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+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/Front_of_the_cabinet/000163_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Front of the cabinet"
+    ],
+    "target_area_description_en": [
+      "Front of the cabinet"
+    ],
+    "target_area_description_cn": [
+      "柜子正面"
+    ],
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+      true
+    ],
+    "precise_description": [
+      true
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+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/Front_of_the_cabinet/002504_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/Front_of_the_cabinet/002504_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f915b2bbdcd8b8519a4b9e3e53388f13d310c2a
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/Front_of_the_cabinet/002504_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/Front_of_the_cabinet/002504_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Front of the cabinet"
+    ],
+    "target_area_description_en": [
+      "Front of the cabinet"
+    ],
+    "target_area_description_cn": [
+      "橱柜正面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          365,
+          512
+        ],
+        "counts": "ZSP3f1g90000000000000000000O1001O000000000000000O100000000000000000000000000000000000001OW1]NUE5k[W2"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          365,
+          512
+        ],
+        "counts": "n`P3_1i9<Ec0A0000000000000000000O100000000000000000000000000000000000000001OO100000000000000000000006J4L3M2N3M2N4L3M2N2N3M3Mm0SO4L6Jjio1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/Fruit_basket/41069134_4086.207_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/Fruit_basket/41069134_4086.207_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3608f7292134b6986615cb099ffaf9449e18a57
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/Fruit_basket/41069134_4086.207_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/Fruit_basket/41069134_4086.207_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Fruit basket"
+    ],
+    "target_area_description_en": [
+      "Fruit basket"
+    ],
+    "target_area_description_cn": [
+      "果篮"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "ViT44j>4`ALn=7oAMo=4oANo=c0O0O2O0M3N2O10000O100010O0000001O001O000O2O00001O001N101O1N2N2M3M4K6Hlmd4"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "fUQ73k>9H5L;D8H7J8G9H7H7J7H7I10001O001O00001O00001O001O00001O00001O000000000000001O00000000001O00000000001O00001O00010O000000001O0000001O0001O01O0000001O000000000000001O0000001O0000001O0000001O00001O00001O00001O00001O001O00001O010O00001O001O0000001O00001O01O01O000000010O0000010O0000010O00001O01O000001O00001O0000001O00000O1\\J"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/Green_plants/41069165_2025.758_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/Green_plants/41069165_2025.758_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b8e61df7d322dc9a244f9913e8d9a0f2db5058a
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/Green_plants/41069165_2025.758_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/Green_plants/41069165_2025.758_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Green plants"
+    ],
+    "target_area_description_en": [
+      "Green plants"
+    ],
+    "target_area_description_cn": [
+      "绿植"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
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+          480,
+          640
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+      }
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_cabinet/41048113_8797.177_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_cabinet/41048113_8797.177_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2efb022180deed8e54107b83b123e445ea9312f
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_cabinet/41048113_8797.177_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_cabinet/41048113_8797.177_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "In front of the cabinet"
+    ],
+    "target_area_description_en": [
+      "In front of the cabinet"
+    ],
+    "target_area_description_cn": [
+      "柜子的面前"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "_iZ5133a>8N2M4N1O2bD\\O^8<eDKP1\\2c9hM`Ea3_:^LbEb3^:]LcEd3\\:[LeEe3[:YLgEe3\\:YLeE_3c:`L]Ea3c:_L]Ea3c:]L^Ed3o:000O100O100O1O101N1O100O100O100000010O00000000000000001N1000000O1O1O1O1EmKfEW4X:9O100000000000001O00000000000000001O00000000000O10001O000000000000001O0000000000000000001O000O100000000000001O0000000000000000001O00000000000000001O00000000000000001O000000000001O4L2N10O01O1O001O10O02N1O1O1O0010O0hEbKo9]4mEiKQ:W4mEkKS:V4kEkKU:a4O0000O100O1O1M3N2N2N2N2N2N2O1M3N2N2O1N2N2N2M3N2N2N2N2O1N2N2N2N2N2N2N2N2N2N2N2M3O1N2N2M3N2N2N2O1M3N3M2N2N1N3O1M4N1M3N2N2N2N1N3N2N2N2M3N3M2N2M3M4N101N101O001O1O001O001O1O1N^_<"
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_chair/40966448_513.524_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_chair/40966448_513.524_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..2682a2c5fcd06726afd59494c8e787332f0c81c7
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_chair/40966448_513.524_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_chair/40966448_513.524_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "In front of the chair"
+    ],
+    "target_area_description_en": [
+      "In front of the chair"
+    ],
+    "target_area_description_cn": [
+      "椅子面前"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
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+          480,
+          640
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_chair/41048068_3219.043_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_chair/41048068_3219.043_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2f9a822e6d019b5194c49c304e1d3c789f13c1e
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_chair/41048068_3219.043_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_chair/41048068_3219.043_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "In front of the chair"
+    ],
+    "target_area_description_en": [
+      "In front of the chair"
+    ],
+    "target_area_description_cn": [
+      "椅子面前"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
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+          480,
+          640
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_chair/41048169_1056.756_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_chair/41048169_1056.756_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..95c8cdedd14398557b03dcc9d0b72f13440abf4f
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_chair/41048169_1056.756_mask_rle.json
@@ -0,0 +1,45 @@
+{
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+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
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+      "In front of the chair"
+    ],
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+    ],
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+    ]
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_chair_with_brown_armrests/40776203_960.562_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_chair_with_brown_armrests/40776203_960.562_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..8da71eaef2b518b25e88485774bcb7cb9fc786cb
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_chair_with_brown_armrests/40776203_960.562_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_chair_with_brown_armrests/40776203_960.562_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "In front of the chair with brown armrests"
+    ],
+    "target_area_description_en": [
+      "In front of the chair with brown armrests"
+    ],
+    "target_area_description_cn": [
+      "棕色扶手的椅子正前方"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
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+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_clothes_hanger/41007602_5301.389_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_clothes_hanger/41007602_5301.389_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..017ee4943125334c7b6914f346aac31203f1df61
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_clothes_hanger/41007602_5301.389_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_clothes_hanger/41007602_5301.389_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "In front of the clothes hanger"
+    ],
+    "target_area_description_en": [
+      "In front of the clothes hanger"
+    ],
+    "target_area_description_cn": [
+      "衣架前"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
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+          640
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+      }
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+          640
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+      }
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+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_dark-colored_chair/41048068_3149.044_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_dark-colored_chair/41048068_3149.044_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf9d1159a1c215703046ea2ebcabb4d0d14833be
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_dark-colored_chair/41048068_3149.044_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_dark-colored_chair/41048068_3149.044_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "In front of the dark-colored chair"
+    ],
+    "target_area_description_en": [
+      "In front of the dark-colored chair"
+    ],
+    "target_area_description_cn": [
+      "深色椅子前"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
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+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_door/41048113_8785.177_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_door/41048113_8785.177_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb440a1c2cf0026605db559b827dc23ba052e1d6
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_door/41048113_8785.177_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_door/41048113_8785.177_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "In front of the door"
+    ],
+    "target_area_description_en": [
+      "In front of the door"
+    ],
+    "target_area_description_cn": [
+      "门的面前"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
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+          480,
+          640
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+          480,
+          640
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_faucet/41007602_5317.388_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_faucet/41007602_5317.388_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6030f4692c71ba1e0d844323606a45592db172f
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_faucet/41007602_5317.388_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_faucet/41007602_5317.388_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "In front of the faucet"
+    ],
+    "target_area_description_en": [
+      "In front of the faucet"
+    ],
+    "target_area_description_cn": [
+      "水龙头前"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_kettle/41007602_5317.888_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_kettle/41007602_5317.888_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce4b808208edcfc26749022dcfc811c552971604
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_kettle/41007602_5317.888_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_kettle/41007602_5317.888_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "In front of the kettle"
+    ],
+    "target_area_description_en": [
+      "In front of the kettle"
+    ],
+    "target_area_description_cn": [
+      "水壶前"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "Q]X6<a>5K4N3M2O1O0000001O000000000000001O000000O10000K6Bc]g2"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "lYa44j>2N2O1O100O100O100000000O1O1O1O1O1N2O1O1O1O1O1O1N2N2N2N2N2O1O1O1O1N2O1O100O1O1O1O1O1O1O1O1O1O1N2O1O1N2O1O1O1O100N2O1O100N2O100O1O1O100000000000000001F]CUNc<i1;N2N2O1N3N1N2O1O1N2N3M2O1N2N2O1O1N3N1N2O1N2O1O1O2N1O1O100O1O1O2L3M3N2O1O1O1O1OT\\T3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_mirror/1058_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_mirror/1058_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..6faf6642f41f5985fdea8e4e0cc26ef6d73d2150
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_mirror/1058_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_mirror/1058_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "In front of the mirror"
+    ],
+    "target_area_description_en": [
+      "In front of the mirror"
+    ],
+    "target_area_description_cn": [
+      "镜子前面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
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+          547,
+          674
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+    ],
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+      {
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+          547,
+          674
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_painting/41048113_8785.677_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_painting/41048113_8785.677_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..e229ffd49df307ce2e9f8ce3814ee0419a2246af
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_painting/41048113_8785.677_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_painting/41048113_8785.677_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "In front of the painting"
+    ],
+    "target_area_description_en": [
+      "In front of the painting"
+    ],
+    "target_area_description_cn": [
+      "画的面前"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "P``35k>5K5K>B8H;E8H9G6J3M000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000O1000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000O1O1M3H8L4G9I7K5E;G9JVlZ3"
+      }
+    ],
+    "masklet_path": [
+      {
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+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_stove/41048074_3505.039_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_stove/41048074_3505.039_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..2420fcef5643ec35fd1a598a4250b53a2d0ff7fc
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_stove/41048074_3505.039_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_stove/41048074_3505.039_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "In front of the stove"
+    ],
+    "target_area_description_en": [
+      "In front of the stove"
+    ],
+    "target_area_description_cn": [
+      "火炉前"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "goe3U1W=d0TOl0WOi0QOo0I7O100000O1000000O100000000O100000000O10001N10003M1O2M1000000O2O00001N1000001N101N10001O1O1N1000000O1000000O10000000001N100O2O0IkDbLV;\\3800O10000O101O0O100O1O1N2M3O1O1N200O1O2O0O10001lMjC^O0i1W<eN[DM_OCO70<W<MiCBg01ZO4OH1d0V<5]DE]OB1c0U<NjCBf00ZO35>Q<LoDBQOb0P<K[E5e:K[E5f:JaDCZO0=d0g;IhDBCd0e;JhDBCd0e;JhDBDc0d;KgDCEc0d;J\\E6d:J\\E6d:J\\E6e:JYE7g:IYE7g:IZE5g:H]E7d:H\\E8d:G]E9c:E_EJ[N9X<I`EM^N5a>Mafn3"
+      }
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+      {
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+          480,
+          640
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_table/41048129_9817.362_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_table/41048129_9817.362_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba785a99671b23b709e38bf01c271c0eb8961608
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_table/41048129_9817.362_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_table/41048129_9817.362_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "In front of the table"
+    ],
+    "target_area_description_en": [
+      "In front of the table"
+    ],
+    "target_area_description_cn": [
+      "桌子前方"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "g\\S53l>1^B9j;ITD>d;LSD<f;DYDb0a;@\\Df0_;[O_Dl0[;VObDm0\\;TObDo0\\;ROdDn0[;SOdDn0[;ROfDn0Y;SOgDm0X;SOiDm0V;TOkDk0T;UOnDi0S;WOnDh0Q;XOQEg0n:ZOREf0m:[OSEe0l:\\OUEc0j:^OVEb0i:_OWEa0h:@XE`0h:@XE`0g:BXE=h:DXE<g:EYE;f:FZE:e:HZE8e:I[E6e:KZE6f:KYE5f:LZE4e:NYE3f:NZE2e:0YE1f:1YEOg:1XE0g:3VENi:5SEMl:T2O1O1O1O1O010O1O00100O1O1O1O1O001O1O1O00100O001O1O001O1O010O1O10O01000O0100O1001O0000001N100000001O0O10000O101O000O10001N10000O101O000O10000O1000001N1000000O2O00001N2O2N1O2M3N2N1N4M2N1O2N2M3N1O2M3N2N2M3N2N1O2M2O2N2M3N3M1O3L3N2N2M3N2M3N2N2N2M2N3N2N2M3N2N2N2N2M3N1O2N2N2N1O3L5Ljdd1"
+      }
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+      {
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+          480,
+          640
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+        "counts": "hmU58`>8M3O1I_OmAc0Q>_OnAb0P>8M3M3O1M3O1N2N2N2N2L4\\Od0N2N2M3M3N2N2N2M3M3M3M3N2O1O1O1O1O1O100O100O10000N20000O1000000O10000O1000000O1000000O0100B>L3O2M3N1O2L4M2N3M3M2N3N2N2M3M3M3M2O2N2O1N101M3M3M2O2N2M3M2O2M3N2K4L5K5D;NTZg2"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_toolbox/41048071_4523.607_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_toolbox/41048071_4523.607_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..48eea941e2617985bbe2e4b83d9cee6599bf40a7
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_toolbox/41048071_4523.607_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_toolbox/41048071_4523.607_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "In front of the toolbox"
+    ],
+    "target_area_description_en": [
+      "In front of the toolbox"
+    ],
+    "target_area_description_cn": [
+      "工具箱前"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
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+      {
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+          480,
+          640
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+      }
+    ],
+    "masklet_path": [
+      {
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+          480,
+          640
+        ],
+        "counts": "ca]4=_>4K5J6QNo1J6I7L4H8L4M3C=K5G9M3L4L4J6D<00000000000000000000000000O10000O100O100SJ[J^2f5bMZJ^2f5bMZJ^2f5bMZJ^2f5bMZJ^2f5bMZJ^2f5aM[J_2e5aMZJ`2f5\\31000000O1000000O10000O10000O10000O100O100O1000000O100O100O100O10]OcGcJ\\8Y5h0L3M4L3M4K4M4K4M4fNY1G:J5M3O1K6I6N3M2L4G:M2M3N3I6M3HSBZO0No=;d0G^^n0NkaQO0cd\\2"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_trash_can/41007591_2639.724_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_trash_can/41007591_2639.724_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..dff2d5d6d59338a930e14c0c221e43567414fe1a
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_trash_can/41007591_2639.724_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_trash_can/41007591_2639.724_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "In front of the trash can"
+    ],
+    "target_area_description_en": [
+      "In front of the trash can"
+    ],
+    "target_area_description_cn": [
+      "垃圾桶前"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "jal34j>8PBHj<=QCGl<?oBBo<g0hB[OV=Y1N1O100O002O0O100O100O100000000000O10000O2N101N1O2N2N1ROdBA95W=5Q1K_Qo4"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "`Rm32k>6H8N3L3M4L;E3M3M3L7J101N2N3M3M2N1O1O3L5L4K4M4L2M100O1000000000000001O00O12N1O2N2N2N4L3M7I2N2N3M3M3M3M3M3M3M2N3M2N2N2N3M2N2N2N2N2N2N1O1O2N2N1O1O1O2N4KSW[4"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_trash_can/41007602_5322.888_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_trash_can/41007602_5322.888_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a38883af982b52a4761676adb57150ae0da29b0
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_trash_can/41007602_5322.888_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_trash_can/41007602_5322.888_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "In front of the trash can"
+    ],
+    "target_area_description_en": [
+      "In front of the trash can"
+    ],
+    "target_area_description_cn": [
+      "垃圾桶前"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "SPV71m>4L3M2N6J3M4L2N4L2N3M3M3M3L3K7L3L3N3L4L4N2O1N101N101O000O10002N1O2N1O1N101O1O001O0001O00001O001O001N101O001N101O001N101O0O2O001N101N1O2O0O2M2O2M3N1N3N2N1N3M2O2M3N1N3M3N1N3N2M3M2N3M3N1N3N2M3MdPi0"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "oSU41n>1O1N200O1O1O1O100O1O1O100O1O1O1O1O100O1O1O1O1O1O1O100O1O1O1O100O1O1O100O1O1O1O100O1O100O1O100O1O1O1O1O1O100O1O1O100O1O1O1O1O1O1O1O100O1O100O1O1O1O1O100O1O1O1O1O100O1O1O1O100O100O1O1O1O1O100O1O1O1O1O100O10M2M300O2O000000O2O00100O001O1O010O000001O01O0010O01O0001O001O010N10000000001O0001O00000001O00001O0001O001O010O000001O00010O0000010O000O1001O00010O00001O0001O00000010O000010O0010O001O001000O3M2N2N1O2N101N101N101N2O2N1N2O1O1O1N2O0O2O1N2O1N2O1O1N2O1O1N2N2O0O2O0O2N1N3N1O1M4M3M3N1O2N2N1O2N4LdZa10\\e^N1O1N2M3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_white_chair/41048095_5400.321_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_white_chair/41048095_5400.321_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb9051bdacfbb84a651cea6443a5c8e8e2e57584
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_white_chair/41048095_5400.321_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_white_chair/41048095_5400.321_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "In front of the white chair"
+    ],
+    "target_area_description_en": [
+      "In front of the white chair"
+    ],
+    "target_area_description_cn": [
+      "白色椅子前"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "eli54R1;X<GaC?^<C[Ce0c<[OZCi0e<WOTCR1i<e0N1O2N2NXNUCG4^1e<gNdCZ1[<eNeC\\1Z<dNfC_1W<aNjC`1T<`NlCb1R<^NnCd1P<\\NQDf1m;YNSDh1l;XNTDj1JQNe;5aDW2^;hMbDY2];hMbDY2];gMcDY2];gMcDX2_;gMaDX2`;hM`DW2a;iM_DU2c;lM\\DT2d;lM\\DS2f;lMZDT2f;mMYDS2g;nMXD_1HiNP<HXDR2i;mMXDR2h;nMXDR2h;nMWDS2i;mMWDS2i;mMWDS2i;nMVDR2j;nMVDQ2k;oMUDQ2l;nMTDR2l;nMTDR2l;nMTDR2l;mMVDR2j;nMVDR2j;nMVDR2j;nMVDR2j;nMWDQ2i;oMWDQ2i;oMWDQ2i;oMWDQ2i;PNVDP2j;PNVDP2j;PNVDP2j;PNWDo1i;QNWDo1i;QNWDo1i;QNWDo1i;QNXDm1i;SNWDm1i;SNWDm1i;SNWDm1i;SNoCT2R<=001N100O1O1D<N10O0100N2O1O02O00000O101O01O001O2N2N1N3N2N2O0O2N2O1N101O1IbBiN`=[1001O1N2M2N3O0O2N2O0O2O0O2N2N1N3N1O2N1O2N1N2O2M2O1O1O2MPde1"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "nTm32m>1O1N2O1N2O1N2O1N2O1N2O1O1N2O1O1N2O1N2O1O1N2O1N2N2O1N2N2O1O1N2O1O1N2N2O1O1N2O1N2O1N2N2O1O1O1O1O1O1O1N2O1O1O1N2O1O1O1N2O1N2O1N2O1O1O1N2O1O1N2O1O1O1O1O1O100O1O1O1O1O1O100O1O1O1O1O1O1O100O1O1O1O1N2O1N2O1N2O1O1O1O1O1O1O1N2O1N2O1N2O1O1N2O1OI6M4N2O2N5K5J6K4L4L4K4L:G6J4K6K5J5L4K5K5K5L3L5L3M4K5J6I8J5JSbY3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_white_chair/41048147_4994.536_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_white_chair/41048147_4994.536_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ad8964e07092f162ee975b76ca40802c661301b
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_white_chair/41048147_4994.536_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_white_chair/41048147_4994.536_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "In front of the white chair"
+    ],
+    "target_area_description_en": [
+      "In front of the white chair"
+    ],
+    "target_area_description_cn": [
+      "白色椅子面前"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "eSc2:U>g0E:I5J7I7J7I5J5L4L5K4L4L4M3L4M3M3M3M3M4L3M3M3N2M4L3N2M3N3L4M3M4K4M4L5K5K4L9G;E1O1O000000000000O2O0O100O2N101O0O101O0O2O000O2O001O0O101O001O001O1O0O2O001O1O1O001N2O1O1O001O1O1O1O1O001O1O1O1O1O001O1O1O1O1O1O2N1O1O1O1O1O1O1O2N1O2N1O2N1O1O1O1O1O001O1O1O0O2O001O1O001N101O001O0M3O2O0N2O1O2O0O1O1O100O1O1O100O1O1mL`De2a;ZMbDc2_;\\MdDb2\\;]MgD`2Y;aMiD\\2X;dMkDX2V;hMlDV2T;jMoDR2R;nMPEo1Q;QNQEl1o:UNREi1o:WNSEg1m:YNTEe1m:ZNVEc1k:]NVEb1j:^NWE`1j:`NXE]1i:bNYE3iNP1n;mNZE1lNn0k;PO[E1nNj0h;UO[E1oNf0g;YO[E1mNf0h;XO]E2jNe0j;YO]E2hNe0k;YO^E2gNc0l;ZO_E3dNb0n;ZO`E3bNc0e=^OZBa0h=_OWB`0k=_OUBa0l=_OTB?n=AQB?o=BPB=R>ClA=U>71N2N2N1O2O0O2O001O1O001O001N101O0000001O00001O00000010O01O000000001O000001O0000000001O0000000O2OkfY3"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "jjQ45f>5M3L4J7H7K5M3L4J6I7J6J5L5K5J6L4L4N2M3H9J5L4K5M3M3L4E;M3M3M3M3M3M3N2M3M3N2M3N2N2N2N2M3M3K5000O10O100000000O1000000000000O10000O10000O10J5M3L5F9M3N2N2I7L5L3L5K4L5M2N3K5K4K6J5L5H7H9K4L5L4K4M4L3L5L3L5F9M3N2N3L3I8J5M3L5K4LPjf3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/Located_in_the_lower_left_corner_area_inside_the_container/row_1035_col_image_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/Located_in_the_lower_left_corner_area_inside_the_container/row_1035_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cda23c1e2d46dfdf82dff5d93ddff6ec83c1be3
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/Located_in_the_lower_left_corner_area_inside_the_container/row_1035_col_image_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/Located_in_the_lower_left_corner_area_inside_the_container/row_1035_col_image_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Located in the lower left corner area inside the container"
+    ],
+    "target_area_description_en": [
+      "Located in the lower left corner area inside the container"
+    ],
+    "target_area_description_cn": [
+      "位于集装箱内部左下角区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          1653,
+          2200
+        ],
+        "counts": "db`P1`0Uc1O1Bl\\N:Uc121L4N1010O100O10000000O10000000000O1000000000O1000000000000O10000O0100000O1000000000O100001O000000000000000000000000000O100000000000000000O1000O10000000000O10O10O100000000000000O10000000O1000000000O1000000000000000O10000000000000003M6Jk^[X2"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          1653,
+          2200
+        ],
+        "counts": "cQ`l02m]R5OgUoJ1O2N1O2N2N2N1O2N1O1O1O1O2N1O1O1O2N1O1O2N1O2N1O2M3N2N1O2N3M2N2N3M3M2N1O2N1O2N2N2N2N2N2N3M2N3M3M3M4L5K7I3M2N4L3L5L2N3M3M3M3M4L4L6J6J2N1N2O2N2N1O2N2N2N2M3N3M2N3M3M3M1O2N1N2O1O2N1O1O1O2N1O1O2N1O2N2N1O2N2N2N2N2N3M2N3M2N2N1O2N2N1O2N2N2N3M2N2M4M3M3M4L2N2N2N2N2N2N1O1O2N1O1O2N1O2N2N1O2N2N2N2N2N3M2N3M3M4L2N1010O1O100O10000O1000O10000O2O01O3M4K3N1N3N001N6K3L3N1O1N2O1O0O10000O100000O100O101N2O0O3N1N01O100O10O0100O1000000000000001O1O1N2O2N2M5L3L1O3N1N3M4L6J6K0O1O1O1O2N1O2N2M3N3M4L4L2N1O1O2N100O2N1O2N2N3M3M5K8]iNSDmT1Z=1O1O1O1O2N1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O100O1O1O1O1O1O1O001O1O1O002N1O12NO1O1O1O1O2N1L4O1O1O1O1O1O1O1O1O1O001O1O1N2O1O001O1O1O2N2N2N1O2N1O2N1O2N1O1O2N2N2N1O2N2N2N4L3M3M3N1N3L5L4L3M2N3M2N3M2N2N2N2N102M3M3L5L2N3M3M2N2N2N2N2N2N2N3M2N2N2N1O2N2N2N2N2N2N2N2N1O2N1O2N1O2N1O1O2N1O2N1O2N2N1O2N1O2N1O2O0O1O1N3N2N2N1O2N1O2N1O2N1O101N1O2N2N1O2N3L3N2N2O1N2N3M2N21ON2N1O2N2N1O2N1O1O2N1O1O2N1O1O1O1O1O1O2N1O1O1O1O1O1O1O1O1O1O2N1O2K4O2N1O2N1O1N2O2N2O1N2N1O2N1O21NL5N1O1O1O2N2N3M2N2N2N2N21ON2N2N2N2N2K5N2N2N2N2N21ON2N2N2N2N2N3M4L2N3J6M2N2N2N2N2N2N1OnWSc1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_between_the_wall_lamp_farthest_from_the_camera_and_the_door/row_1214_col_image_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_between_the_wall_lamp_farthest_from_the_camera_and_the_door/row_1214_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..5199d67e9da745a097052f00dc082dd69ac4d739
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_between_the_wall_lamp_farthest_from_the_camera_and_the_door/row_1214_col_image_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_between_the_wall_lamp_farthest_from_the_camera_and_the_door/row_1214_col_image_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The area at the bottom of the wall between the wall lamp farthest from the camera and the door"
+    ],
+    "target_area_description_en": [
+      "The area at the bottom of the wall between the wall lamp farthest from the camera and the door"
+    ],
+    "target_area_description_cn": [
+      "离镜头最远的壁灯和门之间的墙壁底部区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          400,
+          300
+        ],
+        "counts": "Rfi27X<1O01O0000100O00100000O010000000001NdRd0"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          400,
+          300
+        ],
+        "counts": "_[T21]<2M3M3M3O1O1N2N1O2O1M4M2M3M3O1N2N2N2N2N2L4N2N2N2M3N2N2M3M3M3O1M3O1M3O1M3M3M3N2K5L4M3M3N2L4K5N2N2K5M3L4M3M3M3B>O1000000OE;K6GlGoKZ8n36I6A`0J6FdFYMb9U2^FjMV:P27L5I^E[Ng:a15ITEgNQ;R1:HeDUOa;?>L3H\\Tb0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_directly_below_the_red_vase/row_162_col_image_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_directly_below_the_red_vase/row_162_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..85ce7d742606dea779c149d1feb4e02a7c9d18ac
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_directly_below_the_red_vase/row_162_col_image_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_directly_below_the_red_vase/row_162_col_image_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The area at the bottom of the wall directly below the red vase"
+    ],
+    "target_area_description_en": [
+      "The area at the bottom of the wall directly below the red vase"
+    ],
+    "target_area_description_cn": [
+      "红色花瓶正下方的墙壁底部区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          685,
+          1024
+        ],
+        "counts": "bnf96Ve03N2M2S[ODgd0=X[OChd0=32O0O2OO010O0100O010000O01000O10O10O010000O01000O1000O0100O1000O0100O0100O10O1000O10O10O1000O10O100O10O10O10001O0O2N2ObbZ:"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          685,
+          1024
+        ],
+        "counts": "kfc91Ve06D<L4G9L4J6_Na1O1000000O010O1000000O10001O0O10000O10000O10000O10000000000O10000O10000O1000000O1000000O1000000O10000O1000000OYOh0I7\\OP]OZN02000MTc0n0Y1K^b\\:"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_directly_below_the_right_curtain/row_142_col_image_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_directly_below_the_right_curtain/row_142_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..8abc8595a63147e21f11270e042743c181f9a56e
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_directly_below_the_right_curtain/row_142_col_image_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_directly_below_the_right_curtain/row_142_col_image_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The area at the bottom of the wall directly below the right curtain"
+    ],
+    "target_area_description_en": [
+      "The area at the bottom of the wall directly below the right curtain"
+    ],
+    "target_area_description_cn": [
+      "右边窗帘正下方墙壁底部区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          256,
+          256
+        ],
+        "counts": "RfU14l71O000000000000000O1000000000000000000000000000000000000000000ma`0KZn@"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          256,
+          256
+        ],
+        "counts": "nWT12`7ObH<S7>M3I7I7K5I7O1001OO10000000000000000000000000000000000000000000^Ob0G9F:H8Hoa`0M^n@"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_near_the_corner_directly_ahead/row_166_col_image_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_near_the_corner_directly_ahead/row_166_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb9424b511ef190d5abcade2711040ddbcda8121
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_near_the_corner_directly_ahead/row_166_col_image_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_near_the_corner_directly_ahead/row_166_col_image_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The area at the bottom of the wall near the corner directly ahead"
+    ],
+    "target_area_description_en": [
+      "The area at the bottom of the wall near the corner directly ahead"
+    ],
+    "target_area_description_cn": [
+      "正前方靠近墙角的墙壁底部区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          960,
+          1280
+        ],
+        "counts": "nYP52om0Ohi`=6PV_B2K50000000000000000000000000001O000000001O00001O001O0000001O00001O0000000000000000000000000000000000000001O00001O001O000000000000000000000000001O00001O1O000000000000000000000000001OYRR`0ERnm_O4L3M4L4L"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          960,
+          1280
+        ],
+        "counts": "nYP52om0Ogof;9moXD3L4_Oa0M3L4F:M3N2M3M3M3I7K5M3J6D<M3J6A?N2N2M3M3L4L4L4L4H8M3L4K5N2L4M3M3L4E;M3L4H8M3M3M3N2N2N2M3M3J6M3M3K5L4L4L4L4L4L4gNY100000000001O000000000000001O0000001O0000000000001O0000001O00001O000000000000000000000N20000000001O02N0000000001O0000001O00000N200011N000000000000N31N0000]Oj[O\\GVd0]8V\\O^Gjc0[8Q1I7I8G8J6H8G9I8F9G9mLS3H8I7SOm0F:H9G8I7I7IboR`0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_near_the_door/row_1224_col_image_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_near_the_door/row_1224_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..c78322746d70f4ae355921c7a011e110be8da385
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_near_the_door/row_1224_col_image_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_near_the_door/row_1224_col_image_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The area at the bottom of the wall near the door"
+    ],
+    "target_area_description_en": [
+      "The area at the bottom of the wall near the door"
+    ],
+    "target_area_description_cn": [
+      "靠近门的墙壁底部区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          530,
+          341
+        ],
+        "counts": "ik:1gcb10il]N2L4L301O1O010O10O001O010O001O001O001O10O02N2MebV3"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          530,
+          341
+        ],
+        "counts": "ik:1_c_17fl`N5G9H8dMTOgDW1Y;R2O01O001O0000001O000000001O001O001O00001O0000001O001O5K<D7I>B6Jc0\\O`0B:E5K2NfXP3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_armrest_closest_to_the_camera/000472_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_armrest_closest_to_the_camera/000472_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..983471a93fd06d4edd36e40645a1811fe5821624
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_armrest_closest_to_the_camera/000472_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_armrest_closest_to_the_camera/000472_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The armrest closest to the camera."
+    ],
+    "target_area_description_en": [
+      "The armrest closest to the camera."
+    ],
+    "target_area_description_cn": [
+      "离镜头最近的扶手"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "^Ym14d0Mi63jHOJg02N36U7\\2O1N101O0000O100000001HhHPM[74fHg00`0\\QX3"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "fUU17Z:6J3O1O1O1O1O1O1N200M3O1I7M3O1N2O1O1O1O100N2O1O1N2N2O1O1N2O1N2N2M3L4N2O1N2O1O1O1N2O1N1O10O010O100O1O1O1CoGUNT8k1:O1M3I[G]Nh8c14O1N2O1O10O010OO2O2N3L3N3M2N3M2N3M2O1O2M2N2N2M3K5L3NlPY3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_back_of_the_chair_closest_to_the_camera/41048223_7234.233_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_back_of_the_chair_closest_to_the_camera/41048223_7234.233_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..0017a82160fa8bc30cfe1b3ea8ba06c2bd7b7494
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_back_of_the_chair_closest_to_the_camera/41048223_7234.233_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_back_of_the_chair_closest_to_the_camera/41048223_7234.233_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The back of the chair closest to the camera."
+    ],
+    "target_area_description_en": [
+      "The back of the chair closest to the camera."
+    ],
+    "target_area_description_cn": [
+      "离镜头最近的椅子的背面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "[cg37h>3M2N2N1]OCUBl0V<i101O00001O00001O01O2YMiCb2^<SNgCk0Y<SOiCm0X<oNkCQ1U<`NeC769F=j<UObC=G;i<VO`C57?l<]OWCb0d=O2OO01O010O1O01O0100O1O10O0001O01O01O01O01O01O00010O0000001oAA^=`0bB@[=d0cB^Oj:ORGj0QNYOm:9QFGlNS1MUOV;\\3O001O0000001O0000_LUEn2j:oL\\En2d:RM\\En2d:RM\\Eo2c:RM\\En2d:RM[Eo2e:RMZEn2f:SMXEo2g:RMXEn2h:RMWEo2i:RMVEo2i:RMUEo2k:RMTEn2l:SMREn2n:RMREo2m:b00001O01O1O100O1O00100O001YNVEWOi:a0jETOW:CXEEJ0j0g0U:BXECOOg0l0R:ATG>l8CSG=n8BRG>o8BPG?P9ARE_Od1o0Z9DnD_Oh1m0[9KeF5[9KeF5\\9JdF6]9HeF7[9HfF8[9GeF9[9GeF5`9J`F4b9L^F3d9L\\F3e9L\\F4e9KiDAP1d0W:LhD@Q1c0Y:LeDBR1b0Y:LeDBS1`0Y:NdDBS1`0Y:NdDCR1?[:NaDDT1>[:O`DCU1>\\:O^DCV1>\\:O^DBU1LcNc0k;N]DCQ1d0c:LXD@T1f0e:IVDBT1f0f:ITDCd0U1Y;WOSDD>IB_1n;`11N2O1O0ROXDdNi;W1\\DhNd;?ZDSO:=];7aD\\O2=];4eD]O0>\\;4dD^O0>\\;4dD_OO=^;2dD@O=^;3cD@0<^;3_EMa:3_EMb:2^ENb:2^ENc:1]EOc:2\\ENe:1ZE0f:1ZENf:2ZEMh:3WEMi:4VELj:4VELk:4TELl:4TEMl:2TENl:3RENn:2lD4U;KeD:\\;GVDBAi0Y<EUDD@h0\\<DRDh0n;YOPDh0P<YOeC@Ko0N[Oc<a1_C_Na<`1aC^N`<[1\\C^N77]<T1\\CfN>5V<i0_CoNh07i;c0cD\\O_;<iDCW;:nDAV;<h1M4NboP3"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "`Y_65d>8A`0L3K5fN[1M2N2N2N2N3N1N3M3N2N2M3N2N2N1O2N2N001O1O1O1O2O0O2N101O1N101O001O0001O1O2N5KO100O2O001O0000100O02N3L5K2O001N10000O2O001O1O1O1O00000000001OO2O001O001O1O1O000001O1N10001O0000O100O001000O0100000O1001N10000O10O010000O00100O01000O010O10O010O10O010000O1000O010000000O10000O10O1000O10000O0100000O1000O10000O10O10O10O100O01000O1000000000O1000O1O10O010O0100000O1000O1O00100O1O010O1000O0100O10000mI"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_back_of_the_chair_closest_to_the_camera/41126783_4747.639_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_back_of_the_chair_closest_to_the_camera/41126783_4747.639_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8b3d81f2af6ecd127f83bf2d675855c81317740
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_back_of_the_chair_closest_to_the_camera/41126783_4747.639_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_back_of_the_chair_closest_to_the_camera/41126783_4747.639_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The back of the chair closest to the camera."
+    ],
+    "target_area_description_en": [
+      "The back of the chair closest to the camera."
+    ],
+    "target_area_description_cn": [
+      "离镜头最近的椅子的背面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "[dV55i>4M2O2N001N2O001O001O0mNH^C8^<O_C1_<3_CM_<6`CJ^<:`CF]<?aCA]<b0bC^O[<f0dCZOY<j0fCVOX<m0gCSOW<o0iCQOS<U1kCkNS<X1kChNT<[1jCfNS<^1kCcNT<T2O2N2N1O2N101N2N101N101N2O1O001O1O1O1O00100O100O100O10000O10000000000D_LXEb3d:>02N1000001000O1KUESLl:l3UETLk:j3WEULj:j3VEVLk:h3VEYLj:f3WEYLj:f3VEZLk:d3VE]Lj:b3VE^Lk:`3WE_Li:a3WE`Li:^3XEbLi:]3XEbLi:\\3XEeLh:Z3YEeLi:Y3XEfLi:Y3WEgLi:U3e0MgDoLe:P3\\EQMe:k2QETM10n:k2REVMOOP;i2REYMNNQ;f2SE\\MKNS;d2SE_MIMU;a2UEaMFNV;_2VEcMCNX;]2WEdMAOY;Z2YEgM^ONZ;Y2ZEiM[ON\\;V2[EnMWOL_;T2\\ETNe:h1^EYNb:d1aE\\N_:a1dE^N]:^1fEbNZ:\\1iEcNX:X1lEhNT:V1oEjNP:P1WFoNj9k0[FVOd95RGJo85RGJn86SGJm85TGJl86UGJk86TGJm86SGJl86TGJl86UGJk86UGJj86VGJk86UGJj86WGIj86WGIi88WGGi89P3O10O01O010O001O10O01O010O0010O010O000010O001O01O01O01O01O01O01O01O010O01O010O0010O01O00010O010O0001O01O010O0010O01O1OZh]1"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "RRT71m>3M4K3N3K4J6L5F9O1O1N2O2M2N2N2N3K4N2O1O2N1O1O1O1O2N1N2O1N3N1O1O1O1N3N1O100100O1O00100O001O1O0010O01O00001O00010O000010O000010O0001O0010O01O01O01O0010O01O00010O001O0010O01O00010O001O001O010O00001O00001O001O00010O00001O0010O0001O00010O001O000010O01O00001O010O00001O00010O001O000010O0001O001O01O01O00001O00001YI"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_back_of_the_chair_closest_to_the_camera/41127025_6817.711_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_back_of_the_chair_closest_to_the_camera/41127025_6817.711_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ef791812eda008ff34d404ee19e11eccc310aee
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_back_of_the_chair_closest_to_the_camera/41127025_6817.711_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_back_of_the_chair_closest_to_the_camera/41127025_6817.711_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The back of the chair closest to the camera."
+    ],
+    "target_area_description_en": [
+      "The back of the chair closest to the camera."
+    ],
+    "target_area_description_cn": [
+      "离镜头最近的椅子的背面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "]To4e0X>5E9H9I6K5J6F:eNlMoD4FK1`2e:e1E;K5M3O100O100000000000000001O00001O1O00001O001O001O001O001N101O1O001O001O001O001O001O001O001O1O001O1O001O001O1O001O0O2O001O00001O000O2O0000001O00001O00001O00000O2O00001O000000001O00000O2O0000001O000O101N1O1N3L31O^ObDbM_;m1QESNo:b1\\E^Nd:Y1eEgN\\:R1jEnNV:j0RFVOn9c0YF]Oh9b0XF_Oh92[DMm11j9K^D4i11W:OiE1W:OjE0V:0jE0V:0jE0V:0jE0V:0kE0T:0lE0T:0lE0T:0lE1S:OnE0R:0nE0R:0nE0R:0nE1Q:OoE1Q:OPF0P:0PF0P:0PF0P:0PF0P:0PF1o9OQF1o9ORF0n90RF0n90SF0l90TF0l90TF0l90TF0l90TF0l90TF0l90TF0l90TF0l90TF0l90TF0l90TF0l90SF1m9OQF3o9MPF4P:LPF4P:LPF3Q:MkE7U:IeE>Z:BRER1n:nNmDW1S;iNgD]1Y;cNmCV2T<:1IkCbMV<]27N3K4I6\\Oe0M4I6UOl0N2Mkcg1"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "Po\\72n>3L2N1N2K6L3A?L4K5H9G8N2K5M3K6H700000001N10000000001O000O1000001O0000000O2O00000000001O00000O101O00000000001O00000000000000000O11OO1000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000O10000000001O0000000O100000000000001O0O1bJ"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_back_of_the_chair_closest_to_the_camera/41159382_2522.536_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_back_of_the_chair_closest_to_the_camera/41159382_2522.536_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dc8dba2766331a34d1b6eba0e5a745f00ba84d1
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_back_of_the_chair_closest_to_the_camera/41159382_2522.536_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_back_of_the_chair_closest_to_the_camera/41159382_2522.536_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The back of the chair closest to the camera."
+    ],
+    "target_area_description_en": [
+      "The back of the chair closest to the camera."
+    ],
+    "target_area_description_cn": [
+      "离镜头最近的椅子的背面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "iUf41j>R1YAQOa=a1G3M0O2O01O000O100000001N10000000000000000000000000000000000000000000001O0000000000000000010OO10000000000001O0000000000001O00000000000000000000000000000000100O00000dNQCODL2<[=HeC1[<OfCO[<0gCOY<1gCOY<1gCNZ<2fCNZ<2fCNZ<2fCNZ<2fCNZ<2fCNZ<1gCOY<1gCOY<1gCOY<1gCOY<1gCOY<1gCOY<1gCOY<1gCOY<1gCOY<1fC0Z<0fC0Z<0fC0Z<0fC0Z<0fCO[<1eCO[<1eCO[<1eCO[<1eCOZ<2fCNZ<2fCNZ<2fCNZ<2fCNY<3fCNY<2gCOZ<OfC1e=00NRcl2"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "gl_66W>0mA=j=d0@;M3L4K5YOg00001O00000000001O000000001O000000001O000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000O100`JWMiNi2W1XMhNh2X1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_bag_farthest_from_the_camera/41125438_1309.234_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_bag_farthest_from_the_camera/41125438_1309.234_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..20ac3dbfc4db94daa3010469b18cbb4d286a0e5b
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_bag_farthest_from_the_camera/41125438_1309.234_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_bag_farthest_from_the_camera/41125438_1309.234_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The bag farthest from the camera."
+    ],
+    "target_area_description_en": [
+      "The bag farthest from the camera."
+    ],
+    "target_area_description_cn": [
+      "离镜头最远的袋子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "]Sa39f>4L4L3M4M3L3N3MVOSBd0j=ZOXBi0d=UO_Bo0]=POdBS1Y=lNhBV1U=kNkBW1S=hNnBY1Q=gNoB[1n<fNRC[1m<eNSC]1k<cNUC^1i<cNWC^1h<aNYCa1e<_N[Cb1d<^N\\Cc1b<]N_Ce1_<[NaCg1\\<ZNdCg1[<YNeCh1Z<XNfCh1Y<YNgCh1X<XNgCi1Y<WNgCi1Y<XNfCh1Y<\\NcCe1]<?000000001O001O1O1O2N3M5J5L6I8H7H7I<B`_R5"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "XVa36c>:E<@c0Io0QO4L7I:F2O1N3M4L3M4L5K4L4L3M4L4L6J4L5K4M3L5K8H6J5K5K4L5K4L5K6J6J5K3M4L5K5K5K4L5K`0_O10000000000000000000000000000000000000000000000000000O1000000001O0000001O00001O001O`0@4L3M3M7I4L4L3M2N2N2N2N4L4L3M4L5K8H4L3M2N2N3M6J3M3M3M3M2N3M5K8H4L5K5K4L3M3M3M8H4L4L3M9G6J3M6J4L5K3M5K4L5K7I5K5K3M8H4L2N3MXVe3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_bedside_table_near_the_curtain/103945_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_bedside_table_near_the_curtain/103945_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..c626dfe95e111fe969a6aea93d2a65e26fcd1f0c
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_bedside_table_near_the_curtain/103945_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_bedside_table_near_the_curtain/103945_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The bedside table near the curtain"
+    ],
+    "target_area_description_en": [
+      "The bedside table near the curtain"
+    ],
+    "target_area_description_cn": [
+      "靠近窗帘的床头柜"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "VgZ22b:2N101N101N2O0010O01O01O01O000000001O01O0000000001N1O10001O0O1O1O2N13M1O0001O0O1000000O101N1O1000010O00001O0001O0O1K6F9LQ_[2"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "fbc21c:1O1O1O1O1N2O1O100O1O1O1O1O1O1O1O1O1O1O100O100O100O100O100O100O100O100O100O100O100O100O1000000O100O10000O10000O100O100O100O100O100O100O100O10000O100O10000O100O100O100O1O100O1O100O100O100O1O1O100O1O1O1O1O1O100O1O100O1OO1N2O1001N10001^MYNTLi1k3ZNQLg1P4YNoKh1Q4YNlKf1X4YNgKg1Z4ZNcKf1`4ZN]Kg1d4ZNYKg1i4YNSKi1o4WNnJj1S5WNjJj1X5VNdJl1^5UN\\Jn1f5RNSJS2n5oMnIR2T6PNfIR2[6S11O2N1O2N1O2N2N1O2N2N2N2N101N2N1N3N1N3N2N2M3N1N3M3M3M3M3N2M3M4L3N3L4L5J8H7I8Fkgm0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_bedside_table_on_the_right_side_of_the_picture/103531_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_bedside_table_on_the_right_side_of_the_picture/103531_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce5ddf1aa8667fbcd9c3a23575f80ec357e3ac53
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_bedside_table_on_the_right_side_of_the_picture/103531_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_bedside_table_on_the_right_side_of_the_picture/103531_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The bedside table on the right side of the picture"
+    ],
+    "target_area_description_en": [
+      "The bedside table on the right side of the picture"
+    ],
+    "target_area_description_cn": [
+      "图片右侧的床头柜"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          384,
+          512
+        ],
+        "counts": "hWl4`03GZ:JdEa1k9c0F:M2O2O000000001O00000000001O0000000001OO10010O0000000010O2N001O00000010O0000000O100000000000000O1O1O10001O0000000001O000O1O1M4I6F;I7F:WObE]O1Oi:<f0Gi]8"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          384,
+          512
+        ],
+        "counts": "nSe22k;3K5N2O1O1O1O1O1O1N2O1O100O10000O10000O100O1O100O11O00000000000000O100O10000000000001O0000000000O1000000000000000000001O00000000000000000000000000000000000000000000001O000000000000000000000000001O0000001O0000001O000000001O0000001O001O0000001O00000000001O0000001O0000000000000000000000000000001O000000000000000000000000O11O000000001O00000000000000000000000000O100000000000000O10000O100O100O100O1O1O1O1O1O1O1N2O1N2N2N2N2M3L4N2N2M3N2M3K5jNSNlGZ2T8oMWGF0d2i8`01O00000000000000000000000000001O000000000J6N2M3N2N3M4K6I6K5K6H7I:Fa0_OXZ;"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_bottom_area_of_the_lower_right_corner_of_the_wall_directly_ahead/row_137_col_image_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_bottom_area_of_the_lower_right_corner_of_the_wall_directly_ahead/row_137_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..23f35cb736b1dfd8cffa854a565d21174f85ca67
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_bottom_area_of_the_lower_right_corner_of_the_wall_directly_ahead/row_137_col_image_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_bottom_area_of_the_lower_right_corner_of_the_wall_directly_ahead/row_137_col_image_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The bottom area of the lower right corner of the wall directly ahead"
+    ],
+    "target_area_description_en": [
+      "The bottom area of the lower right corner of the wall directly ahead"
+    ],
+    "target_area_description_cn": [
+      "正前方墙壁的右下角底部区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          2200,
+          1442
+        ],
+        "counts": "RPdo1>WT24L3N2N2O1N200001O0000000000001O00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000YTai0"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          2200,
+          1442
+        ],
+        "counts": "WXdZ11eT22O1N2N2O1N2NN22N1O2O1N2O1N2O1O1N2O1N2O1N101O1O001N2O1O1N2O1N2N2O1N2N2N2N2N2N2N2N2O1N2N2O2M2N2N2N2N3N1N2O2M2O1N6J2N2N2O1N2O1O1N2O1N2N2O1N2O1O1N2N2O1N2N2N2O1O1O1N2O1O1N2O1N2O1N2N2N2N2N2M3N2M3M3N2N2M3N2N2M3N2M3M3M3N2N2N2M3N2L4M3K5J6K5L4M3N2M3N2M3L4L4K5M3M3M3M3M3O1N2O1N2O1N2N2N2N2N2N2M3M3M3M3O1N2N2N2N2N2M3N2M3N2N2NN13N2O001N2N2O1N1O2N2N2M2O3L3M4L4L7I3M3N2N2N2N2N2N2N2N2N2N2N2N2M3N2N2O1N2N2N2N2M3M3N2M3N2N2N2M3N2N2N2N2N2O1O1O1N2O1N2N2O1N2N2N2N2M3NB>L4N2O1N1N3O1O2N1N2O001M2O2OO1O2N2N20000O10O010OO101M2O2O1N2N200000O100000O0O200000001N110O0000001O0O1O20O001O000O11O0000001O0O2O1N1O2O1OI7L4M4N1N20OO2O001O0001ON10O20N1000O200O1N3O1N20O01O1N2N02M3M3O3K5K5L4M3M3M3M3M3M2O2M3M3M3N3M2N2M3L4M3L4L4M3M3N2M3N2N3L3J6K5L4L4N2L4I7J6K5L5K4K5L4L4K5K5L5L2N3M3N2N2N2M3M3M3M3L4M3N2E;H8J6L4K6J5K5L4J5K6L3N3M3M3K5H8K4M4K5J6K6K4J6K5L4L4M3J6L4M3M3M3N1N3N2N101N2N2O1N2O1N2O1O1O1N2L4L4L4M3L4L4M2L5K5M3L4N3L4Mbg^h0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_bottom_area_of_the_side_of_the_wooden_bar_counter/row_174_col_image_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_bottom_area_of_the_side_of_the_wooden_bar_counter/row_174_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..72277b1bacae0f4a3232d4861967c5e5caf7338f
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_bottom_area_of_the_side_of_the_wooden_bar_counter/row_174_col_image_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_bottom_area_of_the_side_of_the_wooden_bar_counter/row_174_col_image_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The bottom area of the side of the wooden bar counter"
+    ],
+    "target_area_description_en": [
+      "The bottom area of the side of the wooden bar counter"
+    ],
+    "target_area_description_cn": [
+      "木质吧台侧面底部区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          256,
+          256
+        ],
+        "counts": "m]S16j7010O00010O001O10O00001NPZi0"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          256,
+          256
+        ],
+        "counts": "ool01m72O1N2O1N2N2N2M3M3N2N2N2N2N2N2M3N2N2M3N2L4N2N2M3M2O3OO110N110N10001O010O0000000_Oa0L4J6L4L3K6GQZg0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_bottom_area_of_the_wall_directly_below_the_wall_lamp/row_131_col_image_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_bottom_area_of_the_wall_directly_below_the_wall_lamp/row_131_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b4ed5cdbcb24ee4f9b6840b34f4c633f59436e4
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_bottom_area_of_the_wall_directly_below_the_wall_lamp/row_131_col_image_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_bottom_area_of_the_wall_directly_below_the_wall_lamp/row_131_col_image_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The bottom area of the wall directly below the wall lamp"
+    ],
+    "target_area_description_en": [
+      "The bottom area of the wall directly below the wall lamp"
+    ],
+    "target_area_description_cn": [
+      "壁灯正下方墙壁的底部区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          449,
+          298
+        ],
+        "counts": "gem17i=10000000000000000000000000000000000000000000000000000000000000000O100002N]Zd1"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          449,
+          298
+        ],
+        "counts": "noh14e=8@ElBi0j<<G9E;J6H8@jMhDc2o:<E;F:\\O[L[FV4`980000000000000000000000O1001O0000000000000000000000000000000000001Om0cKaE10Z3hQe1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_bottom_of_the_second_pillar_from_the_right/row_1898_col_image_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_bottom_of_the_second_pillar_from_the_right/row_1898_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..2382706b4f3dd3e7e4a46946c03093814c8f59ff
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_bottom_of_the_second_pillar_from_the_right/row_1898_col_image_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_bottom_of_the_second_pillar_from_the_right/row_1898_col_image_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The bottom of the second pillar from the right"
+    ],
+    "target_area_description_en": [
+      "The bottom of the second pillar from the right"
+    ],
+    "target_area_description_cn": [
+      "右边第二个柱子底部"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          1536,
+          2048
+        ],
+        "counts": "_l\\i13V_1g00000000000000000000000000000000000000000000000000000000000000000001O00001O00001O001O0000001O000I7FSTfP10WlYoN00000001O01O0000O1000001N1000X`h2"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          1536,
+          2048
+        ],
+        "counts": "ooX]11j_15K5M3L4L4K5J6L4M3M3M3M3N2N2M3N2M3M3L4M3K5M3M3N2O1N2N2N2M3N2M3N2M3L4L4K5G9M3L4L4K5G9M3L4N2O1N2M3N2N2M3M3M3M3M012N2N2N2M3N2M3L4M3K5K5J6N2N2N5J3M3M3M3N2N2N2N2M3N2M3M3N2O1N2O1N2O1N2N2N2N2N2N2M3N2M3M3L4L4L4L4N2N2O1N2N2M3N2M3N2M3L4L4K5I7K5L4L4K5H8G9L4N2N2N2N2N2M3N2M3M3L4L4K5L4M3M3O1N2N2N2N2N2N2N2N2N2N2M3N2N2N2N2M3N2M3M3M3O1O1O1O1O1O1O1O1N2O1O1O1N2O1O1N2N2O1N2N2O1N2O1O1N2O1N2O1N2N2N2N2N2N2N2M3N2O1O1N2O1O1O1O1O1N2O1O1N2O1N2O1N2N2N2O1N2N2N2N2NO21N2O1O1N1O2O1N2O1N2O1O1N2O1N2O2M2N2N2O1N2N2NK5XOh0K6L3M3N3L3M3M3N3N1I7J7L6K4M3H8I8J5K5L4K5K5K5M3I7^Ob0I7L4L4L4C=J6K5J6]Oc0C=J6L4L4L4L4M3L4L4@`0]Oc0J7J5L4M3G9K5K5M3TOl0G9J7J5L4K5K5K6K4L4B?G8K5K6K4H9G8K6J5L5YMg2E;I6KUSTP13mlkoN00000001O01O0000O1000001N1000X`h2"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_bottom_of_the_third_wall_on_the_left/row_1900_col_image_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_bottom_of_the_third_wall_on_the_left/row_1900_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2a544043e4e53bb6d1a9f67e00e817bf91372f1
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_bottom_of_the_third_wall_on_the_left/row_1900_col_image_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_bottom_of_the_third_wall_on_the_left/row_1900_col_image_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The bottom of the third wall on the left"
+    ],
+    "target_area_description_en": [
+      "The bottom of the third wall on the left"
+    ],
+    "target_area_description_cn": [
+      "左边第三堵墙的底部"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          1200,
+          1600
+        ],
+        "counts": "mjVV17YU15JInjN5lT1GTkN424iT10UkN0lT1:N10001O0010O010OM4O0100O01O0O2O010O1N11Omf]c0"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          1200,
+          1600
+        ],
+        "counts": "l\\on01[U14L4L4L4K4L5K5L4M3L4L4L4M3M3L4L4M4M2N2N2N1O2M3N2M3L4M3L4M3M4M2M3M3L4L4N2M2O2N2N2M3N2M3M3M3L4K5J6L4L4L4J6K5N1O2N2M3N2M3M3M3M3M3M3M3M3M3N2M3M3M3N2M4M2M3N2M3N2N1N3O2M2N2N2N2N2N2N2M3N1M4M3M3L4M3L4L4J6J6L4L4L4L4M3K5N3M2M3M2N3M3L4L4O1N2N2N2M4M1N3M3M3L4L4K5M3L4L4I7@`0M3N2M3L4M3M3M3L4L4K5I7M3L4K4M4N2N2N2M3N3L3M3M3L4L4N2N3M2N2N2N1N3M3M3M3M4M2N2KU_Oe[Ok`0Wd0X_Oi[Oi`0Sd0Z_Ol[Oh`0Rd0Y_On[Oh`0Pd0Y_OP\\Oh`0mc0Z_OT\\Of`0ic0[_OX\\Of`0fc0[_OY\\Og`0gc0W_OZ\\Oj`0ec0V_O[\\Ok`0ec0T_O[\\Om`0Uc0S_Ok\\ON2Pa0Sc0]_On\\Od`0Pc0\\_OQ]Oe`0nb0[_OQ]Og`0nb0Z_OQ]Og`0nb0Z_OQ]Og`0ob0W_OS]Oi`0lb0V_OU]Ok`0kb0T_OT]On`0lb0R_OS]Oo`0mb0P_OS]OQa0mb0n^OS]OSa0lb0m^OT]OTa0lb0k^OU]Oh>We0WAiZO`>be0_A^ZO\\>[e0\\AdZO80X>`e0bA^ZO53Z=]f0SCeYOc<ef0\\CZYO_<lf0lBmXO`06`<of0lBkXO42>4\\<Ug0ZCeXO97V<\\g0SDdXOh;`g0YD`XOc;dg0]D\\XOY;ng0gDQXOQ;Xh0PEgWOk:^h0TEdWOh:`h0VEaWOk9^i0UFbVOc9gi0]FWVO_9ki0eFTVOX9oi0hFQVOV9Rj0iFnUOR9Xj0mFhUOn8]j0RGcUOj8aj0VG_UOg8cj0ZG]UOc8fj0]GZUO`8jj0_GVUO^8mj0bGSUO[8oj0fGPUOW8Uk0hGkTOT8^Q1VIo1_O>D;Ga0ROmdWc0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_bottom_of_the_wall_directly_below_the_pink_box/row_183_col_image_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_bottom_of_the_wall_directly_below_the_pink_box/row_183_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..7065272fc5521b214416e0a52eafb60e47a18434
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_bottom_of_the_wall_directly_below_the_pink_box/row_183_col_image_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_bottom_of_the_wall_directly_below_the_pink_box/row_183_col_image_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The bottom of the wall directly below the pink box"
+    ],
+    "target_area_description_en": [
+      "The bottom of the wall directly below the pink box"
+    ],
+    "target_area_description_cn": [
+      "粉色盒子正下方墙面的底部"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          768,
+          1024
+        ],
+        "counts": "V^l65gg07K5L5J3N010O0010O01000O01000O10000000000O1000000000000000000000000000000000000000000001O0000001O0000000001O00001O001O1O001O2M2N3L7FnYa?"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          768,
+          1024
+        ],
+        "counts": "`QQ2`0Vmo4AfjPK9G8iXO_Oaf0S1N10000000O10O101O000000000O10000O1000000000000O1000000000000O10000000000O1000O100001O0O100000000002N1O1O1O1O1O1O1O1O3M3M2N2N2N2N1O2N1O1O1O1O1O1O1O1O1O001O1O001O001OT`n>"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_chair_closest_to_the_door/41069132_3721.212_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_chair_closest_to_the_door/41069132_3721.212_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..89baa4f1f212e338c0e565e0d2fc27459a143f83
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_chair_closest_to_the_door/41069132_3721.212_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_chair_closest_to_the_door/41069132_3721.212_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The chair closest to the door."
+    ],
+    "target_area_description_en": [
+      "The chair closest to the door."
+    ],
+    "target_area_description_cn": [
+      "离门最近的椅子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "hmn25c>:I5I8K4L4K5M3L4N2L5L3K5M3N2O1O1O10000000010O0000000001O000000001O0000001O0O100O2O0O100FUC_Nl<]1XCbNh<\\1ZCdNf<Y1]CgNc<W1_CiNb<S1aCnN^<o0eCQO[<n0fCRO[<k0gCUOY<i0iCWOW<g0lCYOS<e0oC[OR<b0PD^OP<a0QD_Oo;>TDBl;<VDDk;9WDHh;6ZDJf;3^DLb;3_DMb;2^DNb;1_DOa;1_DOa;2^DNc;1^DOa;1_DOa;1_DOa;2^DNc;1]DOc;1^DNb;2^DNb;3]DMd;2\\DOc;1]DOc;1]DOc;2\\DNe;1[DOe;1\\DNd;2\\DOd;1[DOe;1[DOe;1\\DOc;1]DOc;2\\DOd;0]D0b;0^D1a;O_D5^;K`D`0V;@iDf0R;ZOmDk0o:UOoDP1n:QOPES1n:lNQEX1l:hNRE^1j:bNUEc1g:^NVEh1g:WNXEl1f:TNXEQ2e:PNYES2e:mMYEX2e:gMZE\\2d:dMZE_2e:bMYE`2g:_MWEf2f:ZMYEi2e:WMZEl2d:UMYEo2f:PMXES3g:mLXEU3g:lLWEV3i:jLUEX3j:iLTEX3m:hLQEZ3n:gLPEZ3Q;:0O2O1N2N2N2O1N1O2N1O1O1O001jL`Dl2_;TMeDh2\\;WMgDf2Y;[MhDc2Y;]MiDa2W;_MlD]2T;cMoD[2Q;eMQEZ2m:fMWEW2i:iMZEU2d:kM`ER2`:nMbEP2^:oMeEP2Y:QNiEm1W:RNkEc1hN`N];MmE_1hNdNZ;MPF]1gNfNY;MRFZ1gNhNV;OSFY1gNhNV;NUFX1fNjNU;NVFV1fNlNS;OXF5`N?6]OR;NYF4eN<1BQ;NZF3gN9OFo:N\\F3hN6NIn:N]F2hN6MIo:O\\F2jN2MMl:O^F2jN1LNl:O_F1kNNL2i:OaF1_O0P:OaF1_O0o9OcF1^O0o9OcF1^O0o9OcF1^O0n9OfF1[O0o9OfF1[O0n9OhF1ZO0n9OhF1ZO0n9OhF1ZO0m9OjF1YO0m9OjF1YO0m9NkF3WOOm9OmF1VO0m9OmF1VO0m9NnF2UO0m9NnF2UO0m9NnF2VONT<2^10O000000000001O01O00000001O00000001O0001O000001O0001O000001O00000001O000001O00000001O000001O0000000001O0000002LX]n2"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "j`f56i>9H8H6K1N1O2O0O2N2O1N2N2O1N1O3N1N3M2N2O1N3M2N100O1O1O2N100O2N2N2N2N1O1O00O101O000001O01O0000000010O01O00000010O00000001O00001O00000010O000000001O00000000001O0000001O0000001O0O10001O0001O01O01O00010O0001O0000001O00001O0000001O00010O00001O0001O00000001O00000000001O00001O00001O001OO110N1001OO11OO20OO1001OO11OO110N1001OO11O000000000000010O00001O0000001O0000001O00000001O000001O00001O0000001O001O00001O0000001O00001O00001O001O00001O0000001O001O00001O001O00000000001O000000001O0000001O01O0001O01O00001O1L]I"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_corner_of_the_table_closest_to_the_camera_lens/1060_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_corner_of_the_table_closest_to_the_camera_lens/1060_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6785e96b16926acd0187315434b23bbbde039c6
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_corner_of_the_table_closest_to_the_camera_lens/1060_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_corner_of_the_table_closest_to_the_camera_lens/1060_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The corner of the table closest to the camera lens"
+    ],
+    "target_area_description_en": [
+      "The corner of the table closest to the camera lens"
+    ],
+    "target_area_description_cn": [
+      "离镜头最近的桌角"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          558,
+          622
+        ],
+        "counts": "iWX2:Ta0000000000000000O1000000000000O10001O00O100O1O100O1O1O1O10O02N^Xi7"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          558,
+          622
+        ],
+        "counts": "kSh11Va0=_O;M3K5UOSOo@S1m>i0K5K5H8I7K5_Oa0J6N200001O00000000001O00000000000000001O000000000000000000001O001O00O100004Lg0YOc0]O?aNf@Lc?Ei@5\\`0LjYl7"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_desk_lamp_between_the_two_beds/104089_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_desk_lamp_between_the_two_beds/104089_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..6857da06b1dbcee34e22c054009d93728a3a3025
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_desk_lamp_between_the_two_beds/104089_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_desk_lamp_between_the_two_beds/104089_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The desk lamp between the two beds"
+    ],
+    "target_area_description_en": [
+      "The desk lamp between the two beds"
+    ],
+    "target_area_description_cn": [
+      "两床之间的台灯"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          372,
+          512
+        ],
+        "counts": "VgW34_;1O1N2L5K4H8OC[ELf:1_ELb:4`EJa:6^EId:6=1OO101N2NhS\\2"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          372,
+          512
+        ],
+        "counts": "gdP24<M[:l0M3L4M3K5L4L4M3M3O1N2N2O1O1O1N2O1N2O1O1O1O1O1OTOTGROk8h0aGSO]8j0lGROS8l0RHROn7k0WHSOh7l0\\HROc7m0`HRO^7n0d100O100N101N10101N01000L4N2O1O1O2O10OO3N1O1O2N2NnRU3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_door_of_the_rightmost_wardrobe/40958748_1169.765_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_door_of_the_rightmost_wardrobe/40958748_1169.765_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..52103c14c384093f86cfaad4b322ba84e299bc11
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_door_of_the_rightmost_wardrobe/40958748_1169.765_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_door_of_the_rightmost_wardrobe/40958748_1169.765_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The door of the rightmost wardrobe"
+    ],
+    "target_area_description_en": [
+      "The door of the rightmost wardrobe"
+    ],
+    "target_area_description_cn": [
+      "最右侧衣柜柜门"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "SlX63h>9E7M2N3L3N3L4D<I7M3M3N1E;N3L4N1F;L4N2L02O2K4M4H06N11L31ONO221L4M3OM3O10L4OO2J4000N4O11MNO4011OJ15N1N21J7O00N02K6O1O1NOM8L4L4M3M3K5M3N2O1K5M3N2N2M3M3M3F:O1N2N5K3Nmml1"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "hgZ48f>2M3O1N2N2O1N2O1O1N2O1N2N2M3N2M3M3N2N2N2M3N2N2N2O1O1KWNQCk1P=2O1M3O1N2O1O1O1N2O1N2M3M3M3O1O1O1O1O1M3N2O1L4L4O1O1N2N2O1N2N2M3O1O1O1N2O1O1N2N100O1O0000DVEdLk:\\3<00M21N0200M3OO11O000N30000N200O010O1N1011O00O1O100O1O01O01N1010O1O0101N1O200M2O2N2O1N1O2N101N101N101N1O2N1O2N1N3N1O2N1N3N1O1N3N1O2M2N3K4WObB0_=f03N1O010O002N1N3N2M4F9L4K6H7Lg\\g2"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_drawer_under_the_microwave/003605_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_drawer_under_the_microwave/003605_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..829b3797ca6e1e33e19ea84d0f3a6445e9958ac3
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_drawer_under_the_microwave/003605_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_drawer_under_the_microwave/003605_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The drawer under the microwave."
+    ],
+    "target_area_description_en": [
+      "The drawer under the microwave."
+    ],
+    "target_area_description_cn": [
+      "微波炉的下面抽屉"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "_j^2>49N2^8EaG<01]8DcG;01]8DcG;01]8DcG;01]8DcG;01]8DcG;01]8DcG;01]8DcG;01]8DcG;01]8DcG;01]8DcG;01]8DcG;01]8DcG;01]8DcG;01]8DcG;01]8DcG;01]8DcG;01]8DcG;01]8?cGA]8?cGA]8DcG;01]8DcG;01]8DcG;00^8EbG;00^8EbG;00^8EbG;00^8EbG;00^8EbG;00^8`0bG@^8`0bG@^8`0bG@^8`0bG@^8`0bG@^8`0bG@^8`0bG@^8`0bG@^8`0bG@^8`0bG@^8`0bG@^8`0bG@^8`0bG@^8`0bG@^8`0bG@^8EbG;00^8EbG;00^8EbG;00^8`0bG@^8`0bG@^8`0bG@^8[100000000000O10000UOaGA_8?aGA_8DbG;OOb8E_G<0YOO0U97enU2"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "cea25f6i30000000000000000000000000000000000000000000000000000000000000000000000000000000000O1000000001O00000000001O001O002N2N3M1O005K4Lc0]O3M5K4L5K5K8H4L6J3M3M3M3M;E3M3M<DWSm1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_front_of_the_microwave_oven/1176_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_front_of_the_microwave_oven/1176_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ecaaeaf43232cfaffb0d8bf761133925ae12620
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_front_of_the_microwave_oven/1176_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_front_of_the_microwave_oven/1176_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The front of the microwave oven"
+    ],
+    "target_area_description_en": [
+      "The front of the microwave oven"
+    ],
+    "target_area_description_cn": [
+      "微波炉的正面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          600,
+          800
+        ],
+        "counts": "d^b8o0Za0a0L201O0O2O0000001O0000001O0000001O0000001O00001O0000001O000000001O0000001O0000001O00010O0000001O01O0001O0001O000001O0001O0000000O10000000001O0000000O101O00000000001O00000O10000000000000001O00000000000O101O0O10001N1O2E]kQ4"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          600,
+          800
+        ],
+        "counts": "VUc71R`72YRIc0]^O^OZ`0f1L<W_OoMR`0_2L5J5L4L4L4L4N4K3N1N4M1O1N101N2O1N6KO1O1O001O001O001O001O001O001O1O001O1O001O001O001O001O001O1O001O001O1O00001O1O001O00<D2N4L2N2N1O2N1O2N2N1O2N1O1O1O2N1O1O1O1O1O1O1O1O1O1O1O1O001O1O001O1O1O001O1O1O001O1O001O1O1O1O2N1O1O1O1O1O001O001O001O1O001O001O00001O001O1O001O1O001O001O001O001O001O001O001O1O001O001O001O001O001O00001O001O1O001O001O001O1O001O00001O00001O00000000001O0000000000001O0000002N1OYVT3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_front_of_the_white_computer_that_farthest_from_the_camera/1110_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_front_of_the_white_computer_that_farthest_from_the_camera/1110_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbc2af09ff11d1e4199a005d3341e26d63d8834c
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_front_of_the_white_computer_that_farthest_from_the_camera/1110_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_front_of_the_white_computer_that_farthest_from_the_camera/1110_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The front of the white computer that farthest from the camera"
+    ],
+    "target_area_description_en": [
+      "The front of the white computer that farthest from the camera"
+    ],
+    "target_area_description_cn": [
+      "离镜头最远的白色电脑的正面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          600,
+          800
+        ],
+        "counts": "`YT:>Qb0;L200O100O010000O0100\\O_OQ_Oa0k`0DT_O<^`03`_ONc?P1\\@POc?R1\\@oNc?Q1]@oNc?R1\\@nNd?R1[@oNe?R1Z@nNf?R1Z@oNe?R2000000001O01O00001O0000000010O000001O0000001O010O000000001O0000001O00001O01O0001O000000000001O01O00000000001O000000000000eNc@[O]?c0e@]O\\?a0e@_O[??g@AZ?=g@CY?<h@DY?:h@EZ?9h@FX?:h@FX?9i@FX?9i@GW?9i@GW?8k@GU?8l@HT?8k@HV?7k@IU?6m@HT?4PALP?1SAOn>F\\A8g>XOiAe0W`0K5Dc[b2"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          600,
+          800
+        ],
+        "counts": "^b0:^b002N2N1O1O1O1O1OPTl00PlSO0O1QS[5OoldJ1O1N2N2N2N2O1N2N2O1N2O1O1O1N2O1N2N2O1N2O1O1N2O1O1N2O1O1N2O1N2O1O1O1O1O1O1O1O1N2O1O1O1O1O100O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1N2O1N2O1O1O1O1O1O1O1O1O1O1O1O100O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O100O1O1O1O1O1O1OF:N2O1N3M2O2N1O2O001N101O00001O01O00O101N101N1O2O00001O0O101O0O2O001O1N101O1O001O001O010O001O1O1O0O2O1O010O1O001O1O001O1O0O2O1O0O2O1O001O1O1O1O1N101O1O2N1O1O101N1O100O2O0O1O101N100O2N100O1O101N100O2N1O1O101N1O1O100O1O2O0O2O0N3N1O1O2O0O2N100O2O000O2O001Ol`m3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_front_of_the_white_exhibition_board/1207_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_front_of_the_white_exhibition_board/1207_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1d0d1732d8a8239719357534cb642bf0135727b
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_front_of_the_white_exhibition_board/1207_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_front_of_the_white_exhibition_board/1207_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The front of the white exhibition board"
+    ],
+    "target_area_description_en": [
+      "The front of the white exhibition board"
+    ],
+    "target_area_description_cn": [
+      "白色展板的正面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          648,
+          451
+        ],
+        "counts": "llk3R1Uc02O000000000O100000000001O0O100000000000000000000000000000000000000000000000001O00000O:G[PU4"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          648,
+          451
+        ],
+        "counts": "^hj32Sd03J6E;A?H8J6K5K5L4M30000001O000000000000000000O1000000000000000000000000002N2Nj0VO;Eh0XOc]W4"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_front_of_the_wooden_ladder/1038_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_front_of_the_wooden_ladder/1038_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..7680a2f2d11e6da72baaf5e34e9ce5291111b9f9
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_front_of_the_wooden_ladder/1038_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_front_of_the_wooden_ladder/1038_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The front of the wooden ladder"
+    ],
+    "target_area_description_en": [
+      "The front of the wooden ladder"
+    ],
+    "target_area_description_cn": [
+      "木梯的正面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          403,
+          575
+        ],
+        "counts": "bdh09j;a0WMFPGa2\\8U1O1O10001O00O10000O1L5XOh0aNhG`Nc8OXGO70c80WGN72b8OXGO62b8OXGO62b8OXG051c8OXG050d80WG050d80WGO61c80WGO61c80WGO61c80WGO61c80WGO61c80WGO61c80WGO61c80WGO61c80XGN52c80XGN52c80XGN52c80XGN52c80XGN52c80XGN52c80XGO41d80XGO42c80XGN52c80XGN52c80XGO32e80VGO3l0k7^OjGP2k7`1O2O0O10000001O000O2O2BbG`Ld8P3m0RMXG4TXc5"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          403,
+          575
+        ],
+        "counts": "aQi06]<7I3M4L6J5K3M3M3L4M6J5J5L=C3N8G5Ko0RO8bGQLf7^400001O0000000000000000O1000000O10000O11O0000001O00000000000000000000000000c0]O5K6J;E5K7I6J5K>B5K5K3M3M3M3M2N2N3M2N2N3M2N1O3M2N2N2N1O2N3M4L4LeRV5"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_horizontal_board_under_the_TV_cabinet/1061_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_horizontal_board_under_the_TV_cabinet/1061_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0603c9537e0aa6fca86f93d148bb3a7909d5053
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_horizontal_board_under_the_TV_cabinet/1061_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_horizontal_board_under_the_TV_cabinet/1061_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The horizontal board under the TV cabinet"
+    ],
+    "target_area_description_en": [
+      "The horizontal board under the TV cabinet"
+    ],
+    "target_area_description_cn": [
+      "电视柜下方的横板"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          582,
+          801
+        ],
+        "counts": "_hm;2Sb03M2O0010O1O01O0000000O2O00001O000O101O00001O000000001O00000O10001O00000O101O01O001O1O1N8HmZ_1"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          582,
+          801
+        ],
+        "counts": "YZf91Ub00O1O1N2O1O1O1O1O1O1O1O1N2O1O2N1O1N2O1O1N2O1O1N2O2N1N2N2O1N2N2O1O1O1O1O1O1N2O1O1O1O1O1O1N2O1O1O1N2O1N2O1O1O1O1O1O1O1O100O1O1O1O1O1O1O1O1N2O1O1O1O1N2O1O1N2O1O1N2O1O1O1N2O1O1O1O1O1N2O1O1O1O1O1O1O1O1N2O1N2O1N2O1N2N2N2N2N2N2N2N2M3N2M3M36J1O0000000000000000O10000000000000000000000O10O10000J6H8K5K5M2M4N2M3N2L4K5L4M3L4M2N3N2N2M3L4M3M3M4I9H?B7I5D<F9Igg^1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_plate_closest_to_the_camera/41069134_4156.706_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_plate_closest_to_the_camera/41069134_4156.706_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..53225e5a35ccc751a0bedeef9ff7c57ad1544a34
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_plate_closest_to_the_camera/41069134_4156.706_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_plate_closest_to_the_camera/41069134_4156.706_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The plate closest to the camera"
+    ],
+    "target_area_description_en": [
+      "The plate closest to the camera"
+    ],
+    "target_area_description_cn": [
+      "离镜头最近的盘子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "^Q`4i0R>8I6L5J5K4M3M4L3M3N1N3N2M2O2N1O2N1N200O2N1O1O1O100O1O100O10000O1000000O010000O100O010O2O0O100O1O2N1O2N1O2N1O2M3N2N2N3L3M3N3L3M5K4L3L5L4I8IZUk3"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "WcU62k>3M3N2N3M2M3M3K5N3M2N2N2N3L3L4M3N3L3M3O1M4M2M3N2M4L3N2M3O2L3M3N2N3M2M3O1N2N3O0000001O0000001O000000010O0000001O00000001O01O000000001O01O000001O01O00000010O00000001O01O000001O0001O0001O0001O00000001O01O01O00001O01O0001O0000010O00000001O01O00000001O0001O0000010O000000010O00000000010O00000000010O000001O0001O0001O00000010O000001O0000001O000000001O0001O01O000000010O0000000010O0000000001O000001O00010O00001O000001O0001O000001O0000001O001O0kI"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_side_of_the_chair_on_the_right_side_of_the_table/41098005_9440.392_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_side_of_the_chair_on_the_right_side_of_the_table/41098005_9440.392_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..33e477fd653950a1a74fa957f450cd8dee0d0664
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_side_of_the_chair_on_the_right_side_of_the_table/41098005_9440.392_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_side_of_the_chair_on_the_right_side_of_the_table/41098005_9440.392_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The side of the chair on the right side of the table"
+    ],
+    "target_area_description_en": [
+      "The side of the chair on the right side of the table"
+    ],
+    "target_area_description_cn": [
+      "桌子右侧的椅子的侧面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "gRR32l>5M1N2N2N2O0O2O1O001N2O001O001O001O010O001O1O010O1O0010O01O10O010O010O01O10O10O1O0100O0100O010O010O0100O0100O010O10O010O010O010O010O001O010O001O001O001O1O001O00001O001O001O010O01O00010O010O00100O0cBBX<?cCF]<9]CNb<2ZC2g<NVC5i<KSC9m<HoB<P=j01O01O010O001O1O0010O01O00010O001O010O00001O0010O0001O010O1O0010O01O0000000001O0000001O000O101O00001O00001O1O001DnBhNT=S1oBmNR=n0RCROP=k0QCUOo<i0SCWOi<j0ZCVOc<k0_CUO`<j0bCVO]<j0dCVO[<i0gCWOY<b0nC^OR<=SDCm;;UDEk;4[DMe;0_DOa;0`D0`;0`D0`;0`D0`;0`D0`;0`D0`;0`D0`;0`D0`;0`D0`;0`D0`;0`D0`;0`D0`;0`D0`;0`D0`;0`D0`;0`D0`;0`D0`;0`D0`;0`D0`;0`D0`;0`D0a;0^D0b;0^D0c;0\\D0d;O]D1c;0\\D0d;O^D0b;0^D0b;0_DOa;1[DHfN9o<0WD6h;IXD7i;IVD8j;IQD:P<FlC<V<DdC>`<C]C:h<FTC;o<EnB;V=EgB;[=K^B2g=`03F:BjAOZ>0gAG21Y>7fAHa>75NjZQ3"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "TSU641Nc>:]AF\\>a0M3M3L4O2F9K5M3M3M4K4K5D=0O0001O010O001O010O001O001O0010O01O1O010O0010O01O01O0001O00001O010O00001O00010O001O01O01O0010O0001O01O0001O000000000000000010O00000001O0000001O000000000000000001O0000000000000000000000000000000000000000000000001O0000000000001O0000001O0000001O000000001O0000001O000000010O00000010O00010O0001O01O00001O01O01O00001O00010O000010O01O001O00000001O01O000001O0001O00001O00001O000000000000001O00000000001O000000001O00000oI"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_side_of_the_chair_on_the_right_side_of_the_table/41127025_6816.211_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_side_of_the_chair_on_the_right_side_of_the_table/41127025_6816.211_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4d199202d51abe6dca67fa54e1bb42d7a2d59ca
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_side_of_the_chair_on_the_right_side_of_the_table/41127025_6816.211_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_side_of_the_chair_on_the_right_side_of_the_table/41127025_6816.211_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The side of the chair on the right side of the table"
+    ],
+    "target_area_description_en": [
+      "The side of the chair on the right side of the table"
+    ],
+    "target_area_description_cn": [
+      "桌子右侧的椅子的侧面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "YR`37h>2N2O1N3N1O002N2N1O2N1O1O001O001O001O1O00100O001O001O100O1O100O010O1O010O10000O010O10O0100000000O010000O01000O10O0100O00100O1O001O1O10O01O001O1O001O1O1O001O00hCZOW:e0fE@Y:?dEGY:9cEL]:4_E1`:N\\E6e:JWE:h:GSE?l:@QEd0n:]OnDg0R;YOjDl0T;TOiDT1S;lNhD[1U;fNhD^1W;bNfDb1X;^NfDd1[;\\NaDh1^;YN`Di1`;k001O100O010O1O100O1O010O1O010O1O10O01O1O10O01O010O0001O000O2N1O2M2N2N3L3M3M3N3L3L4N3M2N2L5M2L4M4L3N2M4L3M3M4K4L5M2M4M2M4K5L3L4N2N2N1010001O000001O000UDLj84PG2P9NnF4R9MjF5X9KfF5[9KcF6^9J`F7a9I\\F9f9GWF9k9GSF9o9GnE:T:GiE9Z:FcE:`:F^E9e:GXE9k:HRE8Q;GmD8V;HhD7[;IcD7_;I^D9d;F[D8h;ITD9m;GPD:R<FkC:Y<FdC:^<F`C9c<G[C:g<FVC:l<FRC:P=FnB:T=FjB9Y=HeB8]=H^B:d=HWB:j=;3O2L3O1M3M4M2M3O2M2N3L^Tf2"
+      }
+    ],
+    "masklet_path": [
+      {
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+          480,
+          640
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_sofa_on_the_right/000597_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_sofa_on_the_right/000597_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b934d792a3d67bd24e1261929c474d688140226
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_sofa_on_the_right/000597_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_sofa_on_the_right/000597_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The sofa on the right"
+    ],
+    "target_area_description_en": [
+      "The sofa on the right"
+    ],
+    "target_area_description_cn": [
+      "右边沙发"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "jSm25^:4M3M8I<C?A5L2M2N1O1O10OO1ONJ9J6N3N200O100N2O1O100O100O10O10000001N1000000000000000000000000000000000000000000000010O0000001O101O1O000000O001O001N2J9PNlG8MCa97b0L6J]Rc1"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "blk2b0P:3I^OYFd0c99M3M3M3M3K5L4M3L4L4M3L4KmMhGS2W8nMiGR2W8nMiGR2U8QNkGn1R8UNnGk1R8UNnGk1P8WNPHi1P8WNPHi1P8WNPHi1P8WNPHi1P8WNPHi1P8WNPHi1P8WNPHi1P8WNPHi1P8>0000000000000iMPHi1P8WNPHi1P8WNPHi1P8WNPHi1P8WNPHi1P8WNPHi1P8WNPHi1P8WNPHi1P8WNPHi1P8WNQHh1o7XNQHh1o7XNQHh1o7XNQHh1o7YNPHg1P8YNPHg1P8YNPHg1P8YNPHg1P8YNPHg1P8YNPHg1P8YNPHg1P8YNPHg1Q8XNoGh1R8WNnGi1R8WNnGi1S8VNmGj1T8UNlGk1T8UNlGk1T8UNlGk1U8TNkGl1U8TNkGl1U8TNkGR1P9mNPGS1Q9lNoFT1R9kNnFo0Y9POgFg0b9YO^F`0j9_OVF;P:EPF5V:KjEO[Pf1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_table_closest_to_the_sofa/41048223_7233.733_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_table_closest_to_the_sofa/41048223_7233.733_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..c33055a3775f5f7127f14d1fafb4a7adbe094c3e
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_table_closest_to_the_sofa/41048223_7233.733_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_table_closest_to_the_sofa/41048223_7233.733_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The table closest to the sofa."
+    ],
+    "target_area_description_en": [
+      "The table closest to the sofa."
+    ],
+    "target_area_description_cn": [
+      "离沙发最近的桌子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
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+        "size": [
+          480,
+          640
+        ],
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+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "T^[43j>3J6K5M4K4L4H8_Na101O0000001N1001O01N100001O000000000001O000000001O00001O00000000001O0000001O000000000000001O00001O00001O00001O00001O00100O001O010O000010O0000000010O00000001O01O000000001O01O001O0010O000001O000001O000001O00010O0000010O0000010O00000001O0000001O0001O01O00000001O0000010O0000000000000001O00000000000000001O0000000000000000001O000000000000000000001O0000000000000000001O000000000010O0000001O01O000001O0001O01O00001O01O0001O0001O000001O0001O00000000001O00000000001O00000000001O00000000001O00000000001O0000000000001O00000000001O0000000000001O00000000001O0000000000001O00000000001O00000000001O000001O000001O0001O0000010O0001O01O01O0000000001O000000000000001O0000001O0000000001O0`J"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/black_chair/41126783_4712.639_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/black_chair/41126783_4712.639_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6d527d8104b339ed22f5cd6abf58ca8797e4020
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/black_chair/41126783_4712.639_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/black_chair/41126783_4712.639_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "black chair"
+    ],
+    "target_area_description_en": [
+      "black chair"
+    ],
+    "target_area_description_cn": [
+      "黑色椅子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "^jb28e>b0_O>B:G9H7H8H6K2N2M2O001N10001N10O010000O10000O01000O10O10O1000O01000000O01000O0100000O01000O01000O100O01000O10O10O1000O10O10000O0100000O01000O1000O1000O100000O10000000001N^OUM`D69e2W;^MhDb2V;UMcD87b2W;aMjD^2V;cMiD\\2X;dMiDZ2W;gMiDX2X;hMiDV2X;jMiDT2W;mMiDR2X;mMiDR2W;oMjDo1W;QNjDm1W;SNiDl1X;SNjDi1Y;WNgDh1Z;XNgDe1[;ZNfDe1[;[NfDb1];\\NeDb1];]NdDa1^;\\NeD`1^;_NeD]1];cNaD[1c;dNQDg1Q<XNmCh1V<XNhCb1`<^N_C`1d<_N\\Cb1c<^N]Cd1b<\\N]Ci1_<WN`CP2Z<PNfCS2V<nMiCU2U<kMkCX2R<hMmC[2Q<eMoC]2o;cMPD`2n;`MRDa2m;`MQDb2n;_MQDb2o;^MPDc2P<\\MPDd2P<71O1O0O01O001O001O0O101O0000001O00000000O2O001O1O1O1O1O1O003M2NJ^MoCa2o;aMRD^2m;dMPD^2P<90O0cMSDi1j;nMfDn1Z;RNhDk1X<O1UNRC`1P=^NUC^1l<bNVCZ1k<gNWCU1k<jNWC7L7P=BUC6N1Q=ISC4O0n<LTC5OJo<1TC4^=KdB6NHh<2\\C5W=KjB5U=KlB5S=JoB7n<JSC6l<JVC5i<JYC7e<I]C6b<J_C7_<IcC6[<KfC6X<JjC4V<LkC4T<KnC5Q<KPD6n;ITD7j;JVD7i;IWD8h;HWD9h;HWD9i;GWD9i;GWD8j;GWD9i;GWD8j;HVD7j;JWD4j;LWD2j;Nc110000O0M4M3O1O010O11N100O2N2N2N3M`X_3"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "njj53l>3M2N3N3L4L5K<D3M4M4K7I4L5Lc0\\O2N3M2N2OO01O1O010O1O00100O001O10O10O10O1000O0100O010O010O010O010O01O10O01O001O0100O010O010O10O10O01000O0100O010O10O10O10O1000O01000O0100O10O10O10O10O1000O010000O01000O01000O01000O10O10O10O10O10O10O10O10O1000O10O010000O010O1000O010000O010O1000O010000O010O10000O010O10O10O10O10O10O01000O01000O010O01000O0100O01000O01000O01000O010O10O10O01000O01000O01000O01000O010000O01000O01000O00100O010O10O10O10O10O10O10O1O100O01000O1000O010000O10O1000000O100000K50O10OTJ"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/black_desk_lamp/40776203_960.062_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/black_desk_lamp/40776203_960.062_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..f23e8bd08277b6f0fa6c15fbb5aaa6a52cebfb78
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/black_desk_lamp/40776203_960.062_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/black_desk_lamp/40776203_960.062_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "black desk lamp"
+    ],
+    "target_area_description_en": [
+      "black desk lamp"
+    ],
+    "target_area_description_cn": [
+      "黑色台灯"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "ejb01o>2M2O1N1O2N1N3N2N1O2N1O2N1O2N1N3O1N1001O000K6M2M4L4N2N3N5K0010O0010O0010O0010O0010O0010O010O0010O0010O010O01O01O010O010O01O010O01O010O01O010O01O010O010O01O010O2N2O3L2O2M3NCcA8[>GjA7S>IPB7m=IVB7h=H[B8b=I_B8_=GdB8Z=IhB7V=HmB8P=IRC7l<HWC8f<H]C8`<IbC7\\<HgC9U<HmC8Q<GRD8l;HWD8g;H[D7c;I`D8];HeD9W;GlD9R;GPE8n:HVE8WOIW:OdF9oNL[:KhF;hNKb:HjF;aNOn<3lBNX=3bBNa=1\\B1g=MWB2l=NRB2P>>3M4L3M2N1O0O10O11O001N101N2O0O3N1NPhi6"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "[Rg12n>2N3N2M1O2N2N1O2N1O2N2N2N2N1O2N2N2N2N2N2N2N2N2N1O1O2N1O2N2N2N3M2N2N3M2N3M3M3M2N2N3M2N2N2N3M2N3M2N1O2N2N2N1O2N2N1O2N1O2N2N1O2O010O00001O01O000001O00001O0001O100O1O2N1O1O1O1O001O001O1O001_M`D_1a;]NbDc1^;YNeDi1[;TNgDl1Y;QNiDQ2W;kMlDU2U;fMnD\\2R;`MQE`2P;\\MREf2c;1O100O1O101N1O2N2N1O2N1O2N2O10O100O10O02N1N10O10O10001O001O001O00100O2O001O0000O1O2N3N9GN2N1O2N1O1O1O1O1O1O1O1O1O1O1O1O2N1O1O2N1O2N1O2N1O1O1O1O1O1O1O1O2N1O2N1O1O1O2N001O1O1O1O1O1O1O2N1O1O1O1O1O1O2N2N1O001O1O1O1O1O001O1O1O1O001O1O1O1O1O1O1O1O1O1O1O2N1O001O1O001O1O2N1O2N3MRgU3LRYjL001OO10TVk01liTO6lCIR9?TDB94c1LQ::TDE>0A3i1OQ:"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/blue_inflatable_mattress/104105_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/blue_inflatable_mattress/104105_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd75b7f3ec4a4940375f79c148b27522d400f0f1
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/blue_inflatable_mattress/104105_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/blue_inflatable_mattress/104105_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "blue inflatable mattress"
+    ],
+    "target_area_description_en": [
+      "blue inflatable mattress"
+    ],
+    "target_area_description_cn": [
+      "蓝色充气床垫"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "m_V32a:2O0O2O0O2O0O2O0O2O0O2N100O2N2O0O2N100O2N100O2N101N101N100O2O0O2N1O2O0O2O0O2O0O2N2O0O1O10O0O100O1000001O0000001O010O1O001O2N1O1O1O1O1O1O2N1O1O2N100O1O2N1O3N7H2N2N10O0100O1O001O1O100O2NhdT1"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "WTc11a:2N2M3K5F:L4M3N2M3M3N2N2N2N2O1N2O1N2O1O1O1O1O1O1O1O1O1O1O1O100O100O1O100O100O1O100O1O1O1O10000OZO]H]Nc7\\1n0M3M3N2O1N101N2O1O1N2O1O1O001O100O1O10O01O100O100O10O10O1000000O10000000O10000000O100000000000000000001O000000000001O0000001O00001O000001O01O0000001O0001O0001O00000000001O000000000000000O1000000O100O10000O100O1O010O1O001O001O001O10O00010O2O0O2O0O2N1O2N1O2N2N1O1O2O0O101N101N1O1O2N1O2M\\Vg1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/book/1079_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/book/1079_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..d032a6bfb0151b59f65c7069dd36c01d9d49d229
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/book/1079_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/book/1079_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "book"
+    ],
+    "target_area_description_en": [
+      "book"
+    ],
+    "target_area_description_cn": [
+      "书籍"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          400,
+          600
+        ],
+        "counts": "a]U42]<2O003M1O00000000000000000000000000000000000000000000L4000000000000000001Oom9NSRF00001O01O_jY2"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          400,
+          600
+        ],
+        "counts": "ZUn35W<4K6D;K5J6VOj0J6ZOf0J6J600000000O1000000001O000000000000O100001O00O10000O11O0000000000001O0000000000000000000000000000000000000000000000001O002N2N3M4L4L5K5K7I5K6J5K5K5K5K4L4L5K4L5K8H7IReX2"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/book/41069134_4159.206_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/book/41069134_4159.206_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..691b4cd990b33203538da811c3a55618708dbab8
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/book/41069134_4159.206_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/book/41069134_4159.206_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "book"
+    ],
+    "target_area_description_en": [
+      "book"
+    ],
+    "target_area_description_cn": [
+      "书"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "XRX42e>:I6J6J6N3N100O1000001O000000001O00000000001O000000000000000O10000000N2J6L4G:G9Ilg`4"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "QZ`6b1^=00001N1ZNM[D8d;b1010O0010O0010O00010O01O01O00010O0010O0010O0010O010O00010O000001O01O01O000010O000010O000001O00001O0001O0001O00010O000010O0001O01O01O001O010O001O0010O01O00001O001O010O1O001O010O1O0010O01O1O010O1O001O100O001O1O010O1O1O10O000010O0001O01O010O00010O0010O010O01O010O00010O010O010O010O010O0010O0010O010O00010O010O01O0010O010O01O01O01O010O010O0010O0010O00010O01O0000001O01O01O0000001N100oI"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/chair/000097_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/chair/000097_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..85b17dbd8c874f9ef21f3224a451264f204c89c2
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/chair/000097_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/chair/000097_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair"
+    ],
+    "target_area_description_en": [
+      "chair"
+    ],
+    "target_area_description_cn": [
+      "椅子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "fYm15^:3M3M4M2N2N2N2N2N2M3N2N2N2N2N2N2N1O1O2N2N2M2O2N1O1O1O1O001O000000000001O001O2N1O2N2`NPGX1W9N2O1O1OPGjNc8U1]GkNd8S1\\GoNd8P1\\GPOe8o0ZGROg8m0XGTOi8k0WGUOj8j0UGVOn8h0RGWOP9h0PGXOQ9g0PGWOR9h0nFXOS9g0mFYOT9f0mFYOU9e0>O1O1O1O1ObF@h8a0e00cF_Og8a0f0001O0O10001fF\\Ob8d0^G\\Ob8e0nF_O4Mm8d0oFKP97PGHP98f000001O00001O00001O00010O001O00010O0010O000010O01M2O2O0O101N101O1N101O0O2O001N101N2O1N3LZ_S2"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          340,
+          512
+        ],
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+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/chair/000336_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/chair/000336_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..690bea6b0d5e792b7bc41bdcbbaabef6bc353354
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/chair/000336_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/chair/000336_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
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+      "chair"
+    ],
+    "target_area_description_en": [
+      "chair"
+    ],
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+      "椅子"
+    ],
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/chair/000502_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/chair/000502_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca33de01217006f0b22dad846a4714b65073f358
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/chair/000502_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/chair/000502_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair"
+    ],
+    "target_area_description_en": [
+      "chair"
+    ],
+    "target_area_description_cn": [
+      "椅子"
+    ],
+    "visually_blocked": [
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+    "precise_description": [
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diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/chair/41048180_2425.290_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/chair/41048180_2425.290_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..24c15919d734eca7e51a8c128139b6050f6f4ecc
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/chair/41048180_2425.290_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/chair/41048180_2425.290_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair"
+    ],
+    "target_area_description_en": [
+      "chair"
+    ],
+    "target_area_description_cn": [
+      "椅子"
+    ],
+    "visually_blocked": [
+      true
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+      true
+    ]
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+      }
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+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/chair/41048231_8929.864_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/chair/41048231_8929.864_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdf5334dd4761e039fd99c76002d0fa6bfaf914c
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/chair/41048231_8929.864_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/chair/41048231_8929.864_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair"
+    ],
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+      "chair"
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+      "椅子"
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+          640
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+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/chair/41048264_5129.439_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/chair/41048264_5129.439_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea581a983c236746b0c015becb370d99b46845d5
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/chair/41048264_5129.439_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/chair/41048264_5129.439_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair"
+    ],
+    "target_area_description_en": [
+      "chair"
+    ],
+    "target_area_description_cn": [
+      "椅子"
+    ],
+    "visually_blocked": [
+      true
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+    "precise_description": [
+      true
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/chair/41069130_4417.701_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/chair/41069130_4417.701_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c24c686506cdaae7497b62bdf5489c9c5e262b1
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/chair/41069130_4417.701_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/chair/41069130_4417.701_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair"
+    ],
+    "target_area_description_en": [
+      "chair"
+    ],
+    "target_area_description_cn": [
+      "椅子"
+    ],
+    "visually_blocked": [
+      true
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+    "precise_description": [
+      true
+    ]
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+      }
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/chair/41125543_3609.307_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/chair/41125543_3609.307_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..08512f0a1b62fa51db3d33fc54898f2fbc0f5d32
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/chair/41125543_3609.307_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/chair/41125543_3609.307_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair"
+    ],
+    "target_area_description_en": [
+      "chair"
+    ],
+    "target_area_description_cn": [
+      "椅子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/chair/41159586_50576.269_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/chair/41159586_50576.269_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..90d6b976c648c1b4c5e300697881ed2101ac1346
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/chair/41159586_50576.269_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/chair/41159586_50576.269_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair"
+    ],
+    "target_area_description_en": [
+      "chair"
+    ],
+    "target_area_description_cn": [
+      "椅子"
+    ],
+    "visually_blocked": [
+      true
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+    "precise_description": [
+      true
+    ]
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+          640
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+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/chair/41159587_50437.571_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/chair/41159587_50437.571_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cbe11a63368b25bb3be4d5c003104ab2c61edfe
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/chair/41159587_50437.571_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/chair/41159587_50437.571_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair"
+    ],
+    "target_area_description_en": [
+      "chair"
+    ],
+    "target_area_description_cn": [
+      "椅子"
+    ],
+    "visually_blocked": [
+      true
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+      true
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/chair_backrest/1105_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/chair_backrest/1105_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..946a0ee0cb73f8948c48db137977325e1e9a0dad
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/chair_backrest/1105_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/chair_backrest/1105_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair backrest"
+    ],
+    "target_area_description_en": [
+      "chair backrest"
+    ],
+    "target_area_description_cn": [
+      "椅子靠背"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
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+          800
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+          800
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/chair_backrest/1106_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/chair_backrest/1106_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..0862999b57131c3c8df3124eccace45a47df4bf5
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/chair_backrest/1106_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/chair_backrest/1106_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair backrest"
+    ],
+    "target_area_description_en": [
+      "chair backrest"
+    ],
+    "target_area_description_cn": [
+      "椅子靠背"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
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+      {
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+          601,
+          800
+        ],
+        "counts": "_jS84cb0U1lN3M2O0O2O0000001O0O1000000000000O100000000000O2N2O0O3M2M7G`0AUmn5"
+      }
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+      {
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/chessboard/41159466_1953.115_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/chessboard/41159466_1953.115_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..494f62a0d372a1c9e7a730e07853e22a4901245e
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/chessboard/41159466_1953.115_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/chessboard/41159466_1953.115_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chessboard"
+    ],
+    "target_area_description_en": [
+      "chessboard"
+    ],
+    "target_area_description_cn": [
+      "棋盘"
+    ],
+    "visually_blocked": [
+      true
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+    "precise_description": [
+      true
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/clock_and_watch/41098005_9477.391_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/clock_and_watch/41098005_9477.391_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..36cea2a42b1023de308cf124f34f0c734c3006f7
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/clock_and_watch/41098005_9477.391_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/clock_and_watch/41098005_9477.391_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "clock and watch"
+    ],
+    "target_area_description_en": [
+      "clock and watch"
+    ],
+    "target_area_description_cn": [
+      "钟表"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
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+          480,
+          640
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+      }
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/clock_and_watch/41127016_6651.112_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/clock_and_watch/41127016_6651.112_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..3293b1741d9b79b2911b386316271ee770daf18e
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/clock_and_watch/41127016_6651.112_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/clock_and_watch/41127016_6651.112_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "clock and watch"
+    ],
+    "target_area_description_en": [
+      "clock and watch"
+    ],
+    "target_area_description_cn": [
+      "钟表"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
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+          480,
+          640
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+      }
+    ],
+    "masklet_path": [
+      {
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/computer_host/1110_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/computer_host/1110_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c82d3acdb43538afd1618fb494efe2d3a17ff06
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/computer_host/1110_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/computer_host/1110_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "computer host"
+    ],
+    "target_area_description_en": [
+      "computer host"
+    ],
+    "target_area_description_cn": [
+      "电脑主机"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          600,
+          800
+        ],
+        "counts": "kgi47S11nNMl`08U_OH2OMl0f`0R1N1O2O0001OO101O001N1001O01O0001O0001O1O0O2O0000001O0001O0000010O0000000000001O0000001O000000000000001O0000000000000001O0001O0O101N2N1O2M3H9K5C?Fh0XO`^^8"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          600,
+          800
+        ],
+        "counts": "ifQ56_b03L4L5K4L4J6L4K5J6J6I7L4K5J6K5M3H8L4J6L4M3M3K5J6D<000000O1O1D<O100O100000000O100O1O1O10000000000O10000000000000000000000O100000000O1000000O10000O10000O10000O100O100O100O100O1O1O100O11O6J4L3M3M3M5K6J:F6J8H6J3M3M3M3MX1hN4L7I4L4L4L3M3M3M3M2N3M2N2N2N2L4N]iY7"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/door/001065_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/door/001065_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..b69317eefe6afd7156fab2b4658eae215f595203
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/door/001065_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/door/001065_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "door"
+    ],
+    "target_area_description_en": [
+      "door"
+    ],
+    "target_area_description_cn": [
+      "门"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          765,
+          512
+        ],
+        "counts": "Wab7Y1Pe0e1iNW1SNl1\\Nd1nNS1bN]1H8O101N10001O00001O000000001O00000000001N1000001O0000001O000000001O00001O000000001O0O10001O00000000001O0000001O0000001O000000001O0000001N1000001O000000001O000000001O0000001O0000001O00001O000O2O0000001O00001O0000000000001O00O1L4^Ob0\\Od0SOm0B>POP1YOg0TOl0POP1QOo0oNQ1POQ1fNdeY1"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          765,
+          512
+        ],
+        "counts": "UgU42jg01N2O1N2N2M3N2N2O1M3N2N2N2N2N2M3N2O1N2N2O1O1N2O1N2O1O1N2N2M3N2O1N2N2N2O1N2N2N2O1O1N2N2N2O1N2O1N2O1O1O100O1O1O1O100O100O100O100O100O1O1O1O1N2O1N2L4K5O1O1O1O1O1N2O1O1O1O1O1N2O100O1O1O100O1O1O1O1O1O1O1N2O1O1O1O1O1O1O1O1O1O1O1O1O1O1ON2N2N2M3L4O1O1N2O1N101O1O100O100O100O1N2O1O2N1N2O1O2N10000O1O1O101O000O101O000O101O00000O1O1O1K6M200O10000000001O00000O011O1O1O2N1O1O101N1O1O2N1O1O1O2N1O1O1N2N3M2G9N2N2O2M2N2N2M3M4M2N2N2O2N1N2O1O2N1O1O1O1O2N100O1O2N1O1O100O2N1O100O1O2O0O1O2O0O1O1N_]V2"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/door/2348617_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/door/2348617_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf03cab58fb5180e9b1d47c3ed1adcf9275b598b
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/door/2348617_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/door/2348617_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "door"
+    ],
+    "target_area_description_en": [
+      "door"
+    ],
+    "target_area_description_cn": [
+      "门"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          375,
+          500
+        ],
+        "counts": "c51cXY10^gfN2[;b0@>H8G>C>C;fF_Mf8S3F8Hg0gG[LR7P5UO7I000O100001O000000000000O01000000000001O00O11N1000000000000000001O003Me0hJ\\I6H_3a8XLgGMIc2l9eM^Fk0a:EUkj3"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          375,
+          500
+        ],
+        "counts": "hkl0_1T:9I5H7J7J5L4L3M2M3O1N2N2O1N2O1O1O1O1O1O1O1O1O1O100O1O100O1O1O1O1O1O1O1N2I7O10000O1O100O1N2N2O1O10000000000O1000000000000000000OmMPJaNP6\\1XJ_Nh5^1^J_Nb5_1bJ_N^5_1fJ_NZ5_1jJ_NV5`1mJ^NS5`1QK^No4a1TK]Nl4b1VK]Ni4c1YK\\Ng4c1\\K[Nd4c1i2O1O1O1O1O1O1O1hNiEo0X:QOjEl0W:SOkEk0V:UOkEj0U:VOmEg0T:YOmEe0U:YOmE:P;M2N2O1O1O1Nchf3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/door_frame/000445_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/door_frame/000445_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..766bcdb3ec512df1cdd8e0ecb21514537a5938de
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/door_frame/000445_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/door_frame/000445_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "door frame"
+    ],
+    "target_area_description_en": [
+      "door frame"
+    ],
+    "target_area_description_cn": [
+      "门框"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "_\\h4263j96QFNh9d0CXOgFl0h8XOVGW1d8`0I7E;AcM^He2Z7>I6HdLTI[3b6dL`I_3c67MK8MO5MO7L7XOmHbMa7]2;C>I7F:C=N2L4F:E;M30O1000O100000000000000O0100000000000O100000000000YO"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "a:2c:OSaP49b^oK5L2N2O1N2N2O1N2O1N2N2O1M3N2N2N2O1N2O1N2O1N2N2N2O1N2O1O1N2O1N2N2O1O1O1N2O1O1O1O1O1N2O1O1O1O1N2N2N1OO1M4O0100O01000O0O2O1O010O1000O1O100O2O001N101N2O1N2N2O1O1O1N2O1N2N3M2N3M2M4K5J5I8J7M2M4L5IVS9"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/dressing_table/103916_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/dressing_table/103916_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..787e6dda884cdb319f19caf6570614ea9532dc4f
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/dressing_table/103916_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/dressing_table/103916_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "dressing table"
+    ],
+    "target_area_description_en": [
+      "dressing table"
+    ],
+    "target_area_description_cn": [
+      "梳妆台"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "UfW23a:6K1O1O001N2O3Mh0XO1O001O001O00000O2O00001O00000O2O0000001O00001N10001O1O4L00O1N201O001OnM_NPKb1k4[O\\Je0c5IPJ7o5OlI1T66eIJZ69dIH[6;bIE]6<cID]6=bIC^6>aIC]6>cIB]6?bIA^6?bIA]6b0aI^O_6b0bI^O]6b0cI^O]6b0cI^O\\6c0iIYOV6g0kIXOU6h0kIXOU6i0jIXOU6h0kIXOU6h0kIXOU6g0mIYOR6f0oIZOQ6f0oIZOP6f0QJZOo5f0QJZOo5e0SJ[Ol5e0TJ[Ol5e0TJ[Ol5=gIWN;^1m5c0TJ]Ok5d0UJ\\Ok5c0VJ]Oj5c0UJ^Ok5b0UJ^Ok5b0UJ^Ok5d0RJ]On5h0mIYOR6i0kIXOU6d200O2O00001O0000001O0000001O00UNoIROQ6o0oIPOQ6P1PJoNP6m0UJQOl5m0VJSOj5m0VJSOj5m0VJSOj5o0SJROm5n0SJQOn5P1QJPOo5R1nIoNR6j20O10000O10000O1dMjI9V6FkI:U6FkI9V6S2000O1000000ZNhIoNX6Q1hInNY6R1hImNX6S1iIlNW6T1jIkNV6U1jIjNX6U1hIkNX6V1hIiNX6X1gIhNY6W1hIiNX6V1jIhNW6X1iIhNW6X1iIhNW6W1jIiNV6W1jIhNX6W1hIiNX6W1iIhNW6X1iIhNX6W1hIhNY6X1gIhNY6X1gIhNZ6V1hIhNY6W1hIiNZ6R1iInNX6n0kIRO]63VJMZ6iNeH0O40NON[1V1R8000000O101O0000000002N3dFgNV9^1ON1C=F;_OQaY1"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "WdP13Z:8A?J6B>L4M3K5L4M3M3N2N2N2N2M3M3M3M3N2N2N2N2N2N2N2O1N2O1O1N2O1N2O1O1O1O100O1O1O100O1O1O100O1O100O100O1O100O1O10aMXJ1g5KbJ1^5LhJ1W5MUKJk44\\KGc47eKD[48nKCQ4<UL@k3=ZLAf3=^LAb3>aL@_3>dLA\\3>gL@Y3>kL@T3`0oL^OQ3a0QM^Oo2a0SM^Om2a0d3O1O001N2O100O001O00100O1O100O10000O10000O100000000O1000000O10O10O100O10000O100OWQT3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/dressing_table/104204_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/dressing_table/104204_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..48d4c6f34d302549fe6ae89c143d1ef590879193
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/dressing_table/104204_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/dressing_table/104204_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "dressing table"
+    ],
+    "target_area_description_en": [
+      "dressing table"
+    ],
+    "target_area_description_cn": [
+      "化妆台"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "efb25_:2_OL_F5_9N_F5OFS97kF70BT99iF>LYO[9V1eFjNZ9W1fFiNl81^GW1c8kN[GV1d8lN[GT1d8?M3O00100YGTNe8l1[GTNd8m1\\GSNd8m1\\GSNd8m121O0000000000O1O2O1O1J7LQG`Nn8^1QGcNQ9\\1nFcNU9[19I9G2MXFXOh9`0WFC2MQ:7mEKZ:27N_e0N_TX2"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "UX^22b:1O100O1O1O100O1O100O10000O10000O100O100O100O100O10000O1O100O100O1O100O1O100O100O100O100O100O100O100O100O1O01O010O0010O01O01O010O0000001O0000001O0000001O0O2O001O000O10000O2O000O2O0O2N1O1O2N1N201N100O2N1O1gMlNPKV1S5kNhJV1[5jNaJW1a5kNYJX1i5hNSJY1o5jNiIY1Z6jN\\IZ1f6Y12N2O1N2N2N2N2O0O2N2N2N1O3M3M2O2K5K5L3L5L4L3N2M4M3L5K4J7K4L:_Oh\\]1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/faucet/41048223_7204.234_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/faucet/41048223_7204.234_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..37589a4dbc78eb4edee1881b0e46e32f2e32f493
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/faucet/41048223_7204.234_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/faucet/41048223_7204.234_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "faucet"
+    ],
+    "target_area_description_en": [
+      "faucet"
+    ],
+    "target_area_description_cn": [
+      "水龙头"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "hRf14i>6K4M2N3M2N10FgANW>0PBMo=1TBOj=1WBOi=0YB0e=1\\BNd=1]B0b=O`B0_=1aB0^=0cBO\\=1eBO[=1eBO[=1fBOZ=OgB1Z=NfB2U>O000000000000000000000000000000000000000000000000000000O101HKcA5]>MaA3`>N^A22K[>a0O000000O2O001N100O2O0O101N2O0O100000N200O1O01O001O100N4LPa^6"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "^lY55]=f1[O>O01O0001O0000010O2dCnMf;f2000001O0000010O0001O000000001O0000001O00000000000001O01O01O000000001O000001O01O000000000000001O0000001O01O100O001O100O001O10O010O01O01O01O00001O0001O00000010O000001O000O10000000000O2O000O101O01O001O01O0001O000001O0001O01O00000010O0001O01O01O010O0001O01O0001O01O00001O001O00000010O000010O00001O01O0000010O000001O000001O01O0000010O000010O0001O01O01O00010O001O01O00000000010O00000001O00100O001O001O01O0001O1O00010O00001O01O01O0001O000000001O01O00000010O000001O00001O01O0001O0000000001O000000001N1000001O000001O0001O000001O00000O2O001kI"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/fireplace/000054_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/fireplace/000054_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c4ca1f0ae81f2e1ac8f68a3b0f19170213b3223
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/fireplace/000054_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/fireplace/000054_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "fireplace"
+    ],
+    "target_area_description_en": [
+      "fireplace"
+    ],
+    "target_area_description_cn": [
+      "壁炉"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          341,
+          512
+        ],
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+          512
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/fireplace/41048180_2418.790_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/fireplace/41048180_2418.790_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..10b7442d4b8284ea455bd35963210cc1d4f1bf9a
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/fireplace/41048180_2418.790_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/fireplace/41048180_2418.790_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "fireplace"
+    ],
+    "target_area_description_en": [
+      "fireplace"
+    ],
+    "target_area_description_cn": [
+      "壁炉"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+          480,
+          640
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/flowerpot/000176_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/flowerpot/000176_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c841f7f8955a92355bbb942b6a9ef56a1ebbaa7
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/flowerpot/000176_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/flowerpot/000176_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "flowerpot"
+    ],
+    "target_area_description_en": [
+      "flowerpot"
+    ],
+    "target_area_description_cn": [
+      "花盆"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          340,
+          512
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+        "counts": "bZ[12a:2N2N2TFIX99fFIY97fFKX96gFKY96fFJZ96eFKQ9KlF:3KQ9LkF94LP9LkF93LR9KkF;0LT9JkF=MKW9IkFk0V9TOiFn0V9SOiFm0V9901PGhNb8X1^GhNa8Z1^GhN3Mn7\\1oGhN2IH4T8[1SHiNLHM;o7W1WHXOKXOh7b2WHcMe7]2\\HcMc7g200000O1001OG]HcMa7\\2`HdMa7[2_HeMi7^23N1N2N2N1PORHWOP8`0[HWO_OIW8m0]HXOk7g0WHXOj7e0ZHUOk7i0XHUOh7j0R100O1O10000O1O2O1N1O2GQFJR:3QFJQ:58N2NfRZ3"
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/kettle/41159382_2489.037_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/kettle/41159382_2489.037_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f3fda286ffb5d44af2af521029947f0d196f06f
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/kettle/41159382_2489.037_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/kettle/41159382_2489.037_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "kettle"
+    ],
+    "target_area_description_en": [
+      "kettle"
+    ],
+    "target_area_description_cn": [
+      "烧水壶"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
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+          480,
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+      }
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/little_table/000333_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/little_table/000333_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e26fd26fa34b1a66d924292e604975573a4ed24
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/little_table/000333_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/little_table/000333_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "little table"
+    ],
+    "target_area_description_en": [
+      "little table"
+    ],
+    "target_area_description_cn": [
+      "小桌子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          340,
+          512
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+        "counts": "]bf46Z:5K4L5J5K5L4L4L3M3M2AcNdG`1_882L3M3O2N3N1010000BlF\\OU9=RGBn8;WGCi88]GGc87`GI`86`GJ`86aGI_87aGI_87aGJ_85aGK_85bGJ^86bGJ^86bGJ^87aGI`86`GK_85bGJ^86bGJ^87aGJ^86bGJ^86cGI]87cGI]87cGJ\\86dGJ\\87cGI\\88dGH[89fGGY89gGGX8:hGFX8:iGEW8;iGEX8:hGGW89jGFV8:jGFV8;iGEW8;iGFV8:kGEV89kGGU88mGGj4"
+      }
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/little_table/000486_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/little_table/000486_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f2f46d38caac4a8a919064bbe09165f6189cdf7
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/little_table/000486_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/little_table/000486_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "little table"
+    ],
+    "target_area_description_en": [
+      "little table"
+    ],
+    "target_area_description_cn": [
+      "小桌子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          384,
+          512
+        ],
+        "counts": "i\\f25j;f0WDWO81\\:[1L2N1OHdEnN[:8R1111OBdDd0W;7H00O1@oD0S;Kc000000000001O0001O0000000000010O00000001O0000000000000O1O2N1N2N200O100000000010O001O4L1O0000O100O10001O01OfECR9<mFFS99lFIS97lFJU95jFMU94fFO[91aF3_9W10O010N2O1K5N2N2C=[OjSZ2"
+      }
+    ],
+    "masklet_path": [
+      {
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+          384,
+          512
+        ],
+        "counts": "UoZ218=o:ElDc0P;8N1O1O1K5L4N2M3M3N2M3L4L4E;L4J6I7L4F:N2M3M3K5J6L4K5N2M3L4M3N2M3L4B>_Oa0001O2N4L0000O1001O1O001O00001O000000001O00000000000000000000000000000000001O00001OO1000WO^ISLc6m3h000000001I6L4F:I7B>H8K5ROm0G:L4GcEhNe:l0=K6G8K5L_m^2"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/microwave_oven/41048223_7179.734_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/microwave_oven/41048223_7179.734_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..9dd3d61b0ff3a97e74a48d891aea3c2d6480005b
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/microwave_oven/41048223_7179.734_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/microwave_oven/41048223_7179.734_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "microwave oven"
+    ],
+    "target_area_description_en": [
+      "microwave oven"
+    ],
+    "target_area_description_cn": [
+      "微波炉"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ],
+    "masklet_path": [
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+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/microwave_oven/41127016_6592.112_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/microwave_oven/41127016_6592.112_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0111e05824e6e4711af796f8f1812924a6bcd20
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/microwave_oven/41127016_6592.112_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/microwave_oven/41127016_6592.112_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "microwave oven"
+    ],
+    "target_area_description_en": [
+      "microwave oven"
+    ],
+    "target_area_description_cn": [
+      "微波炉"
+    ],
+    "visually_blocked": [
+      true
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+      true
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+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "lbV2>^>7K?A3N2N2O1N101O000SNoN_DMMG33?_1Q;i101N2O0010O00000000000000000000001N100000000O100000001N100000000O100000000O10000000001N100000000O10000000000O101O000O10001N2N6hNjCcN1=XWR6"
+      }
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+    "masklet_path": [
+      {
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+          480,
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/nightstand/41048180_2453.789_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/nightstand/41048180_2453.789_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..aada6f6fa8e4aa82212f535b6085ee46b767525b
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/nightstand/41048180_2453.789_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/nightstand/41048180_2453.789_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "nightstand"
+    ],
+    "target_area_description_en": [
+      "nightstand"
+    ],
+    "target_area_description_cn": [
+      "床头柜"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
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+          640
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+      }
+    ],
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+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/nightstand/41048236_8614.869_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/nightstand/41048236_8614.869_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..8066342631ebf5a38830cfc3487cc7cee046d5c5
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/nightstand/41048236_8614.869_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/nightstand/41048236_8614.869_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "nightstand"
+    ],
+    "target_area_description_en": [
+      "nightstand"
+    ],
+    "target_area_description_cn": [
+      "床头柜"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "ioQ5:e><D3K4I6J6K6I6J6H8G9K5N3N11O000010O00O100N3M2O2N1O2O001O001O1O001O0010O00001O1O3N3L1O1O001O000O1O100O1000001N1000000O2O000000000000O1O1O0O2N2N3M7Ij1VN4Lo[V3"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/nightstand/41069087_5081.021_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/nightstand/41069087_5081.021_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..e721676ab4af6376b2cd11f154658ff3872028a7
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/nightstand/41069087_5081.021_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/nightstand/41069087_5081.021_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "nightstand"
+    ],
+    "target_area_description_en": [
+      "nightstand"
+    ],
+    "target_area_description_cn": [
+      "床头柜"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "]T_31i>8oAIR=;mBFn<?PCBn<`0RCAb<OlBe0?_O^<n0aCTO[<P1bCRO[<V1\\CoNa<i1N3N101N101O1O0O2O001O001O001O1O0000001O00001O001O001O010O00001O001O001O001O01O100O100O10O0100O00100O0010O0100O1O010O10O0100O010O10O0100O1O010O100O1O1O10O01O001O001M3K5L3N3M3L3N3L4M2M4M2M4M3L4K4M4M3M3L3N3M3L6Ia]W4"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "V]i41m>3L4L4L4J7G8L4J6I6M4L4M2N3M3M2N3L4L4J5N3M3L3N3M3M3N2N2N1O2M3N2M2N3M201O010O10O10O10O01000O10O10O10O010O0010O10O010O1O010O100O010O010O10O010O0100O0010O01O10O01O100O010000O1000000000000O010000O100O010O1000O10O1000O010O10O10O010O0100O010O001O100O010O010O010O100O10O01O010O010O1O01O010O010O0100O00100O10O01O10O010O010O100O01000O10O1000O010O100O10O10O100O0100O010O010O1000O0100O010O01O10O0100O010O0100O010O100O100O100O101N101N10O10O010O010O10O010O10O010O010O10O010O01O010O1O010O0010O0100O010O0010O0100O010O010O010O1O010O010O010O010O10O10O010O010O0010O10O010O01O010O010O1O01O010O01O01O010O010O00010O0010O01O010O00001O001O001O001O0WJ"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/nightstand/41097980_7052.959_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/nightstand/41097980_7052.959_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..aaf3ed47434c1a9eb390ac75b824910912e06b7d
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/nightstand/41097980_7052.959_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/nightstand/41097980_7052.959_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "nightstand"
+    ],
+    "target_area_description_en": [
+      "nightstand"
+    ],
+    "target_area_description_cn": [
+      "床头柜"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "Yal2:f>7H6K5K4L6I6K6J6J4K9H5K5K3L2O0000000O100000000O10000000000O10000000000O100000O010000O1000000O100000000O10000000O01000000O10O100000O1000000O010000000O1000000O100O1O1O10000000000001O00000001O000001O0001O0000O101N100O100O101N1O100O101N1O10000O100O2O000O101N101N=D9SNPCW1_=M2O4K8I8G8HWg^4"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "U6^3b;0000O1000000O10000000000000000000O10000O10O1000000000O1000000000000O1000000000000000O100000000O100000000000000000000000000000000000000000000000000O10000000000000000000000000000000000000000000000000000000000000000000000000000000000000000O10000000000000000O11OO10O1000000O100000O10000O1000000000000O1000000O100000000O10000000000O100000000O1000000O10000000000O1000000000000000000O2O2M2O2M9H3M4K<E4L5K6J4K8I5K5K3M9G4L7HWhY6"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/nightstand/41098053_1692.657_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/nightstand/41098053_1692.657_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..983b4cd20ceb4ab2c1f4aeb2bc20d9a1188af863
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/nightstand/41098053_1692.657_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/nightstand/41098053_1692.657_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "nightstand"
+    ],
+    "target_area_description_en": [
+      "nightstand"
+    ],
+    "target_area_description_cn": [
+      "床头柜"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "Vnk3:c>4N2N101lBAd;`0ZDEc;<[DFd;;ZDGe;9ZDJc;8ZDLd;5[DLd;4[DOc;2[D0c;2\\DNd;2[D0d;2YD0f;1YDOf;4WDNh;7hC4X<[1O0O2O001O0O2O000O2O00001O0O10O101O001O0O10001O00000O1000000000000O2O000000000000000O2O000000000000000O1000000000001O00000O100000000O1000001O00000O10000000000000000000001O0O100000000000000000000O100\\Oe0VOgjg3"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "`Zc57f>4C=kNU1TOXNRDT2n;oMlCU2S<<0001O00001O0000001O000000000000001O00000000001O00000000001O00000000000000001O0000000000001O000000001O000000000000000000000000001O000000000000000000001O00000000001O0000000000001O0000000000001O000000000000001O000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000001O0000000000000000000000001O000000000000001O0000000000001O00000000000000000000000000000000000000000000000O1000000oI"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/oven/41048223_7217.734_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/oven/41048223_7217.734_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..669c542f6732ab2bff3cc7a5b582c715218a600b
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/oven/41048223_7217.734_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/oven/41048223_7217.734_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "oven"
+    ],
+    "target_area_description_en": [
+      "oven"
+    ],
+    "target_area_description_cn": [
+      "烤箱"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "[ci37h>a0@<Dg0UBVNR=U2Gc0]Oe0[Oe0[O;E4L1O0000O100O100O100O10000O101N100O101N100O100O100O100O100O10000O100O100O10000O100O10000O100O100O10001N100O100O10000O100O100O10000O100O100O10000O100O10000O100O100O100O101O1Nb0^Og0ZOf0YOf0ZOP^S4"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "X`_5a0_>2N4Lj1WN8bCXM03l;S3K?A;E4LO1O1O100O101N100O1000000O10000000000O10000000000O10O100000O1000O100000O100000000O1000O1000000O100O010O10000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000O1000000O1000000O100000000O1000000O10000O10000000000000000O1000000O10000000000000000O11OO1000000000000O100000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000O10000000000000000000000000000000000000000000000WJ"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/pillar/1024_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/pillar/1024_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..54420f4a0c6cedc6d5a5988c9f19a09417bb3474
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/pillar/1024_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/pillar/1024_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "pillar"
+    ],
+    "target_area_description_en": [
+      "pillar"
+    ],
+    "target_area_description_cn": [
+      "柱子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "ijm2W3h;V1\\DXLf9e4oFYKa7h4YH`Kd7`4UHhKj7W4UHkKj7V4UHkKk7U4THmKk7d50fMQHcMo7\\2RHdMn7Z2THfMl7Y2UHgMk7Y2VHfMj7Y2YHeMg7[2]HeKGb1l7i2nHPMR7P3]IaLc6_3dIYL]6g3nImKS6S4]2O1N2H8N200O1O100ZNQEVOg<ZOTdo5"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "eiQ3`0`>8H5K3M3M3M4L4L3M3N2M2N2O1N2N2N21O0O1O100O1O1O1O001O001O001O0000000O2O000000000000000O1000001O0O1000001O000001O00001O0O10O10000O01000O0100000O010000O100O10000O100O101O0O2O001N2O1O1N2O2N2M4M5J9HO001O1O001O001O1O1O001O1O001O001O001O001O001O1O001O001O1O001O001O001O001O001O001O001O001O001O001O001O001O001O00001O00001O00001O00001O1O001O001O00001O001O001O00001O00001O001O00001O001O001O1O001O001O001O001O1O001O001O1O001O001O001O001O1O001O001O001O1O001O1O1O001O001O1O001O1O001O1O001O1O1O1O1O1O001O1O1O1O1O00Q\\d2"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/pink_stool/40966448_516.024_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/pink_stool/40966448_516.024_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..b808fb7f94bba799fcdfc4886e8b87689303dc90
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/pink_stool/40966448_516.024_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/pink_stool/40966448_516.024_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "pink stool"
+    ],
+    "target_area_description_en": [
+      "pink stool"
+    ],
+    "target_area_description_cn": [
+      "粉色凳子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "[U`8120f>1YA6a>I_A=Z>9K4M4L3N2N2N3M2N2N1O2N2N2N101N2N2N2N2N1O2M2O2N1O2O0O2O1N1O1O1O2N1O1O2N1O1O1O1N2N2O1O1O100O10O0100O1000O0100000000dH"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "oZY41n>1O100O1O1O1O1O100O1O1O100O1O1O100N2O100O1O1O100O1O1O1O100O100O001O100O1O100O1000O01OO2O000JnA_OR>a0PB]OQ>b0PB\\OQ>e050O01000O2O0O2O0O3N2M2RBPOi=R1VBPOh=V1M2O1N100O1O100O100O100O1O1O100O100O100O1O1O100O1O100O1O100O100O1O1O1O1O1O1O100O1O1O100O100O100O1O100O1O1O100O1O100O1O1O1O100O1O100O1O100O00001O00O100@mCSNT<i1d00O1O11OO1O1O1O1O001O0010O01O2O0O2N1O1O2N100O2N100O1O1O1O100O1O1O100O100O1O0010O01O000000001000O01O10O01O010O10O010O01O010O01O01O01O01OO2O00001O001O001O000O101O0010O00010O0010O001O0000010O00100O0001O01O01O01O01O010O010O01O01O010O010O000010O1O010O01O0010O010O010O001O010O00101N2O1N101N2O1N1O2O2M5K6K1N3M2O2M2O1O0O2O1N101N2N1N3N2M2O2N3M2M4L3N2M3N2N2M3N1O2M3N1O2N2N101NZk;"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/pool_table_edge/1073_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/pool_table_edge/1073_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..8445705b90b6c1b7a20b48a45ee8fa96c3cadfd6
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/pool_table_edge/1073_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/pool_table_edge/1073_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "pool table edge"
+    ],
+    "target_area_description_en": [
+      "pool table edge"
+    ],
+    "target_area_description_cn": [
+      "台球桌边缘"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
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+          800
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+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/potted_plant/41126783_4720.639_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/potted_plant/41126783_4720.639_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..efdfc60fbf31cb4f330c3586e9efff0fe1cf7cec
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/potted_plant/41126783_4720.639_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/potted_plant/41126783_4720.639_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "potted plant"
+    ],
+    "target_area_description_en": [
+      "potted plant"
+    ],
+    "target_area_description_cn": [
+      "盆栽"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
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+          480,
+          640
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/skirting_board/002229_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/skirting_board/002229_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d740083e3c5b3d882c572d55523cd93dbc20d62
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/skirting_board/002229_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/skirting_board/002229_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "skirting board"
+    ],
+    "target_area_description_en": [
+      "skirting board"
+    ],
+    "target_area_description_cn": [
+      "踢脚线"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          683,
+          512
+        ],
+        "counts": "Y^d31Ve0<H2M10000001O0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000O1OeZX3"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          683,
+          512
+        ],
+        "counts": "ggj41od0;L4K5^Ob0H8mNS1D<L4L4POP1D<@`0K5L4ZOf0L4L4K5K5J6G9lNT1H8N200000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000002N2_MUE^Jm:V5gE`JlYm3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/small_square_table/41069175_3855.414_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/small_square_table/41069175_3855.414_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0a27283f1a35f714c0b904b0450cf4d04f50bf9
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/small_square_table/41069175_3855.414_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/small_square_table/41069175_3855.414_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "small square table"
+    ],
+    "target_area_description_en": [
+      "small square table"
+    ],
+    "target_area_description_cn": [
+      "小方桌"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
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+          480,
+          640
+        ],
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+      }
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+          640
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/stool/000579_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/stool/000579_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..416a304ded220a5b635b1ccced2ab12bf55b11a3
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/stool/000579_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/stool/000579_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "stool"
+    ],
+    "target_area_description_en": [
+      "stool"
+    ],
+    "target_area_description_cn": [
+      "凳子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          771,
+          512
+        ],
+        "counts": "_ZT69_g0?lNS1J4N2N3N0O20O2O3M0O10O01O10O000000000O100N3N0O2L4N2O100001O0O101O0O101O0O2N2O0O2M3M4dN]ZO0[Pl4"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          771,
+          512
+        ],
+        "counts": "lg01dlT50\\kkJ2M3L4K5L4M3I7H8H8I7L4M3N2N3M2N2N3M2M3N2L4L4N2M3N2M3N2M3L4M3M3M3N2N2M3M3M3ROVLa]Ol3]b0YL]]Oj3`b0_LU]Of3hb0k0M5L201100O001O1O1O001O000O2N1001OO101O00000000000001OVNj1F:]Ob0K6L4G9K5H7H9J5N3I[eo4W3bcoJ"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/stool/41048262_5477.040_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/stool/41048262_5477.040_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..d25f66a58b57efe370e42b06b157a0b26758734c
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/stool/41048262_5477.040_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/stool/41048262_5477.040_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "stool"
+    ],
+    "target_area_description_en": [
+      "stool"
+    ],
+    "target_area_description_cn": [
+      "凳子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "Tmk3k0R>f0\\OU1dB`Mo;V3C1N2N100O2O000O100O2O0O1O10000O2O0O1O100O1O101N1O100O1O1O1O1O2N100O1O100O1O1O101N1O1O100O1O100O1O2N100O1O100O1O100001O1O1O00000000001O001O2M4oKkEGFP3`:VMnFR2T9lM^Gb1b8^NhH8Y7GkH4V7LlH0W7OhH1Y70fH0Z70fHO[72dHN]71cHO]72bHN^72bHN^72bHN^73aHM`72_HOa71_HOa71_HOa72^HNc71]HOc71\\H0d71[HOf70ZHOg71YHOg72XHNi71WHOi71WHOi72VHNk71UHOk71UHOk72SHNo71QHOo71QHOo71QHOP81oGOQ81oGOQ81oGOR80nG0R80nG0R80nGOT80lG0T81kGOV80jG0V80jG0W80hGOY81gGOZ81eGO[81eGO[82cGN^82bGN^82bGN_81aGO_81`G0`8OaG1`8MaG3a8HbG8c;01N2Ooda3"
+      }
+    ],
+    "masklet_path": [
+      {
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+          480,
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+        ],
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+      }
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+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/stool/41126894_2300.499_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/stool/41126894_2300.499_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..52511cb96fd41a18c5ae8559a0d1614de944fff9
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/stool/41126894_2300.499_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/stool/41126894_2300.499_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "stool"
+    ],
+    "target_area_description_en": [
+      "stool"
+    ],
+    "target_area_description_cn": [
+      "凳子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "YgV46i>5K8I5J6J5K6J6K7H7I4M8G6K4K7J6I7I8H9H4K6K3L3M2O0O100O2O0O100O10000O1O1000000000001O01O1O1O001O00001O00000000001O000nK`Ed3`:\\LfE^3Z:aLiE^3V:bLjE^3V:bLjELMS3Y:QMkEJ2P3T:VMiEJ8k2o9[MiEJ>e2i9aMiEJc0`2d9fMjEIf0]2`9jMVGo1k8QNXGl1h8TN]Gg1c8YNeG_1[8aNiGZ1Y8eNoGS1Q8mNSHn0n7SOUHh0l7XOWHe0i7[OYHc0g7]O[Hb0d7^O\\Hb0d7^O\\H?oL[Oc:5^H=k7CUH<l7DTHNmL7o:KTHNmL6P;LSHMnL7o:LZH4f7LZH3g7MYH3g7MXH3j7LVH4j7MUH3k7MUH2l7NTH2l7NSH2n7NRH2n7OQH0P80oG1Q8OoG1Q8OoG0S8OlG2T8NlG2T8NlG1U8OjG2V8MkG2V8NjG2W8LiG5a;O10O010O10O100O0100O01000O0100O10O10O101O2MkfX3"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "\\iQ63m>1O3M3L4M>B2N3M2M5L5K:F3L5L4L5K6IS1nN0000O0100000O10O1000O1000O10O1000O10O10O1000O1000O10O100000000O100000O0100000O10O10O1000O10O100000O10O100000O010000000O10O10000000O10O100000O1000O1000O2O0000000O10000000O010000000O010000000O010000000O10O10000000O10O100000O01000000O01000O1000O10O10000000O010000000O1000O100000O1000000O010000000O100000O10O1000000O100000000O100000O010000000O10O10000O01000O100000O010000000000000O0100O1O01000O10000O10O10O100000000000000QK"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/table/000430_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/table/000430_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d721b7d33b71f55f2ec6875ac837cadb52a1d8e
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/table/000430_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/table/000430_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "table"
+    ],
+    "target_area_description_en": [
+      "table"
+    ],
+    "target_area_description_cn": [
+      "桌子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          384,
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diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/table/41048246_487.185_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/table/41048246_487.185_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..48f3157f867df0bdc1aec58c1c301d75f4b7b7f5
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/table/41048246_487.185_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/table/41048246_487.185_image.png"
+  ],
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+    "FeasiblePath_Ego"
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+      "table"
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/table/41098005_9451.892_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/table/41098005_9451.892_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d2fffca0fa813b10af417b58cf9698377cc5554
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/table/41098005_9451.892_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/table/41098005_9451.892_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "table"
+    ],
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+      "table"
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/table/41159420_7656.904_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/table/41159420_7656.904_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..effa976d23dc43d6aadaf022fc64c359efd92702
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/table/41159420_7656.904_mask_rle.json
@@ -0,0 +1,45 @@
+{
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+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/table/41159420_7656.904_image.png"
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+    "FeasiblePath_Ego"
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+    "text_label": [
+      "table"
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/table/41159466_1949.615_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/table/41159466_1949.615_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..7efc3d27e3cd5ff8b8dda666d8398deb48d07d78
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/table/41159466_1949.615_mask_rle.json
@@ -0,0 +1,45 @@
+{
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+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/table/41159466_1949.615_image.png"
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+  ],
+  "text_annotation": {
+    "text_label": [
+      "table"
+    ],
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+      "table"
+    ],
+    "target_area_description_cn": [
+      "桌子"
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+    "visually_blocked": [
+      true
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+    "precise_description": [
+      true
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/table_corner_on_the_left_side_of_the_red_pool_table_in_the_center_of_the_frame/1143_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/table_corner_on_the_left_side_of_the_red_pool_table_in_the_center_of_the_frame/1143_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..81e2781608aa77c8202c6d4b72d2a4abc574854b
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/table_corner_on_the_left_side_of_the_red_pool_table_in_the_center_of_the_frame/1143_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/table_corner_on_the_left_side_of_the_red_pool_table_in_the_center_of_the_frame/1143_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "table corner on the left side of the red pool table in the center of the frame"
+    ],
+    "target_area_description_en": [
+      "table corner on the left side of the red pool table in the center of the frame"
+    ],
+    "target_area_description_cn": [
+      "位于画面中央红色台球桌左侧的桌角"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
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+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          450,
+          675
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/tea_table/41125564_3407.309_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/tea_table/41125564_3407.309_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..340a88b9bdca460caf77adbaad260295d485326f
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/tea_table/41125564_3407.309_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/tea_table/41125564_3407.309_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "tea table"
+    ],
+    "target_area_description_en": [
+      "tea table"
+    ],
+    "target_area_description_cn": [
+      "茶几"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
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+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/the_area_where_the_dark_brown_carpet_meets_the_wooden_baseboard__located_at_the_lower_right_of_the_hallway_pillar_on_the_right_side_of_the_frame/row_1895_col_image_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/the_area_where_the_dark_brown_carpet_meets_the_wooden_baseboard__located_at_the_lower_right_of_the_hallway_pillar_on_the_right_side_of_the_frame/row_1895_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f18f22edb518c1e9467021c6f3967c868265957
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/the_area_where_the_dark_brown_carpet_meets_the_wooden_baseboard__located_at_the_lower_right_of_the_hallway_pillar_on_the_right_side_of_the_frame/row_1895_col_image_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/the_area_where_the_dark_brown_carpet_meets_the_wooden_baseboard__located_at_the_lower_right_of_the_hallway_pillar_on_the_right_side_of_the_frame/row_1895_col_image_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the area where the dark brown carpet meets the wooden baseboard, located at the lower right of the hallway pillar on the right side of the frame."
+    ],
+    "target_area_description_en": [
+      "the area where the dark brown carpet meets the wooden baseboard, located at the lower right of the hallway pillar on the right side of the frame."
+    ],
+    "target_area_description_cn": [
+      "位于画面右侧、走廊立柱右下方的深棕色地毯与木质踢脚线相接的区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          1536,
+          2048
+        ],
+        "counts": "Pa\\j12k_14K4K5J6C=000000000000000001O0000000000000000000000001O000000000000000000000000001O0000000000000000000000000000000000000001O0000001O0000001O00000000001O0000000000000000000000000000000000000000000000000000000000000000000000k_[P1"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          1536,
+          2048
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/the_back_of_the_chair/41125438_1269.235_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/the_back_of_the_chair/41125438_1269.235_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..fafd81dea5843ec14d6ef1c4a7925cd06b8e799e
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/the_back_of_the_chair/41125438_1269.235_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/the_back_of_the_chair/41125438_1269.235_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the back of the chair"
+    ],
+    "target_area_description_en": [
+      "the back of the chair"
+    ],
+    "target_area_description_cn": [
+      "椅子的背面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "^5n0Q>1N2O2N1N3O0O1O001O]O]BKc=4^BLb=3`BK`=5aBK_=4bBK`=2bBN_=0bBO`=0`B0d=K]B4X>0O10OROEYC;f<JVC6i<0QC1o<6jBIW==bBD_=n0000104K4L3M7I5L4KPOXCJf<4`CJ_<5gCFX<:iCFW<8lCFU<9oCQOc<o0h0O[BROX=n0>O0O2N101N101N101O1O001O1O00100O10O0100O1000O06J3N1O0O10000O010O100O010O10O010O001O10O10000O10O0100O01000O010OnNNVC3i<MXC2h<OXC1h<NXC2h<OXC1g<0YCOh<1WC0i<OXC1g<0XC0i<0WC0i<OWC1i<0WC0i<0WCOj<1UC0j<1VCOj<1UCOl<0UC0j<0VC0k<NWC1l=0Uac7"
+      }
+    ],
+    "masklet_path": [
+      {
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+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/the_bottom_right_area_of_the_light_beige_tiled_floor__located_at_the_lower_right_of_the_wooden_elevator_door_on_the_left_side_of_the_frame/row_1051_col_image_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/the_bottom_right_area_of_the_light_beige_tiled_floor__located_at_the_lower_right_of_the_wooden_elevator_door_on_the_left_side_of_the_frame/row_1051_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..39c3d093146a5e7b77ce583920af93907d1821eb
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/the_bottom_right_area_of_the_light_beige_tiled_floor__located_at_the_lower_right_of_the_wooden_elevator_door_on_the_left_side_of_the_frame/row_1051_col_image_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/the_bottom_right_area_of_the_light_beige_tiled_floor__located_at_the_lower_right_of_the_wooden_elevator_door_on_the_left_side_of_the_frame/row_1051_col_image_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the bottom right area of the light beige tiled floor, located at the lower right of the wooden elevator door on the left side of the frame"
+    ],
+    "target_area_description_en": [
+      "the bottom right area of the light beige tiled floor, located at the lower right of the wooden elevator door on the left side of the frame"
+    ],
+    "target_area_description_cn": [
+      "位于画面左侧、木质电梯门右下方的浅米色地砖的右下角区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          228,
+          300
+        ],
+        "counts": "oYe05n6100000000000000000000RjZ1"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          228,
+          300
+        ],
+        "counts": "WZe05o62N1O2N1O3L4M2M5L4L2N2M3N2M3M2N3O100O00001O100O3NN1O1O1O1O1O1O1O1O1O001O1O1O1O2N1O1O1O2N1O2N1O2M110O1O1O1O1O1O001O001O2N001O1O1O1O001O1O001O001O001O001O1O0010O01O0O20O0m_j0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/the_bottom_right_corner_of_the_red_cushion_on_the_grey_chair_near_the_refrigerator_on_the_left_side_of_the_frame/1186_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/the_bottom_right_corner_of_the_red_cushion_on_the_grey_chair_near_the_refrigerator_on_the_left_side_of_the_frame/1186_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d9109517133e5c9a09ccc456b43196cf9712cc7
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/the_bottom_right_corner_of_the_red_cushion_on_the_grey_chair_near_the_refrigerator_on_the_left_side_of_the_frame/1186_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/the_bottom_right_corner_of_the_red_cushion_on_the_grey_chair_near_the_refrigerator_on_the_left_side_of_the_frame/1186_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the bottom right corner of the red cushion on the grey chair near the refrigerator on the left side of the frame"
+    ],
+    "target_area_description_en": [
+      "the bottom right corner of the red cushion on the grey chair near the refrigerator on the left side of the frame"
+    ],
+    "target_area_description_cn": [
+      "位于画面左侧、靠近冰箱的灰色椅子上的红色坐垫的右下角"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          600,
+          800
+        ],
+        "counts": "jg_66`b04M3M101N2O0O10000O1O1O1O10000O100001N1000000O2O1N1O2N3M4Jk]c7"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          600,
+          800
+        ],
+        "counts": "\\Z\\66bb03_BI[89`GJ`8:YGIg8:SGIm8;kFIU9;eFG[9=_FEa9`0XFBh9c0PF@P:j0bCdNm0e0a;Q2UDSNk;Q2lCTNT<X40000000000000000000000000000001O2N001O3M2N2N1O2N2N1O1O2N1O1O2N1O2N2N1O2N2N1O1O2N1O1O1O3M3M2N2N2N2N2N2N1O2N1O2N1O1O1O2N1O2N1O1O2N1O1O1O2N3M2N2N2N3M3M2N2N2N1O2N2N2N3M3M2N2N3M3M2N3M2N3M3M2N3M3M2N3M3M3M3M3M4L3MafS6"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_the_bedside_table/41069165_2028.258_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_the_bedside_table/41069165_2028.258_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..61f68105e658612c783069a0904104ed778f6c58
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_the_bedside_table/41069165_2028.258_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_the_bedside_table/41069165_2028.258_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the bedside table"
+    ],
+    "target_area_description_en": [
+      "the front of the bedside table"
+    ],
+    "target_area_description_cn": [
+      "床头柜的前面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "Uoc3?g0L`<<_CH\\<:cCH[<:dCG[<9eCG[<9dCI[<7eCI[<7eCIZ<8fCIY<7gCIY<8eCI[<7eCJZ<6fCJZ<6fCKY<5fCLZ<5eCK[<5eCLZ<5eCK[<6cCK\\<7aCL^<[10001O00000000000001N1O2N2N2N100000001O0000001O0O1000001O00000000001O00000O1000001O0000000000001O0O10000000000000000000000O100000001O0000000000000O1000001O0000000XOTC\\Ol<5dCJ\\<1iCOW<1iCNX<1iCOW<1iCOX<0hC0X<0hCOY<1hCMY<3\\1Mj`S4"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "gbW57a>8I8H7I7POQ10O0001O000000001O00000O2O0000001O00000O101O0000001O0001O01O00001O000O101O000000010O00000010O000001O0000001O0000001O0000001O0000001O0000001O0000001O0000001O000000001O0000001O000000001O0000001O00001O000000001O01O00010O00001O010O0001O01O0001O00000010O00000001O000000001O00001O0000001O0000001O000000001O000000001O0000001O0000001O0000001O0000001O000000001O0000001O0000001O0000001O0000001O00000000001O0000001O00001O000000001O0000001O000000001O0001O01O0000010O000000001O0000001O00000010OO11O0001O0O11OO20O00000001O0000001O0000001O000001O01O0001O01O0000001O00000jI"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_the_bedside_table/41069168_2235.157_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_the_bedside_table/41069168_2235.157_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..904ac0b767d2add3c30bdc09dd7153dc0f389b39
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_the_bedside_table/41069168_2235.157_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_the_bedside_table/41069168_2235.157_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the bedside table"
+    ],
+    "target_area_description_en": [
+      "the front of the bedside table"
+    ],
+    "target_area_description_cn": [
+      "床头柜的前面"
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_the_bedside_table/41126461_5396.736_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_the_bedside_table/41126461_5396.736_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fa47ed92ec5f79cf8d2d89be3beeda72b0706b2
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_the_bedside_table/41126461_5396.736_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_the_bedside_table/41126461_5396.736_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the bedside table"
+    ],
+    "target_area_description_en": [
+      "the front of the bedside table"
+    ],
+    "target_area_description_cn": [
+      "床头柜的前面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
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+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_the_bedside_table/41127001_5592.063_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_the_bedside_table/41127001_5592.063_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..299d48ebf4d9176a63218c7be02cdb3466c72c52
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_the_bedside_table/41127001_5592.063_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_the_bedside_table/41127001_5592.063_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the bedside table"
+    ],
+    "target_area_description_en": [
+      "the front of the bedside table"
+    ],
+    "target_area_description_cn": [
+      "床头柜的前面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_the_black_bedside_table/40958749_1069.665_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_the_black_bedside_table/40958749_1069.665_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bd4f1ee5cad90706cbfbfc9ce27b4fd5dc578f0
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_the_black_bedside_table/40958749_1069.665_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_the_black_bedside_table/40958749_1069.665_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the black bedside table"
+    ],
+    "target_area_description_en": [
+      "the front of the black bedside table"
+    ],
+    "target_area_description_cn": [
+      "黑色床头柜的正面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
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+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_the_fridge/2378852_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_the_fridge/2378852_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff2597cc99e804c9549fbc16b585808fa369cda5
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_the_fridge/2378852_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_the_fridge/2378852_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the fridge"
+    ],
+    "target_area_description_en": [
+      "the front of the fridge"
+    ],
+    "target_area_description_cn": [
+      "冰箱的正面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
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+  "mask_annotation": {
+    "masklet_target_area": [
+      {
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+          296,
+          500
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_the_toilet/2377881_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_the_toilet/2377881_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..4600db66f7987da2387caa2225961e9869bd3491
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_the_toilet/2377881_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_the_toilet/2377881_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the toilet"
+    ],
+    "target_area_description_en": [
+      "the front of the toilet"
+    ],
+    "target_area_description_cn": [
+      "马桶的正面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_the_toilet/41069099_288.840_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_the_toilet/41069099_288.840_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..b686b60f0edc00194f5d270878cf9acfc86d5c3d
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_the_toilet/41069099_288.840_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_the_toilet/41069099_288.840_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the toilet"
+    ],
+    "target_area_description_en": [
+      "the front of the toilet"
+    ],
+    "target_area_description_cn": [
+      "马桶的正面"
+    ],
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+      true
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+      true
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_the_toilet/41097991_8697.217_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_the_toilet/41097991_8697.217_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..b213e67eff68243032264cb43c7c11e1c5ae2f4f
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_the_toilet/41097991_8697.217_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_the_toilet/41097991_8697.217_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the toilet"
+    ],
+    "target_area_description_en": [
+      "the front of the toilet"
+    ],
+    "target_area_description_cn": [
+      "马桶的正面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "[Yh2;b>6K6I7J4L3K5M3L3M3M3N2M4M2N2M3N2M4M2N2M3N2M3N2O1O101O0001O001O001O001O00010O00001O000010O01O00001O00001O000010O01O00001O0010O0001O00001O00001O001O000010O0001O01\\CjM]<_2M2N2O2M2N2O1N3M2O1N3N1N2N2O2M2O1N2N101N1O100O1O010O10O010O10O01O1O010O1O001N2O2N1O1O2N2N1O2N2N1O2N2N2M3N2N3L3M3N1N1O2N1O100O101N100O1O1N2O1N3N1O1O2M201O1O1O1O100O1O1O1O1O2N002M2O1O2M2N3M3N2M3M3L4M3L4L5ITlm3"
+      }
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+    "masklet_path": [
+      {
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+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_thecabinet/41125438_1314.734_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_thecabinet/41125438_1314.734_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a61e50318e0df727ce5fe1119564d9a4e3ef89d
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_thecabinet/41125438_1314.734_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/the_front_of_thecabinet/41125438_1314.734_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the cabinet"
+    ],
+    "target_area_description_en": [
+      "the front of the cabinet"
+    ],
+    "target_area_description_cn": [
+      "柜子的正面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/the_left_side_of_the_table/40958767_2166.466_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/the_left_side_of_the_table/40958767_2166.466_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..655dab3c5047dc0d7677e784795ba7a68471562e
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/the_left_side_of_the_table/40958767_2166.466_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/the_left_side_of_the_table/40958767_2166.466_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the left side of the table"
+    ],
+    "target_area_description_en": [
+      "the left side of the table"
+    ],
+    "target_area_description_cn": [
+      "桌子的左侧"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "PR`12m0OP=6mBKR=9kBGM3^<;PCAO153LM8c0b<d1K6K4K5L4I[MSD]2j;cMYDJJ00c2f;aMjD`2R;`MoDb2n:_MRE2^OV2^;iMTEOBW2[;gMUE1@Y2[;dMVE3@X2Z;eMWE2@NJ010OP2^;QNXE1Ni1j:WNXE11d1g:\\NWEO6b1b:`NWEO:S1TOPO[;NWEN?g0YO[OR;0UEOa0c0[O]On:1WEOe0=WOCm:1VE1k03SOLl:0VE1l01SONk:0VE1l01TOLk:2UE1m00SOMk:2UE0n01ROMk:2UEOo03POLl:2UEOo02QOLl:3TENP12QOMk:3SEOP12QOMl:2SEOP11QONm:2REOo01ROOm:1REOm03SONn:0REOn01RO0o:0QEOn00SO1n:0QEOn0OTO2m:0QEOn0OTO1n:1PEOn0NTO3n:0PEOn0NTO3n:0PEOn0NTO3n:0PEOm0OUO2n:0PEOm0OUO1o:1oDOm0OUO1o:1oDOl00VO0o:1oDOl00UO0Q;1nDOl00UO0Q;1nDOl00TO1R;0nDOl00TO1R;0nDOl00TO0S;1mDOl00TO0S;1mDOk01TO0T;0mDOk01TO0T;0mDOk01TOOU;1lDOj01UO0U;0lDOj01UO0U;0lDOj01UOOW;0jD0j01UOOW;NlD2h00VO0V;MmD3g00UO1W;LlD4g00VOOX;MkD4g0OWO0W;MjD5h0NWO0W;MjD5h0NWO1V;LkD5h0NWO1V;LkD5g0NYO2T;KlD5g0NYO1U;LjD5i0NXO1U;LiD5k0NWO0V;MgD6k0NWO0W;LgD6k0MXO1V;LgD5l0NWO1V;MeD5n0MWO1V;McD7P1KWO1V;N]D;V1FWO1V;1XD53EW14XO1V;=jEBoN2W;;kECnN2W;8nEFjN2Y;4QFJfN2Y;3RFKeN1Z;3RFLdN1[;2QFMcN2^;OoEOcN1a;OTDM_13lN1b;7`EImN1f;4\\EJoN1h;4XEKPO1j;4SELSO0k;5PEJVO1m;3lDLWO1o;4gDKYO2R<4aDJ^O2S<5\\DI@3V<4XDIA3Z<3SDJD2]<3mCJG2_<4hCII3a<4eCIJ3d<2aCJL4d<2_CJM4g<1ZCKL6m<1RCJL9V=KlBML:Z=NbBI2;^=k03K3K7H6M5HdAD`>69LX`U6"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "eYR34h>6L4K4N2L4M4L3M3N3M2N2N2N3M201O001O1O1O1O2N2N2N1O1N2O1O1O000O2O001N2O1O1N2O2M2O0O10001O0010O100O010001N0010000O2O0O100O1O2N0000O10001O01O01N100O100000001O0100O6JO2N1O1O1O2N2N1O2N2N1O1O2N1O1O2N2N2N2N1O1O2N1O2N2N1O2N1O2N2N2N2N2N2N2M2O2N2K4K6K4N3L3N2M4MeRV40\\miK0000000000001O0000001O0000001O0000"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/the_light_beige_bathroom_tile_area_located_to_the_front_right_of_the_toilet_on_the_right_side_of_the_frame/row_128_col_image_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/the_light_beige_bathroom_tile_area_located_to_the_front_right_of_the_toilet_on_the_right_side_of_the_frame/row_128_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..84df444de43aad070b58c34ef4bf34516a715420
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/the_light_beige_bathroom_tile_area_located_to_the_front_right_of_the_toilet_on_the_right_side_of_the_frame/row_128_col_image_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/the_light_beige_bathroom_tile_area_located_to_the_front_right_of_the_toilet_on_the_right_side_of_the_frame/row_128_col_image_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the light beige bathroom tile area located to the front right of the toilet on the right side of the frame"
+    ],
+    "target_area_description_en": [
+      "the light beige bathroom tile area located to the front right of the toilet on the right side of the frame"
+    ],
+    "target_area_description_cn": [
+      "位于画面右侧、马桶右前方的浅米色浴室地砖区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          768,
+          1024
+        ],
+        "counts": "]Ph`0;cg02000000000000000000000000000000000000000000000000000000000000000001O0000001O00001O00000000001O00001O01O1O2A`XO:cg00000000^gk5"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          768,
+          1024
+        ],
+        "counts": "cWh=1lg03N2N2M3N2O1O1N2O1O1N2N2N2N2N2N2N2N2N2N2N2M3N2M3O1N2N2O1N2N2O1N2N2N2O1N2N3N1N2N1O2O1N2O1N2O1N2O1N3N1N2N2N2N2N1O2N2N2N2N2M3N2N2N2M3M3M3N2N2O1N2N2O1N2N2O1N2N2N2M3L4L4L4M3N2N2O1N2N2O1N2N2O1N2N2N2M3M3L4N2M3N2M3N2N2N2O1N201O000000O100000O1000000O101O0O1000000000000000O101O000000000000001O00000000000000001O0000000000001O000000000001O01O0]Oc0K5B>G9M3J6J6G9G:K4I7K5YOg0H8L4WOi0J6L4M3L5TOk0LVWj5"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/the_light_beige_bathroom_tile_area_located_to_the_rear_right_of_the_toilet_on_the_right_side_of_the_frame/row_161_col_image_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/the_light_beige_bathroom_tile_area_located_to_the_rear_right_of_the_toilet_on_the_right_side_of_the_frame/row_161_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..251db90e0d78a4cbb063c0119b64e420488f64df
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/the_light_beige_bathroom_tile_area_located_to_the_rear_right_of_the_toilet_on_the_right_side_of_the_frame/row_161_col_image_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/the_light_beige_bathroom_tile_area_located_to_the_rear_right_of_the_toilet_on_the_right_side_of_the_frame/row_161_col_image_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the light beige bathroom tile area located to the rear right of the toilet on the right side of the frame"
+    ],
+    "target_area_description_en": [
+      "the light beige bathroom tile area located to the rear right of the toilet on the right side of the frame"
+    ],
+    "target_area_description_cn": [
+      "于画面右侧、马桶右后方的浅米色浴室瓷砖区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          1368,
+          960
+        ],
+        "counts": "V^ho07_Z14M2N3M1O2N2O0000000000000000001OO11OO100000000000000000000001OO11O00001O0000000001O001O0000001O001O001O001O001N3M2MaWk5"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          1368,
+          960
+        ],
+        "counts": "WS[l01eZ12N2N2N2N2N2N2O1N2N2N2N2N2N2O1N2N2N2M3M3N2M3M3M3M3L4N2O1N2N2M3L4L4L4M3N2M3M3N2O1O1N2O1O1N2N2O1O1O1O1N2O1N2N2N2N2N2N2N2M3N2M3L4I7N2N2N2M3O1N2M3M3N2O1N2O1M3N2L4L4N2O1N2N2N2N2N21O0000000000000000001O00000000001O0000000000001O00000000001O00000000000E;L4J6L4H8L4L4K6K4N2L4L4K5M3KYWo5"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/the_nightstand_on_the_left_side_of_the_bed/2377963_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/the_nightstand_on_the_left_side_of_the_bed/2377963_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5721fd2234cedf9941e49befa9233caeeba8f00
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/the_nightstand_on_the_left_side_of_the_bed/2377963_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/the_nightstand_on_the_left_side_of_the_bed/2377963_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the nightstand on the left side of the bed"
+    ],
+    "target_area_description_en": [
+      "the nightstand on the left side of the bed"
+    ],
+    "target_area_description_cn": [
+      "床左边的床头柜"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          332,
+          500
+        ],
+        "counts": "R6e0f93\\F_OY9S1G2N2N2N3M9G6gGTNf7^2J7J4L003M5K1O0O10O1000000O10O10O1N2000000O10000O100O2N3N1N1O100O100000000O10000O10O1000OKYMfHh2Z7YMdHh2\\74O10O1000000O0100000O10000O10O100000000000001N1001O0O101O1O1O001O1aMiHg1X7WNmHOB[1a7eNPILIW1X7kNkIk0V6SORJe0R8I3M1FUF0ifR4"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          332,
+          500
+        ],
+        "counts": "ji59P:6K4M3L3N2N2O1N2N101N2O001N101O001O001O001N100O2O000O2O0000000000000000000000000000000O100O10000O10000O1000000O100O10000O100000000O100000000000000000000000000001O00001O00001O001O1O001O1O1O1O1O1O1O1O001O1O1O1O2N1O2N1O1O1O1O1O001O001O1O001O1O1O1O1O1O1O1O2N2N4L3Mjia3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/the_side_of_the_black_chair/41125564_3442.308_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/the_side_of_the_black_chair/41125564_3442.308_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..0582c550ae43309a9139be6c2822db63f3dee9eb
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/the_side_of_the_black_chair/41125564_3442.308_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/the_side_of_the_black_chair/41125564_3442.308_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the side of the black chair"
+    ],
+    "target_area_description_en": [
+      "the side of the black chair"
+    ],
+    "target_area_description_cn": [
+      "黑色椅子的侧面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/the_sideof_the_single_sofa/2377918_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/the_sideof_the_single_sofa/2377918_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c7ff97dde24797f1e417ec380039726b79c9f16
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/the_sideof_the_single_sofa/2377918_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/the_sideof_the_single_sofa/2377918_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the sideof the single sofa"
+    ],
+    "target_area_description_en": [
+      "the sideof the single sofa"
+    ],
+    "target_area_description_cn": [
+      "单人沙发的侧面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          332,
+          500
+        ],
+        "counts": "j81f^l07[kSO7K5J8I6J5K6J4M6I6K3M3M3M4K4WHcM]7a254L3M2N1O0000000000000O1000001O00000000001O01O00000000000001O00000001O000001O0000000000000010O0000000000010O0000001O0010O01O1O1O100O2N5K6K1N1O100O2N2M3N2N3M2N1N10O100O001O010O10O10O10O010O010O010O010O100O00100O100O100O2]N]G[1k8N3M1O3M3J:A`aj2"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          332,
+          500
+        ],
+        "counts": "fRg111000000010O0010=Z9b01O0000000000000000000000O1000000O100O10000O100O10000O100O101N100O100O100O1O10O02O0O10O01O10010O01O001O001O001O0O10001O001O001O000YOUGMl8DgG7Z9M2N2N1Ojdc2"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/the_top_right_corner_of_the_red_folding_stool_next_to_the_white_washing_machine_on_the_right_side_of_the_frame/1195_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/the_top_right_corner_of_the_red_folding_stool_next_to_the_white_washing_machine_on_the_right_side_of_the_frame/1195_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..e372cd35d6beee9b7c219bf3d04e03dea8300810
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/the_top_right_corner_of_the_red_folding_stool_next_to_the_white_washing_machine_on_the_right_side_of_the_frame/1195_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/the_top_right_corner_of_the_red_folding_stool_next_to_the_white_washing_machine_on_the_right_side_of_the_frame/1195_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the top right corner of the red folding stool next to the white washing machine on the right side of the frame"
+    ],
+    "target_area_description_en": [
+      "the top right corner of the red folding stool next to the white washing machine on the right side of the frame"
+    ],
+    "target_area_description_cn": [
+      "位于画面右侧、白色洗衣机旁的红色折叠凳的右上角凳角"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          375,
+          500
+        ],
+        "counts": "fV_3=Z;1N1001N100O100000001N1O10000O2O0O100O2O001NR_o1"
+      }
+    ],
+    "masklet_path": [
+      {
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+          375,
+          500
+        ],
+        "counts": "SYl21e;1O100O1O1O1O100O1O100O1O100O1O100O1O1O1O1O1O100O1O1O1O1O1O1O1O1O1N2O1N2O1N2O1O1O1O1O1O1O1O1O1N2O1N2N2N2M3L4E;00O10000O100O100O100O100O10F9N2N3N100O3N3M3L4L3M4L5L4K4L5K4L[\\k1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/the_top_right_edge_of_the_dark_red_wooden_shelf_next_to_the_bed_on_the_left_side_of_the_frame/1165_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/the_top_right_edge_of_the_dark_red_wooden_shelf_next_to_the_bed_on_the_left_side_of_the_frame/1165_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..707c1d03d82fe942bcc3f068fae29d1232b92166
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/the_top_right_edge_of_the_dark_red_wooden_shelf_next_to_the_bed_on_the_left_side_of_the_frame/1165_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/the_top_right_edge_of_the_dark_red_wooden_shelf_next_to_the_bed_on_the_left_side_of_the_frame/1165_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the top right edge of the dark red wooden shelf next to the bed on the left side of the frame"
+    ],
+    "target_area_description_en": [
+      "the top right edge of the dark red wooden shelf next to the bed on the left side of the frame"
+    ],
+    "target_area_description_cn": [
+      "位于画面左侧、床铺旁的深红色木质搁板的右上角边缘"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          467,
+          625
+        ],
+        "counts": "cll1c0l=6M2O1O001N10000000000000000000O1O3ZOo_g6"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          467,
+          625
+        ],
+        "counts": "]cl12`>2N1O2N1O1N2O1N2M3L4J600000O10000000000000000000000000000000O100000000000001O000000000000000000000000000O10000000000000000000000000000000O010000000O100000000000000000000000O100000000000000000001O00000000000O1000000000000000000000001O0000000000000000001O0O10000000001O00000000000O100000001O0000000000000000000O101O00000000010O001O00001O1O001O1O1O1O1O1O1kC`NU;b1hD_NX;c1dD_N\\;c1_D`Na;d1XD_Nh;V20000000000000000000000001O00000000001O000000001O000000000000001O001O001O001O001O1O001O00001O1O1O001O1O1O1O1O2N1O2N1O2N2N2N1O4L3M2N3M2N3M3M5K3M3M4L5K4L3MPgZ3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/toaster/41069134_4092.207_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/toaster/41069134_4092.207_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd6b46562d1e810af9186909677456f3a2b630b8
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/toaster/41069134_4092.207_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/toaster/41069134_4092.207_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "toaster"
+    ],
+    "target_area_description_en": [
+      "toaster"
+    ],
+    "target_area_description_cn": [
+      "面包机"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "SZ_26=2a=l0A>I7J5M4N100O2O0O101O0001O00010O01O01O0000001O1O00010O0010O01O01O010O01O001O00001O001O001O1O0O1O2M2L5L3M3J6J7J5H9J6IdbP6"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "_hj56g>7I5M2M3N1N2N3M2N2N3M2N3M2N2N3M2N2N3M2N3L3N2N3M2O2M2N3M2N3M2N3M20100O000010O01O001O10O01O1O001O100O1O01O010O000001O01O0001O0000010O00010O000001O00001O01O01O00010O0001O010O0010O01O001O01O01O1O0010O01O0000010O001O0010O0001O0010O000001O001O0010O01O0010O01O0010O01O0010O01O0010O01O001O001O01O01O00010O00010O001O01O01O001O00001N110O01O01O010O000010O00010O00010O01O00010O001O00001O01O01O00010O000010O0001O00001O01O01O00001O01O01O00001O00001O01O01O00010O00001O00001O01O0001O00001O000000000VJ"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/vase/41069130_4347.202_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/vase/41069130_4347.202_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..a02caa04160e5828dd334b2a40f882422cf14cdc
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/vase/41069130_4347.202_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/vase/41069130_4347.202_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "vase"
+    ],
+    "target_area_description_en": [
+      "vase"
+    ],
+    "target_area_description_cn": [
+      "花瓶"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "oak23m>1O00000O1\\NM[D3Y=00O^NNXD2h;OXDOj;6oCKQ<5nCKT<5jCLW<3eC1\\<NcC2_<M`C4a<L\\C5f<JZC6f<JYC7h<IUC9XOG^=1XC8ZOH^=1VC>j<CUC=l<CSC<o<FbBM1=^=0bB0_=1_B0`=2^BNc=g0010000O101O1N2O1N1O1O2N1N2N1O2O1N2N1O2O0O100O2O0O10000O10001O0001O00001N101O001N101N2O1N2O1O1N2O1N2N3N1N3N1O2N2N12N100O0000O100O00O2N1O1O1000O100O011N1O1O2M2O2N2M4L4L4K9EUaj4"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "jQg59c>5K5K4N3J5M3L5K4L5K4L4M4L3M3M3K5L4M4L3L4M3M3L4M4N100000000000001O000000000000001O0000001O0000001O000000001O0000000000001O000000001O000000001O000000001O0000001O0000010O0000001O000001O0001O00000000001O000000001O0000001O00001O00000000001O000000000000001O000000000000000010O001O001O010O001O000010O000001O01O00000010O00000010O0000010O0000010O0000010O0000010O0000001O0001O0001O000000010O000001O0001O01O000001O0001O000001O000000001O00000000001O000000001O000000001O000000001O000000001O00000000000000001O000YJ"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/washing_machine/41048223_7179.234_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/washing_machine/41048223_7179.234_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..13b57786db82c26709c47e53a7b2faeed3c81c3b
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/washing_machine/41048223_7179.234_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/washing_machine/41048223_7179.234_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "washing machine"
+    ],
+    "target_area_description_en": [
+      "washing machine"
+    ],
+    "target_area_description_cn": [
+      "洗衣机"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "eXj111c0a=_OfBR1h<lNXCf1Z<h0N1000001O0001O0000001O00010O000000001O00001O01O0001O0000001O00010O0000001O001O00000010O000001O00001O0000010O0000001O0000001O01O01O0000001O000001O01O00001O0001O01O00001O0000001O0001O01O0000001N100N3J5K5M3K6J5K6J5L5I7J6JXil5"
+      }
+    ],
+    "masklet_path": [
+      {
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+          480,
+          640
+        ],
+        "counts": "mdY33k>4L3K5K6J5H8J5J6L4L5J5L4K6O00010O0010O01O1O010O0000010O00001O01O01O001O00001O0000000000001O0000001O0000001O00001O00001O00001O00001O00001O000000001O00000000001O00001O0000001O0000001O000000001O00000000000O101O00000O2O000010O01O000001O00000000000000001O0000001O00000010O000001O0000001O000001O1O0001O01O0000001O000001O0001O000010O000001O0001O0001O00000001O0001O00001O0000000010O01O00001O001O00010O000000000010O00000001O00010O00001O000000010O000000000000010O00000000001O00001O0001O01O0000001O0000000000001O000000000000001O00000000001O00000000000000001O00000000001O00000000000010O0000000000001O0001O00010O00001O01O01O00000001O0000000000001O01O000001O0001O0001O01O00000010O000000000010O000000001O00010O0000010O000001O01O0001O0000001O000000010O0001O00001O01O0001O00000000000001O01O000001O0001O00010O00001O0001O01O000000000O10000000000O1bJ"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/yellow_long_food_display_tray_inside_the_sandwich_counter_on_the_right_side_of_the_frame/1140_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/yellow_long_food_display_tray_inside_the_sandwich_counter_on_the_right_side_of_the_frame/1140_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee60d07cc92e53badf228b5fc1cd3f2db7aba7c9
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/yellow_long_food_display_tray_inside_the_sandwich_counter_on_the_right_side_of_the_frame/1140_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/yellow_long_food_display_tray_inside_the_sandwich_counter_on_the_right_side_of_the_frame/1140_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "yellow long food display tray inside the sandwich counter on the right side of the frame"
+    ],
+    "target_area_description_en": [
+      "yellow long food display tray inside the sandwich counter on the right side of the frame"
+    ],
+    "target_area_description_cn": [
+      "位于画面右侧三明治柜台内的黄色长条食物展示托盘"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "ni^74h>6M1O2O001O0000000O11O000000000000000000000000001N2O1NVR`1"
+      }
+    ],
+    "masklet_path": [
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+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}