O1N2M3O1N2O1O1O1N2N2N2O1N2O1N2O1O1N2O1N101N3M2O1O1N2N2O1O100O1000000O1L4L4M3N2O1O1O0O20O01OO100N201M2O1O2M2O1O1N2O1O1O1N2O1O1N3N1N2I71O01O000000000001O00000XFhLi7X3WHjLg7V3YHkLe7V3ZHlLd7S3^HoL]7R3eHoLW7R3kHoLQ7Q3RIPMj6R3WIoLe6T3[ImLc6T3]ImL`6U3`IlL]6V3cIkL\\6U3dIkL\\6U3dIlL\\6T3dImLZ6V3QHPM8Kg7i4nGXKR8S5cGlJ^8l5N10000O10000O1000000O10000O100O100O1O1N1O2E;I7N2O0100nKcHb0\\7\\OlH>T7BWI2j6N[IMe6G`HTMY1P3V6\\OiJcMgMd2a7@[K7g4iM`H<2AW4i0kKOS8XOfL3cKc0d=00000001O01O1O000000000000000O01000000000O1L4M300O10000000000000O100000001O001O10O01O01O000000O100000000000000O1000000000000000O1000001O001O000000000TJQOgMo0T2XORHL3M8>X4`0Q34\\HG]45P3Z1kLgNU3_1eLaNZ3e1`L\\N`3i1[LWNe3o1ULQNk3T2oKmMQ4W2kKiMU4Y2jKgMV4Y2hKgMZ4Y2eKgM^4V2bKiMb4V2]KiMf4W2WKiMl4W2QKiMQ5W2oJfMV5W2lJfMV5Y2jJfMX5Y2hJgMX5Y2THWMo1`0n5V3hIjLX6`3nGSLKFP1g0X7Y4cHgK]7^4iGjJb0h0f7Q5hGPKX8Q5gGoJY8l51O000010O00O1010O0001O001N10001O00001O002N1O2N3M2N3M2O1N2N3M3M2N2M2O1O2N1O1O1O010N2O10O01O1PN]FdMMNf9^2bF\\ML5c9^2eFSMO>]9^2\\GbMe8^2ZGbMf8^2[GaMf8_2ZG`Mf8a2YG_Mh8a2WG_Mj8`2WG_Mj8a2UG_Mk8b2UG^Mk8c2SG]Mn8g2nFXMR9k2lFTMU9l2kFSMV9n2hFRMY9o2fFPMZ9Q3fFmL\\9S3cFnL]9S3bFlL_9U3`FjL`9X3_FgLb9Z3]FeLc9]3\\FbLe9^3[FaLf9`3YF^Lh9c3XF\\Li9d3VF\\Lk9f3SFYLm9h3SFWLn9i3SFULn9l3PFSLR:m3`02O1O1O1N2O0101M2SLREf3T;0O0001O01O000001O10OO2O2N100O1O1O1O2N1O1O1O1N2O1O1O1O1O1O1O2N1O1O1O1O1O2N1O1O1O100O1O1O1O1O1O2N1O1O1O1O1O2N1N2O1O1O1O1O1O2N100O1O1O1O1O1O1O2N1O1O1O1O1O2N1O1O1O1N2O1O1O2N1O002M2O1O1O1O1O100N2O100O100O1O1O1O2N1O1O1O2N1N3O0O1O1O1N2O1O2MTR>"
+      }
+    ],
+    "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"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_left_hand_of_a_person/frame_0000000091_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_left_hand_of_a_person/frame_0000000091_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f2dbba6a3ca9d06bbabff92b3ed726fea0e9cc1
--- /dev/null
+++ b/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"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_orange_at_the_leftmost_edge_of_the_basket/COCO_train2014_000000009866_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_orange_at_the_leftmost_edge_of_the_basket/COCO_train2014_000000009866_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd5f157417fb6d345afeba8d49758b622eb08e77
--- /dev/null
+++ b/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"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_orange_close_to_the_viewing_angle/hand_right_color_fram_5_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_orange_close_to_the_viewing_angle/hand_right_color_fram_5_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ae423687cf4464d1f38389dc61d1149fbaca4d2
--- /dev/null
+++ b/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"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_peach_in_the_bottom_right_corner/hand_right_color_fram_4_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_peach_in_the_bottom_right_corner/hand_right_color_fram_4_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..709fc029170dc9c6259dab1334f5858925fb7860
--- /dev/null
+++ b/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"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_right_hand_of_a_person/frame_0000005761_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_right_hand_of_a_person/frame_0000005761_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..61578c0b51d9f8492d045fae8a47a9ab39b821eb
--- /dev/null
+++ b/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
+        ],
+        "counts": "aUU21m73N1FOeH2Z7NfH2Y7OgH1Y70fH0Z70fH0o6KVI5K1m6LVI5LOn6MUI4MOn6NTI3N0m6NTI3ONm60RI4ONo6g0O00100O011N100000O1O100O1O10O100000O1000000O100O2N1O1O2L4M3M2N2O2M2N2N3MTRP1"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "ndo14k74M3L101O001O00010O0001O001O001O002N2N1O001O10O010O000010O001O0010O01OdZY1"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_right_hand_of_a_person/frame_0000008521_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_right_hand_of_a_person/frame_0000008521_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc2925d268c913ce5ec44a2dc7e58ff9426e9ec5
--- /dev/null
+++ b/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"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_robotic_gripper_on_the_right/head_color_fram_10_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_robotic_gripper_on_the_right/head_color_fram_10_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..f42902e2bf5d7f2f4b56a9f385ca746e438abfef
--- /dev/null
+++ b/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"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_robotic_gripper_on_the_right/head_color_fram_5_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_robotic_gripper_on_the_right/head_color_fram_5_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..e490cc24a63b39ef58dd296da094b9d5509bcd06
--- /dev/null
+++ b/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"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_robotic_gripper_on_the_right/head_color_fram_7_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_robotic_gripper_on_the_right/head_color_fram_7_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..97fd8b28ce4e7b3b5f20ac636a6874debe9107ae
--- /dev/null
+++ b/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
+        ],
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+      }
+    ],
+    "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"
+      }
+    ]
+  }
+}
diff --git a/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 b/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
new file mode 100644
index 0000000000000000000000000000000000000000..4eea2cd169d3ccd651e391008fec7664c1dcf62a
--- /dev/null
+++ b/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"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_second_one_standing_upright__counting_from_left_to_right/COCO_train2014_000000009398_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_second_one_standing_upright__counting_from_left_to_right/COCO_train2014_000000009398_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b2f291f335579ff62a7e43d6883a4dc9bfdbe99
--- /dev/null
+++ b/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
+        ],
+        "counts": "UST36f>7POo0F:J5oN^N^Dg1^;o0B?A?[Od0I:L2N2O1QFSKh9Y5J2N1O3M2N3M3L4M1O2N001O1O1WGmIc8Z6N2M3N1N101O1O3M010O101N7I3M2N5K1[HhH`7]7O2O0O3NO5L1O102L1011_HeHX7[7gHhHW7X7hHiHY7^710hH_HQ7`7oH_HR7o5iH`K5aNS7_79NjHhHf6NoHU78oHm6Y7kHiHT7d7N2M2O013L3O02L01O1000OO2O01O0oLWImMh6U511N3M3N0O1O100O100QNbGZM`8b2bG]M^8b2cG^M^8_2dGbM[8]2gGcMW8]2jGcMV8\\2lGdMR8\\2PHcMo7]2RHdMk7]2VHcMi7]2\\H_Mc7a2_H_M_7a2cH_M[7`2hH_MX7`2iHaMT7`2mH`MR7`2PI`Mn6`2UI^Mj6b2WI_Mf6b2[I_Mb6b2`I]M]6e2dI\\MW6g2jIYMS6i2nIWMo5k2SJUMg5o2ZJQMc5Q3_JnL^5T3dJkLY5X3gJhLV5Z3lJfLP5^3PKcLl4_3TKaLi4a3XK`Le4b3[K^Lb4d3`K[L\\4h3eKYLV4l3jKSLR4R4mKoKo3U4QLjKl3Z4TLgKg3[4[LdKb3_4^LaK_3e4^L[K_3h4aLYKZ3l4fLSKW3S5gLlJW3X5gLiJT3[5lLeJR3]5oLcJl2b5TM^Jh2e5XM[Je2h5[MYJa2j5`MUJ\\2P6cMQJY2R6hMmIU2V6lMiIQ2[6nMeIo1i0^LV3c1RLj1h0gLU3_1SLg1e0PMX3Y1TLb1e0WMY3W1RL^1d0^M[3T1QL[1c0dM^3P1oKY1c0iM_3n0nKV1c0nMa3k0mKR1d0TN`3k0kKn0f0XNa3j0jKh0g0_N`3i0iKe0h0cN`3h0iK`0f0lNc3d0fK>g0oNd3c0fK9h0UOd3a0dK7h0ZOe3`0bK3j0^Of3>aK0i0Dh3;`KMh0Jj39^KIi0Oi39^KFh03l37\\KAj09k36[K^Oj0>l34\\KYOg0f0n32ZKUOi0j0n31YKROj0n0n31XKlNl0T1m30WKhNn0Y1m3OUKdNo0^1m3NUN3m1LPN6Q2KkM7W2HfM:\\2F`M<a2DZM`0g2ATMa0o2^OlLe0V3\\OfL`0`3A]L=h3CUL=o3CmK=V4ChK<[4EaK;d4CYK<l4CQK;T5FfJ;_5E]J;f5EWJ;l5FoI;T6FhI;[6D_I?d6AXIa0j6_OTIa0o6^OoHb0T7^OiHb0Z7^OcHb0^7_O`Hb0a7_O\\Ha0g7_OVHa0m7]OQHd0R8[OjGf0Y8[O`GiNjNb1i9EZGi0h8XOVGg0m8YOPGg0R9YOmFe0V9\\OhFb0[9^OaFd0b9[O[Fe0h9\\OTFc0P:]OnEc0T:^OiEa0[:_ObEa0a:l13N2M3L5M2M3N2M4M4L2M3M4L3N2N2M4M3K4M4L3M4L3N2N2N2M4M3M3L3M4L3N3L3N3L3N2N3L3M4L3O1M3N_R\\2"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_second_tallest_suitcase/COCO_train2014_000000009231_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_second_tallest_suitcase/COCO_train2014_000000009231_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d66ba678ad8e056da4123dcac86f3228adce0ca
--- /dev/null
+++ b/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": [
+      {
+        "size": [
+          427,
+          640
+        ],
+        "counts": "a3T24eN7JI10Nj7b1VHlN0DN20Ml7b1UHP1k7X200000001O00000001O00000000000001O0000000001ZKTHk3l7VLSHj3m7VLTHi3l7XLSHh3m7XLSHh3m7l0O0001O1OO1000000001O0001O00000000001O]KTHg3l7YLTHg3l7YLTHg3l7YLTHg3l7YLTHg3l7YLTHh3l7WLTHi3l7WLTHi3l7WLTHi3l7WLTHi3m7VLSHj3m7VLSHj3n7ULSHj3m7WLRHi3n7WLRHi3m7XLSHh3m7XLSHh3m7l0O00000000000000001O0000000010O000\\KUHh3k7XLUHh3k7XLUHh3k7XLUHh3k7XLUHg3l7YLTHg3m7XLSHi3l7WLTHi3l7WLTHi3l7WLTHi3l7WLTHi3m7VLSHj3m7VLSHj3m7ULTHk3l7ULTHk3l7ULTHk3l7ULTHl3k7TLUHl3l7RLUHo3j7QLVHo3k7PLUHP4k7oKVHR4i7mKWHT4i7lKVHU4j7g0O00QKWH\\4i7cKWH^4i7bKVH_4j7aKVH_4j7aKVH_4j7]KYHe4f7\\KWHf4i7[KVHe4j7ZKVHg4k7VKWHj4i7VKVHk4j7UKVHk4j7UKUHl4k7RKVHo4j7QKUHP5k79O00000000001O001O01O000000000010O000000000010O00000001O01O000000010O0001O0000000010O00000001O00001O010O00001O010O1O1O1O2O1N1O001O01O]IVJe5j5SJdJ]OFS6f5ZJWK`5i4_JYKa5f4^J]K`5c4_J^Ka5b4_J_K`5a4`J_K`5a4_J`Ka5a4]J`Kc5`4]J_Ke5`4ZJaKf5_4ZJ`Kg5`4YJ_Kh5b4VJ^Kk5c4SJ^Km5o52M2N2O1N2O1M3O2N1M3O1AdImI^6P6a0M2N2O1N2O2M2N2O2L3N2N3N1O1O1O2N1O1O1O101N1O101N1O1O1O2N1O1O2N1O2N2M2O2N2M3N1O2O1N3M2N2O3M3L3N4K6K;E7Ha0@>A?B<gNeCg0^hh4"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          427,
+          640
+        ],
+        "counts": "o8U41mKR9W4[IjLS3W3`LVM_3k2SLbMm3^2oKfMQ4Z2mKhMS4X2lKiMU4V2iKlMW4T2hKmMX4S2gKnMY4\\N`JQ3V1dNZ4Q2dKQN\\4o1cKRN]4n1bKTN]4l1cKTN]4l1bKUN^4k1aKVN_4j1`KWN`4i1_KXNa4h1^KYNc4f1\\K[Nd4e1[K\\Ne4d1ZK]Nf4c1ZK]Nf4c1YK^Ng4b1XK_Nh4a1XK_Nh4a1WK`Ni4`1WK`Ni4`1VKaNj4_1UKbNk4^1UKbNl4]1SKdNm4\\1SKdNm4\\1RKfNm4Z1SKfNm4Z1RKgNn4Y1RKgNn4Y1QKhNP5W1PKjNo4V1PKkNP5U1PKkNP5U1PKkNP5U1PKkNP5U1oJlNQ5T1oJlNR5S1nJmNR5S1nJmNR5S1nJmNR5S1nJmNR5S1nJmNR5R1oJnNQ5R1oJnNQ5R1oJnNQ5R1nJoNR5R1mJnNT5Q1lJPOS5ZN_JV1>`0S5YN`JW1=`0S5YN`JW1=`0S5YN`JW1=`0S5YN`JW1=`0S5YNaJV1<a0T5WNaJX1:b0U5UNbJY19c0T5SNdJZ18c0T5RNeJ[17c0T5RN`JiN0c2<b0T5RN_JjN1b2<b0T5VN_JY1=a0T5m0lJSOT5m0lJTOT5k0lJUOT5oM_Jd1==T5oM`Jc1<>T5k0lJUOT5PM`Ja3<_OT5oLbJa3:@U5nLbJ3LS3>LT5nLcJ_39CT5nLdJ^38DT5mLfJ^36ET5mLfJ1HV3>LT5mLgJOIW3<MT5mLhJNHX3<NS5lLiJNGY3=MT5jLjJNE\\3=LT5jLmJ3AP3>3T5iLmJ\\3OKT5iLmJ\\3OKT5hLnJ]3NLS5gLoJ]3NLS5gLoJ\\3OMe53ZJMf53[JLe54[JLe53\\JNd52[JNe52[JNf51ZJOm5JSJ6m5JSJ6l5KTJ5l5KTJ5l5KTJ5l5KTJ5l5KTJXOC]NY6[2TJnN0dNl5^2UJgN6kNe5]2UJbN<QO_5]2UJZN@dN01n0c0]5^2UJYNf0YOU5^2UJXNg0ZOT5^2UJVNi0\\OS5]2TJWNFhNj0d0\\5]2TJWNCmNl0?\\5]2UJWNFgNK0n0e0\\5]2UJVNk0]OP5]2UJUNl0^OP5\\2TJVNm0]Oo4]2UJTNm0_On4]2UJTNa0kNXOd0Z5\\ORKQ3KSNb0lNWOd0Z5]ORKP3JQNe0oNTOc0[5^OQKo2KoMHPOa00YO18c0Y5_OQKn2LoMGROR1b0Z4@PKm2MoMEUOS1?Z4ARKk2LPN@YOY1;Z4APKj2NiMAGW15Z4BoJi2OhMCGT17[4AoJi20gMBKQ14^4BnJh21gMCLn03`4CmJg22gMB2i0Ng4BkJg23gMB7d0Il4DiJe25;Q5QMiJd26YM_Og2b5]MhJc27YM^Oh2c5\\MhJc27XM_Oi2b5\\MhJc27XM_Oj2a5[MiJc27<Q5PMhJd28;P5QMhJd28;P5QMhJd28;P5QMhJd28;P5QMhJd28<P5oLhJf27;Q5oLhJf26<R5nLgJg27;R5nLgJg28:R5nLfJh28:R5nLfJh299Q5PMeJg2:9Q5PMeJg2::P5oLfJg2::Q5nLdJi2;9Q5oLcJh2<9Q5oLcJh2<9Q5oLcJh2<:P5nLdJh2=9P5nLcJi2=9P5nLcJi2=9P5nLdJh2=9o4oLdJh2=9o4oLdJh2=9o4oLdJh2=9o4oLdJh2=9P5nLcJi2=:o4mLeJh2<;o4mLeJh2=:n4nLeJg2>;n4nLcJg2?;n4nLdJf2><n4nLdJd2`0>m4nLbJc2b0`0k4mLdJ^2f0d0g4mLcJZ2k0i0b4mLcJU2P1n0^4mLbJR2R1R1[4lLcJn1V1V1X4kLcJm1V1X1Y4iLaJl1Y1[1W4gLaJk1\\1]1b4aN`K_1`4_NbKb1]4\\NeKd1[4[NfKe1[4XNgKh1Y4lMmIiNn1[3U4RMkI4\\2j2^700000000010O00000000010O01O0000000001O000001O000001O00010O0000001O00001O0000001O000001O0001O00010O00000010O0001O000010O01O001O0010O01O1O1O100O1O1O1O2N2O1N3M2N3M5K8I>A<Dh0XO<D7]IYIU6_7_O1O000001O00000000001O00000000001O0000001O000000001O0000001O000jNRJoJn5Q5RJPKn5o4RJQKn5o4RJQKn5V600001O00001O0000001O000000010O00001O0000001O0000000010O0001O00001O0000001O0010O0001O0000001O001O001O1O001O1O1O1O1O2N1O2N3M3L5J9ZOi0WOk0mN[1eLmEH_X\\3"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_third_banana_from_the_left_below/hand_right_color_fram_1_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_third_banana_from_the_left_below/hand_right_color_fram_1_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..67f776c2ee1e06e5eb7b1e9b0bc4de619f555801
--- /dev/null
+++ b/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"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_third_book_from_the_left/COCO_train2014_000000007753_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_third_book_from_the_left/COCO_train2014_000000007753_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..53889f0d25ef7592d0396f2e7976e04db507c21b
--- /dev/null
+++ b/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"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_tomato_below_the_first_cucumber_when_counting_from_left_to_right/hand_left_color_fram_1_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_tomato_below_the_first_cucumber_when_counting_from_left_to_right/hand_left_color_fram_1_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5f90abed27f39edc5d7fcd0a0dbd723a9ad0cdd
--- /dev/null
+++ b/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"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_tomato_in_the_upper_left_corner/hand_right_color_fram_1_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/The_tomato_in_the_upper_left_corner/hand_right_color_fram_1_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..11318ec277ef14d9ef419d765a183a04fb8328a8
--- /dev/null
+++ b/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"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_beige_pillow/1059_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_beige_pillow/1059_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..518f991e2c68c31466a42e330ba94df2eb7b85f5
--- /dev/null
+++ b/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"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_blue_ball/1085_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_blue_ball/1085_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..558e1c26fcb79c6cd569d326df4f201c9e919b46
--- /dev/null
+++ b/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"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_carton/1019_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_carton/1019_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..9449cffd82a8fd179c152de1d2112110fc4aa883
--- /dev/null
+++ b/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"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_left_hand/frame_0000006361_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_left_hand/frame_0000006361_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..796afbd1d47300b0b3cc66b9dcc38aee418ac34e
--- /dev/null
+++ b/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"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_left_hand/frame_0000007351_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_left_hand/frame_0000007351_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..bee16428973496771bc262976d15f906571508c2
--- /dev/null
+++ b/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"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_left_hand/frame_0000007411_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_left_hand/frame_0000007411_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6156a05b564a83d15453bdd516855a6f80c3033
--- /dev/null
+++ b/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"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_left_hand/frame_0000007651_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_left_hand/frame_0000007651_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..94cc10cd7bed9a0b47875190b8f5efc748dde9b6
--- /dev/null
+++ b/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"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_left_hand/frame_0000007681_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_left_hand/frame_0000007681_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..9324af33483c4e3c9818388de7919ff68118c956
--- /dev/null
+++ b/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"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_left_hand/frame_0000008431_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_left_hand/frame_0000008431_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e6bf2bb77ddfe0fa655570ccf5ce5d1916571d7
--- /dev/null
+++ b/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
+        ],
+        "counts": "bmm04j7:Fl0UO1O2M2O2N1O1O2N1O1O2M2O1O2N1O100O2O0O1000001N01O100O1O1O001O1SOVJCk55QJXO:0D;S6:U1M3M3GbHN`71801O0O2NVSY2"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "[TR12l74M3N1N8H2N1O1O1O001O1O1O1N2N2O1O1O001TJVOa4k0^KXO_4i0`K[O\\4f0SK0g41TK6GfNP5U1VK<h4DXK=g4CXK`0g4@XKa0h4_OVKc0j4Y1100O010O01000O1O010O1O1N2O1O1N3N1N1O2O1N2N2O1N2N2M3M3N3K4M3M4K4K8I6J8H6K7GlRo1"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_left_hand/frame_0000008461_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_left_hand/frame_0000008461_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fcdc18537c6b1fec15c6013377f22089f510567
--- /dev/null
+++ b/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"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_left_hand/frame_0000008491_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_left_hand/frame_0000008491_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cf19437cbd45aa643e769adb2c739f411e93dfb
--- /dev/null
+++ b/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"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_left_hand/frame_0000009691_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_left_hand/frame_0000009691_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a985b34ddcbd66761ebb152c712d812376fc773
--- /dev/null
+++ b/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
+        ],
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+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "lcU191HP73[I>`6HZI?a6d0K3N5K4L6K4K2O0000O101N100001_JPNP5o1lJVNR5n1fJWNZ5X2O10O01O01000001O1O001_MdJZ2b500O010O2N101N1O101N2N2N2N2M3N1O2N1N3N2N2N1N3N1O2N1N3L6J5L3L4L4L7FXRl1"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000005401_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000005401_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..55a8595b1eb261eb2ece172157db88996842ce80
--- /dev/null
+++ b/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"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000005491_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000005491_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..43eaded070bcb24a65c5e28ac4f3dd53d0a22756
--- /dev/null
+++ b/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"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000005521_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000005521_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..53dcb6b7432c13c00724f5937b694d14a8f01394
--- /dev/null
+++ b/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"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000007831_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000007831_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..578c851d8b276f8e70c137fd9de445bdf128a939
--- /dev/null
+++ b/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"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000007861_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000007861_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..4eb44d8ec185535ebf097a8cf6f88d1dacbd5064
--- /dev/null
+++ b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000007861_mask_rle.json
@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000007861_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": "kVc2`0]76K5K5J8`NZOTKP1i4X1K100000000001OIXMVKh2i4ZMWKe2i4[MXKd2h4]MXKb2h4^MYKa2g4`MZK^2f4cM[K8Ja1l4WNPLd1P4]NPLb1P4_NPL`1P4`NPL`1Q4`NnK`1R4bNkK_1U4bNiK_1W4cNfK^1[4cNbK^1^4dN^K^1b4eNYK]1h4fNQK]1o4j0001O001K4M4M3L4M3N2M6K3L4M3L4M2M4K6K6I5L3M4K5L3L6LhQ`0"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "SUR27f74L4M3N2N1N3N2N2N2N3M2N2N2O1N2O1O1N2O1O1O0O2O1O1O001O1O001O1O001O1O001O1O001O010O0010O01O0010O01O1O010O001000O010O0100O010O01O001O001O1M2O2M2N3eNlIKIa0a6CV1N2N101O1O001O10O00100O1000001N3VHJ58P7d0MO2N1O1N3L4L4L6J\\Rg0"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000007891_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000007891_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..66d175450953317de70c13a74ba3f0820fe82ee1
--- /dev/null
+++ b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000007891_mask_rle.json
@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000007891_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": "Yn_29c79[N@]Ke0^4HVK<g4LnJ:P5\\1O2N0001O00HdMmJ[2S5fMmJY2S5hMlJX2T5hMmJW2S5jMmJU2S5lMnJR2R5nMPKP2P5QNSKMLa1Q5cNbKZ1^4gNcKV1^4kNbKT1^4lNbKT1_4lN`KT1`4mN^KT1b4lN^KT1b4mN\\KT1e4mNYKS1g4POTKS1k4QOoJP1R5SOgJQ1Z5j000010O010O001O1N2L4M4L4M4L3L4M3M3L3M4L4K5K4L4M3M3M3L5K5L`Rc0"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "ado13k74K6J5L3M3N2N2N2N1O2O0O2O1N2O1N2O001N2O1O1N2O00001O1O00000010O01O1O000010O0001O10O01O010O10O01O010O10O0100O1jIYNR6l1N10O1O010O001O0O2N1O2N1bNPJj0R6UOYJ=l5AZ101O1O0010O00100O010O101O1O1^HKV79cHNY7=01O01M2O2M2O2L4JSkj0"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000007921_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000007921_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..13062052706006316a0ec9265e732e272621b29b
--- /dev/null
+++ b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000007921_mask_rle.json
@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000007921_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": "mk[21m79H7J4L3`IFT5a0TJVO6`0b5b1FkMeJV2Z5kMfJV2X5kMgJW2V5jMkJV2T5kMlJW2Q5iMPKW2o4jMQKV2n4jMTKT2l4mMUKQ2k4PNZKi1g4WNaKa1_4`NcK]1]4dNeKX1\\4hNeKW1[4iNeKW1[4jNdKV1]4iNcKW1]4jNcKU1]4lNbKT1^4PO]KQ1c4QO[Ko0e4TOXKl0i4UOPK]OH^1X5WOjJR1V5l000001O001O1O1O2N101N1N3N1N3M4J4J6L5L3N2L4K5L4L4L4J6L4M4L4L\\kf0"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "mkk18e75L4L3M2N3N2M3N1O2N2N1O2O0O2O1O0O2O1O0O2O001O001O1O010O001O010O001O010O010O00010O01O000001O00001O01O00010O0010O0hIbNo5_1nIcNQ6f11O00001O0_NnIT1R6iNUJS1l5kNZJP1f5PO^Jk0c5UOaJe0b5ZOcJ4j5LU101O010O0100O10000O2O3M4[HC^7e0K2NO101N1N2O1N2O2M3M3Iicn0"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000010651_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000010651_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ad8ea9d02fad42bf324999ff25a445a76325d5e
--- /dev/null
+++ b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000010651_mask_rle.json
@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000010651_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": "`U\\21n74M3M2O2N2M3N1O001O0O2O0O100O101N1O2O0O101N100001N010O0001N1N2N2O1O100O100O10000O10001N1O010O1O100O10O0O]IgNb6Z1^IfNa6[1_IeNa6[1110O_IeN^6]1aIcN_6]1aIcN^6^1bIcN]6`1O10L3O110OQOdN[K[1g4gNVKY1k4hNTKW1m4kNPKU1Q5lNnJS1T5nNjJP1X5QOgJn0[5SOcJl0_5TO`Jj0c5VO]Jh0e5YOXJf0k5[OSJd0n5^OoIa0T6@iI`0Y6a02O2N1O2N2O0O3M2N3L5L3M3M2N3M3M2N3L4Ljj<"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "^cQ2=a75J5L4M2M3M4L3N2M3N3M2M3N2N3M2M3N2N2N2N3M1O2HiMbJ\\2[56N2O1O1O100O100O100O1000000O1000O010O10O10000O01000O1000O01000O100O100O001O10O01O1O1O1O1O001O2N1O001N2O2N1N2O1N102N1N2O1O1N2O1N2N2O1N2O1N2N2N3N1N2O0O2O1N2O1N2N3N1N2O1N2N3N0O3M2O1N2O2N1O1O2N2N2N3KSka0"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000010921_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000010921_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..323273b76baf0e266e11352219773b60bb48cfef
--- /dev/null
+++ b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000010921_mask_rle.json
@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000010921_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": "e[\\22l74[HKZ76eHMY74eHOX72gH0X70fH3X7<O001O001O1O001O1PITOj6W1KO00001N101O001O0O2O00100O010O01O01O001O000100O01O001N200O0O2O1O001O1O1O0O2N2M3O2N1O1O2N2M2O2N^ke0"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "XlV26a7;H8N1N2O1O1O1O010O1O1O1O10O0100O001O000000POVIj0Q7O2N2M2N1K6O1O001O1O001O6I_SR1"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000011131_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000011131_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..e43dfd0aae41f69f831853f6d1502de72bb0496b
--- /dev/null
+++ b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000011131_mask_rle.json
@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000011131_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": "Zm[24l77I6J3M1O2N2O0O2O9H3M3M3M3L3N1N100OO1O1O1N`NgN[LY1e3hNZLW1g3iNYLW1g3iNXLX1i3hNVLX1k3fNVLZ1j3fNVLY1l3eNUL[1l3cNUL]1V5O2O1000O100_IcN_6]1aIcN_6_1O0010K4L5L4M2O1O2N101N100O2O1N2N2O000O2OO01O0O2O1OL3N3O2K5O1O100000O1M4M2N3N2O1N3M3Ldka0"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "[UY29d76K4M3M2N2O0O2O000O2O[OTI6l6H^I0a60h00O2O1N2O0O2O0O2N4M2M3M2O2M2N3N1N2O000O2O0001OO10000O1O100O00100O0100O10O0101N10000O2O0O2O0O2N100O2O000O2O1N2O0N4M2N4K4MR[f0"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000011311_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000011311_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..860470ee5adb544add2bbf17d5bc5053b23d3d26
--- /dev/null
+++ b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000011311_mask_rle.json
@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000011311_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": "hVY23m72M2O2N1O1000000O10000oNF[J:c5I\\J7b5J^J6b5J_J6`5J`J7_5HcJ7]5IcJ8\\5HeJ8Y5HhJ8X5HhJ9W5GiJ:V5EkJ;U5EkJ<T5DlJ>R5BmJ`0R5@nJa0Q5_OoJc0o4]OQKe0m4\\OQKh0l4XOTKk0i4UOWKl0h4UOWKk0j4TOUKm0k4TOTKl0l4TOTKl0m4TOQKm0o4TOoJm0R5SOlJn0T5TOiJm0X5SOfJn0Z5TObJn0_5TO\\Jn0d5TOUJQ1l5a0001O2N2N3M2N2N2N2N1O1O1O1O1O2N2N9G:F8H9GTXh0"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "`nX26g74M2O1O1O1O100O2O1N2O1N2N1N3O1N1O2O1O0O101O000O010000O1000001O0O101O001N101N2O2M2N3L3M5Jhim0"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000011461_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000011461_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..43ffec2725b5c7dd5739720b0e9bfc20cd252e22
--- /dev/null
+++ b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000011461_mask_rle.json
@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000011461_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": "`bZ25k72M3N101N100000000O102N7I4K5L1N3N1N2N3N0O1O1M2N10100O10O2O00O1N2O1O0O2N2N2N11@?O2N3M4K5KgUl0"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "eRY25h76K3N2N2NBfH8Z7GiH8U7HnH6Q7KPI4o6MSI1l60UIOj63VILi66WIIg6:>1O2N2N2N2O0O2O0O2N1O2N1O1O100OO2N2O1000000O100O2N1O2N2M3M4L4LRfm0"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000011491_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000011491_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9aaf6fc8a5cb900ae0cdd62945e764017f17aac
--- /dev/null
+++ b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000011491_mask_rle.json
@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000011491_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": "RRY22m73M3N2N2O0O101O2N1O;E4K5L2N1O1O1N2O0O000000O10O10O01O0O2N2O001O1L301N00L5N2N3M3N3M4K9G<Dkem0"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "mQZ21l75L3N2N2N2N1O2N2M3L3O2N2M3N101N10O01000O1O1N2O1O2O0O1N3M3L4M3N3Jgfo0"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000013171_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000013171_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..6291eff535aab9ee85208e3bfc6da65bc90ffea6
--- /dev/null
+++ b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000013171_mask_rle.json
@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/a_person_s_right_hand/frame_0000013171_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": "Xih27h72N1O2[IH`5:]JIa58^JI`5;\\JFd5;[JEe5<ZJDf5=XJDh5>UJCk5>SJCn5=PJDQ6=jIFV6<fIF[6o01O01O000O1O1O1O2O000O101O01O00001O001O0010O01OO101O01O01N1010O01O0000000000O10000O010N2O1O1000000O1N201O0O2K^IjNc6T1^IlNc6S1]ImNk6k0VITOn6f0TIZOP7a0QI_OR7=PIBR7=mHCU7;:N1O1O1N3Ng]4"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "ia_26h73M3N1O1O2O0O1000001O000000001O01O01O1O100O1O1O1N3N1O0O2O0O10000O100001O001O1O1O1O2N2M2O2N1N2N2N4J4M3Mo]e0"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/banana/COCO_train2014_000000009452_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/banana/COCO_train2014_000000009452_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..91fcd402abdabc3667f65f8153ab2d85fe87b1fa
--- /dev/null
+++ b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/banana/COCO_train2014_000000009452_mask_rle.json
@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/banana/COCO_train2014_000000009452_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "banana"
+    ],
+    "reference_object_description_en": [
+      "banana"
+    ],
+    "reference_object_description_cn": [
+      "香蕉"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          640,
+          425
+        ],
+        "counts": "Vem07]1Kl`08P_OKPa05k^O0Ua00j^O1Ta03i^OOSa07h^OLVa07g^OKVa08h^OIWa0DV^O>=0\\a0=]^OHaa0]1M301O11N1O00O20kM]^Oi1ca0TNb^Ol1ja00N100O100O2O10O2N0O10010O0010O00ZOP^OZORb0Z1O1O2O000O11OO1O10O010000O2N101N010O100O100O11N02N10000O1000O010000O100000O011OO1O100002M10N2O10O10O010O10O011O001ON1010O1O10O10000O100000O10O10O1O0100O01000O1000O10O10O01000O01O10O10O10O010000O01000O01O0100O10O010000O1O010O100O0100O010000O1O10O02N01O0100O010O1O1O10O0100O1O01OO200O010000O10O01O10O010O0100O10O0010O10O010O01O01O2N10O0001O0100O1O01O0001O1O0001O00YMj^Od2Ya000000010O0000000010O0010O1O01O000011N01O0003M0001O10O0001O0000010O0010O0O200O1O011N1O0000010O00001O001O01O01N1001OO110O000O2O010O00001O00001O001N2O1O1O1O2N1O001O001O1O001O2N1O2N1O3L2O1N2N3M3M4L2M3EQ]O_OTc0?9L3N5H[`R1"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          640,
+          425
+        ],
+        "counts": "jc1:^c0j0XO:I7H8I5L4M3L3M5K4K5L4K5J5J8G8H8I7I6H9H8J5N2O1O2N1N31N00N2O20OO1O1L`KmAZ3X>SL\\Bg3Q?N1O1O001O01O00001OO2O000000001O0001O01O000O2O000O101N100OhLbLoE^3o9dLQF\\3l9gLUFX3j9iLVFW3h9kLYFT3f9mLZFS3d9oL\\FQ3`9SM`Fm2_9TMaFl2^9UMcFj2_9UM`Fk2`9UM`Fk2`9UM`Fk2`9UM_Fm2`9SM`Fm2`9SMaFl2`9TM_Fk2b9VM]Fj2c9WM[Fj2e9XMYFh2g9\\MUFd2k9_MRFa2o9bMmE^2R:gMjEY2V:hMiEX2W:iMhEW2X:kMgET2Y:lMgES2Z:nMeER2[:mMfES2Z:mMfES2[:lMeET2Z:lMgET2Y:lMgES2Y:nMgER2Y:mMhES2W:nMiER2V:oMjEP2W:oMjEQ2U:PNkEo1V:QNjEo1U:QNlEo1T:QNlEo1S:QNnEo1Q:RNaC_N\\2_3S:QNoEP2P:QNPFn1P:SNPFm1P:SNPFm1o9SNRFm1m9TNSFk1m9VNSFj1m9UNTFk1l9UNTFk1k9VNTFj1m9VNTFi1k9WNUFj1k9VNUFi1l9WNTFi1l9VNUFj1k9VNTFj1l9WNTFi1l9VNUFj1k9VNTFj1m9VNSFj1m9VNRFk1n9UNRFk1n9TNSFk1n9UNRFk1n9UNRFk1n9UNRFj1o9UNQFl1o9TNQFk1P:UNPFj1Q:UNPFk1o9VNPFj1R:UNnEk1R:TNnEm1R:SNnEm1R:SNnEm1R:RNoEm1R:SNmEn1S:RNmEn1S:RNlEo1T:QNlEo1T:PNlEP2U:PNkEP2U:oMlEP2U:PNkEP2U:PNjEQ2W:nMiER2W:mMjES2V:mMjER2W:mMjER2W:nMhES2X:mMhES2W:mMjES2W:lMhEU2X:kMhET2Y:kMhEU2X:kMgEU2Z:jMgEV2Y:jMgEV2Y:jMgEU2Z:jMfEW2Z:iMfEW2Z:hMfEX2[:hMeEX2[:hMeEX2[:gMfEX2\\:gMcEY2^:fMcEY2^:gMaEZ2_:fMaEZ2_:eMbE[2^:eMbEZ2_:fMaEZ2_:eMaE\\2_:cMbE\\2_:dMaE\\2`:cM_E^2a:aM`E^2a:aM`E^2a:bM_E^2a:aM_E_2b:aM^E_2c:`M]E`2c:_M^E`2c:_M]Ea2d:_M\\Ea2d:_M[Ea2g:]MZEc2f:]MZEb2f:_MZEa2g:]MZEb2g:^MXEc2h:\\MYEc2i:\\MWEd2i:[MXEe2h:ZMYEe2h:[MXEd2i:[MWEf2j:XMWEg2j:YMVEf2l:XMUEh2j:XMVEh2l:WMTEh2m:WMSEi2o:UMREj2P;UMQEj2n:VMSEi2o:UMREj2R>01O1O1O1O001O002O0O1O001O100O1O2N2N1O1O2N1O1O2N1N2O2N1O1N3M2N3N2L3N2N3M3L4M3M3M2N2M4L5J7Db^S3"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/human_hand/frame_0000005521_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/human_hand/frame_0000005521_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e4bc1e9c0529ef32d14f5ae252dc07d6e98fa2b
--- /dev/null
+++ b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/human_hand/frame_0000005521_mask_rle.json
@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/human_hand/frame_0000005521_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "human hand"
+    ],
+    "reference_object_description_en": [
+      "human hand"
+    ],
+    "reference_object_description_cn": [
+      "人的手"
+    ],
+    "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"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/knife/COCO_train2014_000000000113_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/knife/COCO_train2014_000000000113_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cc2153f09e2e2d0f53f85d4f02e6d631d5b0cd0
--- /dev/null
+++ b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/knife/COCO_train2014_000000000113_mask_rle.json
@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/knife/COCO_train2014_000000000113_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "knife"
+    ],
+    "reference_object_description_en": [
+      "knife"
+    ],
+    "reference_object_description_cn": [
+      "刀"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          640,
+          416
+        ],
+        "counts": "g_n42ic06J7N110001O3M2NO001O0\\\\OI]c0>O2N2O1000O1O2N100O010O01000O1000O0101OO100O010O1O01O101N1N2O2M2O1O1N2N10PjV2"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          640,
+          416
+        ],
+        "counts": "Z`m21en18PeN4M2M2O2N2O1N1O2N2N2O0O2O1N101N2O0O2O1N101N2O1N2O0O2O1O1N101O1N2O0O2O1N2O0O2O1O001N2O001N2O1N1O2O1O0O2O001O1N2O001TLaMUF`2h9cMVF_2h9cMVF^2i9dMVF]2i9cMVF_2i9bMVF^2i9cMWF^2h9cMVF_2i9aMWF`2h9aMVF`2i9aMWF`2h9aMWF`2g9aMXF`2h9`MXFa2f9aMYF`2e9aM[F_2d9bM\\F_2b9dM\\F]2c9dM\\F\\2c9oMRFS2l9PNRFQ2m9RNoEP2Q:PNnEQ2R:oMZCkN]2V3Y:VNfEk1Z:TNeEn1Z:SNeEn1[:RNdEn1\\:RNcEP2]:PNbEP2^:QNaEP2_:QN^EQ2a:PN^EQ2b:oM\\ER2e:mM[ET2e:lMZEU2f:kMYEU2h:lMVEU2j:kMTEW2m:hMREX2o:gMQEZ2o:fMPE[2P;aMXCdNg1l3R;\\MTEe2l:UMYEl2g:PM\\EP3f:nLYET3g:lLXEU3h:mLTET3m:mLPEU3P;oLkDR3T;QMiDo2X;RMfDo2Y;RMfDo2Z;QMeDo2[;QMcDR3];hKUCo0_1Y3P<XLoCi3U<TLlCj3[<QLcCo3i<gKTCZ4Y>0000O010O10000O100O2O1N3M2O2N2M2O2M2O2N1N2O1N101N1O2O0OEiLP@V3P`0lLn_OS3S`0PMi_OQ3W`0;101N101N101O0O2N2O0O2O0O2O1N100O2O0O2O001N1O2O0O2O0O2O0O2O0O101N101N101N101N1O2O1O0O1O2O000O2N100O2O0O100O2O0O101N101N2O0O2O0O2O0O2O0O2O1N100O2O0O2O0O2O0O2O0O2O0O2O0O2O0O2O0O2N101N101N2O0O2N101N1O2O1N1N4EP]6"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/knife/COCO_train2014_000000012073_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/knife/COCO_train2014_000000012073_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..23e88f2ab63cc044517e153170761efa18e01ce6
--- /dev/null
+++ b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/knife/COCO_train2014_000000012073_mask_rle.json
@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/knife/COCO_train2014_000000012073_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "knife"
+    ],
+    "reference_object_description_en": [
+      "knife"
+    ],
+    "reference_object_description_cn": [
+      "刀"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          375,
+          500
+        ],
+        "counts": "\\ba01e;1LOaD3^;3N2O1O2L3N2O1O1L4O1N2N2N2N2O0O2O1O1O0O2O1N2O1O2N1O1N2O1O1O1N2O1O1O1N2O1O1O1N2O1O1N2O1N3N1O1N2O1O1O0O2O1O1N3N1O1O1N101O1N2O1O1N3N1O0O3M2O1O1O1O1N2N2O1O1N2O1O1N102N1N2O1O001N2O1N2O1O1O1N2O1O1N2O1N3N1O1O1O1O1N2O1N2O1O1N2O1O1N2O1O1O1N2O1O1N2O001N2O2N1O1O1N2O1O1N2O1N2O1O1O1O1N2O1O1O1N2O1O1N2O1O1N2O001O1O1O1N2O1O2M2N2O1O1O1N2O1O1O1N2O1N2O1O1O1O1N2O1O1N2O1O1N2O1O1N2O1O1O002M2O1O1O1O1O1N2O1O1O1O1O0O2N3N1O1N2O1O1O1N101N2O1N2O1O1N2O1O1N2N2O1O1N2O1O0000O10O01O1000O01O10OO20O1O01O100O1N2O1N20ON4I6I7O001VMPMXKc0N^2f4VMQKk01o1i4@lJb0Q5GgJ;W5S3N2O10O0100O100O1O10O100O1001O0O010000O1010OO1000001O0001O001O101N1O100O1O100O0010000O1O100O2O0O100O100O10O0101N010O2O000O100O1O011O0O100O101O0O100O01000O100O10000O10000O10000O10O10O10001N1O1O1N2M3N2N2N2N2M4M2N2M3N2N2M3N2M3N2M3M3N2M3L4M3M3L3O2L4L4K5L4M3J6L4L4I7J7Fnig0"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          375,
+          500
+        ],
+        "counts": "0c12He8f1O2N1O2N1O2N1O1O1O1O2N1O1O100O2N1O1O1O2N1N101O1O1O1O1O001O100O1O1O1O001N2O1O1O001O1O1O001O1O001O1O001O001O1O001O001O001O001O001O001O001O00001O001O001O0010O0001O00001O0O10001O00001O00001O0000001O0000001O000000001O000000000000001O00000000000000000001OO101O0000000000000000000001OO010000000000000000O100000000O100000000O10000O10000O10000O10000O100O10000O10000O100O100O100O100O1O100O100O100O1O100O100O1O1O100O100O1O100O1O1O100O1O1O1O1O1O100O1N2O1O100O1O100N2O1O1O1O1O1O1N2O1O1O1O1O1O1N2O1O1O1N2O1O2M2N2O001O1N2O1N2O1N2N2O1N2N2N2N2N2O1N2N2M3N2M3N2M3M3M3M3M3L4M4I=WOYj5:iUJ:I6J6K4mLXO]IJ>S1o5ZO\\IK^OFg0Y1X6T1]IPO^6U1^IoN^6U1^IoN^6=^I\\N0Z1`6;_I?^6`2M2M\\MiINS63oI_MMU2R6X3MaMQJ[Om5Y3N2N1O1O1O1N2O1O1O1O100O1O1O100O1O1O1O1O1O100O1O1O100O100O100O100O1O100O100O100O100O100O10000O100O100O100O10000O100O10000O100O10000O100O10000O10000O1000000O1000000O1000000O10000O100000000O100000000O100000000O10000000000O101O00000O1000O100000O100000000000000000000O10000000000000001O0000O1000000000000000000000000000001O000000000000000000001O0000000000001O000000000O101QNkKaJNf1W4WOnKa1KbM0j0OO8l0I"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/pillow/1065_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/pillow/1065_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cec49f6cf6130691b0b19134bb1f9c98606e8ca
--- /dev/null
+++ b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/pillow/1065_mask_rle.json
@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/pillow/1065_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "pillow"
+    ],
+    "reference_object_description_en": [
+      "pillow"
+    ],
+    "reference_object_description_cn": [
+      "抱枕"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          566,
+          800
+        ],
+        "counts": "Rhn:3aa03M3M2O2M2O2N1N3M2O1N3N1N3M2O2N1N3N1N3N1O2M2O2M2N3N1O1N2O2M2N2O1N2O1N2O0O2O1O1O000O2O1O0000000011M2O1O1O1O1N2O2N1O1N3N1N2O1O2M2O1N2N3N1N2O1O1N2N3L3N3M2M3M3M3M3N2N3M2O2K``\\1"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          566,
+          800
+        ],
+        "counts": "Xgo83`a06K3N2N1O2N1O2N1O1O101N1O2N100O2N1O1O2N1O1M3N2O2M2O1O1N2O2N1N2O1O1O1N3M2O1N2O2M2O2M2O1N3N1O1N2O2M2O1N3N100O101O00001O00000000001O0000001O00010O00001O0010OPN`MjD`2f:WNlDnNPOl2h:PMYFc1AjN^Ob2b:aMPFZ2^O6a:cMmEY2A4a:jMeEU2J2`:P1`EPO`:P1`EQO_:o0bEPO^:P1bEQO]:P1bEPO_:o0aEQO_:o0aERO^:n0bERO_:m0bESOb:h0^EXOk:`0TE@W;5iDLW;3iDMX;2hDNY;1gD0X;0hD0Y;OhD0X;1gDOZ;0fDO\\;0dD0\\;0dDO];1cDM_;3bDK_;5aDIa;8^DEe;;[DBh;>XD^Ok;c0VDZOl;f0TDYOm;g0SDVOP<j0oCTOS<m0mCQOU<o0kCoNV<R1jCmNW<S1jCkNT<X1lCfNP<`1PD_Nd;o1[DoMb;V2^DiMa;Y2_DeMb;\\2^DcMc;]2]DaMe;_2[D_Mg;a2YD^Mg;c2YD[Mi;e2WDZMj;f2VDYMk;g2UDWMm;i2SDVMo;i2QDUMQ<k2oCTMS<XOVDf2GPNZ<hN^DV3XOQNU=o1kBoMW=Q2iBnMY=Q2hBlMZ=T2fBkM[=U2eBjM]=U2cBiM_=W2aBhM`=X2`BfMb=Z2^BeMc=[2]BcMe=]2[BaMg=_2YB`Mh=a2WB]Mk=c2UB[Mn=d2RB[Mo=e2RBYMo=h2PBWMQ>i2oAUMR>l2nASMS>n2mAPMT>P3lAoLU>Q3kAmLW>S3kAiLW>X322O1O0O2N1ROn0O1O1000001O0O2O00001O000100O2N5bKfBV4n=_O3M10O010O000oBbLk;]3RDgLm;Y3PDkLo;V3lCnLT<R3jCQMV<n2hCUMW<k2gCXMX<i2fCXM[<g2cC\\M\\<d2bC_M]<m30001O00000000OSOVKPEj4j:lKeDd31iKY;i0`DZ3V<m06I7I6@a0^Ob0G9J6L4H8H8G9]Oc0H;[O_kn0"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/pillow/COCO_train2014_000000001906_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/pillow/COCO_train2014_000000001906_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0ac4d5c35e6449d4a7df08d22ba82d9d40bb68f
--- /dev/null
+++ b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/pillow/COCO_train2014_000000001906_mask_rle.json
@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/pillow/COCO_train2014_000000001906_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "pillow"
+    ],
+    "reference_object_description_en": [
+      "pillow"
+    ],
+    "reference_object_description_cn": [
+      "靠枕"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          333,
+          500
+        ],
+        "counts": "Tjd12Z:6K4L3M4L4L3M2N2N3M4L3M2N3M4L3M3M2N000000O1000O0100O100O10000O100O01000O10000O10000O1000000000O010000000O1000O1000000000O1000O100000000000O01000000000000O10002N1O2N2N3M5K4K3N3M3M3M3M3M4KjU_2"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          333,
+          500
+        ],
+        "counts": "U]`06V:4L3M1O2N101N10001O0000001O0O1000001O000O101O000000001O0000001O000000001O000000001O0O101O00001O00001O0O101O0000001O00001N101O001O004K;F2N0000000O10000000O1000O10000000O010000000O100000000O0100000O100000O1000O10000000001O2N3L6K2N4L3M4L3M2N3N3L2N3M3M4L3MiQf0OWnYO4M5K4K4M3M3M4L3M2N2N3M4L4L2N000O0100O10000O10000O10000O010000000O100000000O100000O10O100000000000O01000000000000O0100000000000O1000001O1O3M3M4L4L4L3M7H5KQ]i1"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/pillow/COCO_train2014_000000011485_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/pillow/COCO_train2014_000000011485_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7b0abf1100549a8cfd21241ff98cbb0b142185c
--- /dev/null
+++ b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/pillow/COCO_train2014_000000011485_mask_rle.json
@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/pillow/COCO_train2014_000000011485_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "pillow"
+    ],
+    "reference_object_description_en": [
+      "pillow"
+    ],
+    "reference_object_description_cn": [
+      "靠枕"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "YZW32l>2N3M2M3O1L4M4M2M3O1L4N2L4N3M2O10001O0000000000001O000000001O00001O0000001O001O0O101N100010O01O000000000O100O1000000001O001O1O3M3M3M=WOQBGi>K2N[kS5"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "Uha21m>3L3M3K6K4K5K5K5K5N2L4O100001O001O1O001O10O01O001O1O00000000O1O1O2O0001O00001O0001O00000000O1N2N2N2N2L4N2M3N3M2M3N2L5M2M3O1NRSe0OQmZO1O2N4K3Nc0cA]OW=W1O001O000000O11O0000000O100000000O10000O1000O01000N2O0\\OjB^OX=8m0I8K5LUke4"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/pillow/COCO_train2014_000000014138_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/pillow/COCO_train2014_000000014138_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..97f121f100a3b1f3247564781694a431c623ebc3
--- /dev/null
+++ b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/pillow/COCO_train2014_000000014138_mask_rle.json
@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/pillow/COCO_train2014_000000014138_image.jpg"
+  ],
+  "task_type": [
+    "ContactRelationship_TypeOne"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "pillow"
+    ],
+    "reference_object_description_en": [
+      "pillow"
+    ],
+    "reference_object_description_cn": [
+      "抱枕"
+    ],
+    "precise_description": [
+      true
+    ],
+    "count_contact_target": [
+      2
+    ],
+    "precise_count": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_reference_object": [
+      {
+        "size": [
+          425,
+          640
+        ],
+        "counts": "afj25T=2M2O2N3M2M4M1O2O1M2O2N3M2N2N5K2N2N1O000O1000O100gNWDQ1i;oN\\Dm0d;SO_Dj0a;VOcDe0_;ZOdDc0];[OfDc0S<L3N3L3M4MZno4"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          425,
+          640
+        ],
+        "counts": "oZ`24T=2N2O1O0O2O2M2O1O001N1000001O0001O010O100OO2O1O2N7I1O01O002M3N1O2M3N1O3L3N2N2NjS4MXlK4M3M4L3M2O2M2N3N1N3M1O2N101N1O100O1N1O100001N2O1O2M2O1O1O2M3N1O2N2M3N2M4M2MdZd4"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/the_left_hand_of_a_person/frame_0000004801_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/the_left_hand_of_a_person/frame_0000004801_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..a21dd84144bdd226f5c8c4481eacf492f990b617
--- /dev/null
+++ b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/the_left_hand_of_a_person/frame_0000004801_mask_rle.json
@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/the_left_hand_of_a_person/frame_0000004801_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": "aoU11f7:C=J5M3N2O1N3N1N2O2N1O1O2N1O2O0O2O0O2OO1O001N1N3N2L3N3C=M2O2J6K5N2M201N2O1O1ORRR2"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "cUY16g7:H5J3N1N100O2O1O001000O10000O1000000O]IYOo5g0lI_OR6b0lIAS6?kICU6=iIEW6:iIFX6:gIGY69fIHZ69cII]6m00O100000000O10O100000O10000000000000000000O100000000000O100N2M4H:C;CVSi1"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/the_left_hand_of_a_person/frame_0000006301_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/the_left_hand_of_a_person/frame_0000006301_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..027f8cab9727813dbeb6ad00b861381a3016ef3b
--- /dev/null
+++ b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/the_left_hand_of_a_person/frame_0000006301_mask_rle.json
@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/the_left_hand_of_a_person/frame_0000006301_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": "em[13j74M3L3N3L4L5L4K5K4L3N3N1O2N1O1O2M2O1O1N10O101O1O2N3M2N3M4K4L3M2M4N001O01000O10001O1ZOQI9\\7O1O0O2O1O0O2O002MfRi1"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "Yk`1`0Z7;H8H6K4L4K4M4L4M3L4M2N1N2O1O1O1O1O1O1O1OjNUKYOj4h0XKWOg4i0[KUO_OEi4V1kKVOVOIl4R1PL_On3b0SL^Ol3c0VL[Oh3f0ZLXOf3h0]LVOa3l0_LTO`3l0aLSO^3n0cLRO\\3m0fLSOX3n0iLQOW3o0iLROU3o0lLPOT3o0mLROR3n0oLQOP3P1PMQOo2n0SMQOm2o0TMPOk2Q1UMPOj2P1WMoNi2Q1WMPOh2P1YMoNg2P1ZMPOf2P1ZMPOf2P1[MoNd2R1\\MnNd2R1]MmNc2T1\\MlNd2T1\\MlNd2T1]MlNb2U1]MkNc2U1]MkNc2U1]MkNc2U1]MkNc2V1\\MjNd2V1[MkNe2U1[MkNe2U1WMoNi2Q1TMSOk2m0TMTOl2l0SMUOm2j0UMUOk2j0VMVOj2i0XMVOh2g0[MYOe2e0]M[Oc2d0^M\\Oc2b0^M]Oc2c0\\M^Od2a0]M_Oc2`0^M@b2`0^M_Od2?]MAc2?\\MBd2>\\MAf2>ZMBf2>ZMAg2?YMAh2?WMAi2?WM@k2?UMAk2?UMAl2>SMBn2>QMCP3<PMDP3<PMCR3=lLDT3<kLEV3:hLGZ39dLH\\38cLH_37aLHa37^LJc35\\LKe35ZLKh34WLLk33TLNm31QL0Q4OkK4W4KhK5Z4JeK6^4HaK8a4G^K9d4F\\K9f4GXK9k4ETK;n4DPK<S5DjJ=Z5@eJ?_5_O`J`0d5^O[Jb0h5]OUJc0o5[OPJd0U6[OhIe0\\6XOcIf0o6K6I^lR1"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/the_left_hand_of_a_person/frame_0000009691_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/the_left_hand_of_a_person/frame_0000009691_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf7fef836a69fd6ac90f2e99be85a6ac1a260159
--- /dev/null
+++ b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/the_left_hand_of_a_person/frame_0000009691_mask_rle.json
@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/the_left_hand_of_a_person/frame_0000009691_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": "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"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/the_left_hand_of_a_person/frame_0000010621_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/the_left_hand_of_a_person/frame_0000010621_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b42cee4283b44ef7e97078746d6cd100e99cdda
--- /dev/null
+++ b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/the_left_hand_of_a_person/frame_0000010621_mask_rle.json
@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/the_left_hand_of_a_person/frame_0000010621_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": "kQd13b0;Z6HdI;Y6GdIa0T6EgIb0S6h0M10O001O1O2N1O2N3M8H5K2N2O1N1O2O0O1OO2O001O001O1O0010OO1O2M2M20O1N2J6D<M4N1KfUc1"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "aYZ14l71O1O000O2O001O001N2O1O1O1O0O2O1O10O01O1O001O1O001O001O00100O001O0010O01O001O]OQI5P7ISI6l6JWI3i6M[INf62d01O0010O01O2N1O2N3M6J6K2M2N1O1O00O1O2O01O000001O0000001O0O101N100O2N1O2O1N2N2N3L4KR^b1"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/the_right_hand_of_a_person/frame_0000006241_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/the_right_hand_of_a_person/frame_0000006241_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fb630a6f69eb9553bbd94a46ee9df3ed3f06720
--- /dev/null
+++ b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/the_right_hand_of_a_person/frame_0000006241_mask_rle.json
@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/the_right_hand_of_a_person/frame_0000006241_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": "Rma25k71O1O1O001O001O001O1O001O2N2gH4Z6l0M3M4K5L000O2O0O001N002N2M301O2N01O1O001O2N1O001N1000000O1O010O11O0O1O011N1O00E<I6L5M3N3M5J8H7H=CiR`0"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "djR23Y7P1@9H6K5K5K5J5M4K4M2N3L3N3L4M2N2N2N3M2N2N2N2N2NUNjKOT4NbL@]37PMGn29UMFi2:[MDd2;^ME`2;eMBY2?hM@X2`0hMAV2a0jM_OU2a0lM_OR2c0oM[OQ2f0oMZOo1i0oMWOQ2j0oMVOo1l0QNSOo1m0RNROm1o0TNPOl1P1UNPOj1P1VNPOi1Q1XNoNg1Q1ZNoNe1Q1\\NnNc1S1^NmNa1T1_NkNa1U1_NlN_1U1bNjN^1V1bNjN^1V1bNjN^1V1cNjN[1W1eNiN[1W1eNiN[1W1dNjN\\1W1aNlN^1T1`NnN`1R1_NoNa1R1\\NPOd1Q1ZNPOf1Q1YNPOg1P1XNPOh1Q1XNnNh1R1YNmNg1S1ZNlNf1U1ZNjNf1V1ZNjNf1W1ZNhNe1Y1[NgNe1Z1ZNfNf1Z1ZNgNf1Y1ZNeNg1[1YNeNg1Z1ZNfNf1Y1[NgNe1W1]NiNc1W1]NhNd1X1\\NhNe1W1[NiNe1W1[NhNf1W1[NhNf1X1ZNgNg1Y1YNeNj1Y1WNeNk1Z1VNbNn1^1SN^NP2a1RN\\NQ2c1oM^NP2a1QN_No1a1PNaNo1]1TNcNl1\\1SNfNm1X1TNiNk1W1TNkNl1U1RNmNm1S1SNoNl1P1SNROl1n0SNTOm1l0QNUOo1l0PNTOQ2l0mMUOS2l0kMUOV2j0jMVOV2k0iMTOY2k0fMVO[2j0dMVO]2i0cMVO_2j0^MWOc2i0]MVOe2i0[MVOg2i0XMWOj2i0UMWOk2i0TMWOn2i0PMXOQ3g0oLYOR3g0lLZOU3f0jLYOX3j0cLVO`3i0^LWOd3h0\\LWOf3h0YLXOi3g0VLYOl3g0SLXOP4f0oKYOT4f0lKYOV4f0iKYO[4e0dK[O^4d0bKZOb4e0\\K[Og4c0YK\\Oj4b0UK]Oo4a0QK]OS5b0kJ\\OZ5b0fJ[O_5d0^J[Oh5b0VJ]OP6?RJ]OU6?o0E`m;"
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/the_right_hand_of_a_person/frame_0000008401_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/the_right_hand_of_a_person/frame_0000008401_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3e1a4e1b657589fece4fd0359494f1ab1841295
--- /dev/null
+++ b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/the_right_hand_of_a_person/frame_0000008401_mask_rle.json
@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/the_right_hand_of_a_person/frame_0000008401_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": "cWf282Ia7>N01O001O00001O000000000000000000000000O100O1O1O100O1O1O1O1O1O1O1O1N2N2N2M3J6L4M3O1N2O00O1O2O0M4L4H8K6K5IiY>"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "oe`2=_77K4L4L4M6J6I5L3M3M2N2N2N3M1O2O1N2O0O2O1N101O0O101O000O10001O0000000000O100000000O1000O0100O100O1O10O01O2N1O1O1N2O1N2M4L3L5N1I7M4N2N1O2O1O10O1001N100O2KoHWOS7i04M4JXZ="
+      }
+    ]
+  }
+}
diff --git a/Manipulation/ContactRelationship/ContactRelationship_TypeOne/the_right_hand_of_a_person/frame_0000008911_mask_rle.json b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/the_right_hand_of_a_person/frame_0000008911_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c58d674d02c3a80d9007e25cd585abd02d921b4
--- /dev/null
+++ b/Manipulation/ContactRelationship/ContactRelationship_TypeOne/the_right_hand_of_a_person/frame_0000008911_mask_rle.json
@@ -0,0 +1,48 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Manipulation/ContactRelationship/ContactRelationship_TypeOne/the_right_hand_of_a_person/frame_0000008911_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": "[bT24j75L3hHGe6:YIHf6:XIGg6;VIGi6;UIFj6i006RI@n5\\1N1N101O1O0O2O1O1N2OK5O00100O1O1O10O1ON2000O1H8F:L301PO]M_Lg2_3\\MZLi2g3h0O10O1N30O2ON3mNiKhM00Y4n1\\1A?G9Aa0H8Dd^P1"
+      }
+    ],
+    "masklet_contact_target": [
+      {
+        "size": [
+          256,
+          456
+        ],
+        "counts": "VRe16e77J6L4G8ESOZIU1a67L5L3M3N3J4M4D<M4N1O011O000000O1000000001O000000000000000000001O1O1O1O1O1O2N001O000000000000001O0000000000O100[OTKUNm4i1WKUNi4j1[KSNe4l1^KQNc4o1_KoMa4Q2`KmMa4T2e000001O001O001O1O001O1O1O001O001O00N2K5JZJnMj5n16O1FPJ_NU6^1800N2_Oe0J9[ObH6WoT1"
+      }
+    ]
+  }
+}