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diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_imperial_concubine_s_couch/41007602_5345.388_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_imperial_concubine_s_couch/41007602_5345.388_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5bf6a5733ee9535932c57184a29a2e16c4eaad3
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_imperial_concubine_s_couch/41007602_5345.388_mask_rle.json
@@ -0,0 +1,45 @@
+{
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+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_imperial_concubine_s_couch/41007602_5345.388_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "In front of the imperial concubine's couch"
+    ],
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+      "贵妃榻前"
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_white_desk_lamp/41048120_8837.076_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_white_desk_lamp/41048120_8837.076_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..2967b499fda1ae5d6efc19d17fa974839b29ff05
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_white_desk_lamp/41048120_8837.076_mask_rle.json
@@ -0,0 +1,45 @@
+{
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+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_white_desk_lamp/41048120_8837.076_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "In front of the white desk lamp"
+    ],
+    "target_area_description_en": [
+      "In front of the white desk lamp"
+    ],
+    "target_area_description_cn": [
+      "白色台灯前"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_white_desk_lamp/41048180_2394.290_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_white_desk_lamp/41048180_2394.290_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7fb75eb193977aa714151b56c060a3379e6e784
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_white_desk_lamp/41048180_2394.290_mask_rle.json
@@ -0,0 +1,45 @@
+{
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+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/In_front_of_the_white_desk_lamp/41048180_2394.290_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "In front of the white desk lamp"
+    ],
+    "target_area_description_en": [
+      "In front of the white desk lamp"
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+      "白色台灯面前"
+    ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/One_corner_of_the_table_is_against_the_bed/40776203_958.562_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/One_corner_of_the_table_is_against_the_bed/40776203_958.562_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a259540d377ef2213f9632a0facc8db02b00176
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/One_corner_of_the_table_is_against_the_bed/40776203_958.562_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/One_corner_of_the_table_is_against_the_bed/40776203_958.562_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "One corner of the table is against the bed"
+    ],
+    "target_area_description_en": [
+      "One corner of the table is against the bed"
+    ],
+    "target_area_description_cn": [
+      "桌子靠床的一角"
+    ],
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/Prison_Gate_No._24/1167_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/Prison_Gate_No._24/1167_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..1dbe14e1e13a6ea126313834cc8004f1ad76ce5c
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/Prison_Gate_No._24/1167_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/Prison_Gate_No._24/1167_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Prison Gate No. 24"
+    ],
+    "target_area_description_en": [
+      "Prison Gate No."
+    ],
+    "target_area_description_cn": [
+      "号监狱大门"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/Small_round_table/41069175_3854.414_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/Small_round_table/41069175_3854.414_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..75a7f79b34c14cc4de63c1e1f424a62f1ac60518
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/Small_round_table/41069175_3854.414_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/Small_round_table/41069175_3854.414_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Small round table"
+    ],
+    "target_area_description_en": [
+      "Small round table"
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+      "小圆桌"
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+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/Stacked_stools/40958767_2144.966_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/Stacked_stools/40958767_2144.966_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc857a202dacb1747a22b9851e78cd89b33184ae
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/Stacked_stools/40958767_2144.966_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/Stacked_stools/40958767_2144.966_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Stacked stools"
+    ],
+    "target_area_description_en": [
+      "Stacked stools"
+    ],
+    "target_area_description_cn": [
+      "堆叠的凳子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "lWf1g0W>=D6J6J4M2N2N1O1O01O00O01O1N2O1000O010000O10000O01000O1]OhB^OW=b0kB]OU=5fBJ6OU=5iBJ21U=4kBJ02U=4kBJ01V=5jBI12T=6kBG23S=6kBG13U=6jBG04U=6kBF04U=5lBFO5V=5jBG04V=5jBF15T=5lBF04U=6kBFO5V=4kBHO4V=4kBHO3W=4jBI03U=5kBG14T=5jBH13V=5iBG24U=5iBG15V=3jBG06V=3kBGO6V=3jBHO6W=1kBIN5X=2iBJO4X=1iBLO3W=2jBKN3Y=2hBLO2Y=2hBK03X=2gBL11Y=3fBL11X=5eBL2OY=7bBK5MZ=h0bBZO]=U10O01000O01000O2O001O4L4K6K3L4JTi_6"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "mfl22m>7I3M3M3M2N2M3N3L3M3L7[OjNUCZ1j<`0N2O1N2OO01O01O010O0002O0O0100O0100O10000O100O010O10O01O010O1O01O10O010O0100000O010O100O2O0O10O01000O010O100O010O100O1000O10O100000O0100O010000000O10O010O0101O0O1O01000O10O2O0000O010O1O001O1000O0100O1001N01O1O1O001O001O001O001O001O1O001O001O1O1O001O001O001O1O1O1O001O1O1O001O001O001O001O001O1O001O1O001O001O001O001ROQBi0P>VOQBi0P>VOPBj0T>O1O1O1O001O001O1O00001O1O001O1O001O1O001O1O001O1O1O1O2NVo`3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_behind_the_person/row_1890_col_image_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_behind_the_person/row_1890_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..f779b596a26765fadbf593fb7074e70130708c03
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_behind_the_person/row_1890_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_behind_the_person/row_1890_col_image_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The area at the bottom of the wall behind the person"
+    ],
+    "target_area_description_en": [
+      "The area at the bottom of the wall behind the person"
+    ],
+    "target_area_description_cn": [
+      "人后方的墙面底部区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          1650,
+          2200
+        ],
+        "counts": "V_e<3Sc11U]N2db16X]NJfb1:X]NFgb1c0O1O1O001O100O10O1000O100000O100000000O10000000000O10000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000O100O10000O100O1000000000000O100000000000000000000000000000000000000000000000000000000000000000000000000000000009G7I4L4L2N3M2N`^T:0`akE3M000000000O10000000000003MVPX^2"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          1650,
+          2200
+        ],
+        "counts": "V_e<3_c14L4L4L4L4L4L4L4L4K4M3M4L3M3M4L3M3M3L4M3M4L5K5K6J:F5K4L4L6J7I4L4L4K6K4L3M4L4L6J6J:F:F4L5K6J8H;E8H7I8H5K4K6K4L5K7I;Ea0_O3M3L5L3M4L4L4L6J7I7I3M2N2N2M4M1O2N2N2N2M3N2N2N2N2N3M3M2N3M3M4L3L4M3M3M3M4L4L5K5K8H;E2N2N2N2N3M2N3M2N3M2N3M2N2N1O1O2N1O1O1N3N1O1O2N1O2N1N3N1O2N2N1N3N2N2N2N2N2N2N3M2N3M2N3M3M4L3M4L5K6I8Ie0[O00001O003M000000000O100000000000M30000000O100000000000000000000000000000O1000000000O10O100001O000003M3M3M3M2N2N3M2N2N2N2N2N2N2N3N1N2N2N2N2N3M2N4L5K4L3M4L300M2N3M2N2N3M2N2N2N2K5N2N2N2N7I6J4L5K301L3M3J5N3M5K7I5K5K4L305H5K5K4L3M4L3M3M4L3M4L2N3J600M2N2N2N3M2N2N2N2N2N2N2N2N2N2N1O2N2N1O2N1O2N2N2N3M2N3M2N5K6J5K5K4I7L4L5K4L4L3M3M4K6K4L3M4L3M3M2O2M2N3M2N2N2N4L3L4M2N3M3M2N2N2N2O1N21ON2N2N1O2K5N1O2M3N3M2N3L3N2N2N2N2M2O2N2N2N1O2N1O2N1O2O0O1O2O0O1O1O2N100O1O1O1O1O12ON2N1O2N1O1O2N1O2N1O1O1O2N1O1O1O1O1O2N1O1O1O1O1O1O1O2N1O1O2N1O1O3M2N2N2N3M2N1O2N2N2N2N1O2N1O2N1O2N1O2N1O1O2N1O1O1O1O2N1O1L4O1O1O2M3N1O2N2N2N2N2N3M4L4L3M3M3M3MUemZ2"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_directly_below_the_black_photo_frame/row_122_col_image_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_directly_below_the_black_photo_frame/row_122_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..96eed1bbb94b9fd53a0252b06bd61da62795a26d
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_directly_below_the_black_photo_frame/row_122_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_black_photo_frame/row_122_col_image_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The area at the bottom of the wall directly below the black photo frame"
+    ],
+    "target_area_description_en": [
+      "The area at the bottom of the wall directly below the black photo frame"
+    ],
+    "target_area_description_cn": [
+      "黑色相框正下方墙壁底部区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          294,
+          294
+        ],
+        "counts": "in57n82N100O10000000000000000000000000000001O001O1NlaW2"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          294,
+          294
+        ],
+        "counts": "Za61U93M2N2N2N2N6J4L3M2M4M3M2N2N3M2N2O1N2N21O0001N5LN2N1O1O1O2N1O1O1O1O1O1O2N1O2N1O1O2N1O2N1O2N1O001O1O1O1O100N2O1O001O1O101N1O1O1O1O1O1O2N1O2Ngfi1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_directly_below_the_corner_where_the_bathtub_is_adjacent_to_the_sink/row_163_col_image_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_directly_below_the_corner_where_the_bathtub_is_adjacent_to_the_sink/row_163_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..042cd7c38808b1ee78092ff5e4a6ce48ee4e629e
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_directly_below_the_corner_where_the_bathtub_is_adjacent_to_the_sink/row_163_col_image_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_directly_below_the_corner_where_the_bathtub_is_adjacent_to_the_sink/row_163_col_image_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The area at the bottom of the wall directly below the corner where the bathtub is adjacent to the sink"
+    ],
+    "target_area_description_en": [
+      "The area at the bottom of the wall directly below the corner where the bathtub is adjacent to the sink"
+    ],
+    "target_area_description_cn": [
+      "浴缸靠近洗手池的角正下方的墙壁底部区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          256,
+          256
+        ],
+        "counts": "So?;e7O0010O01O010O010O10O0100O010O1000Sa[1"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          256,
+          256
+        ],
+        "counts": "[g`01o73Lb0_O0O100O100O100O10000O10000O1;EahZ1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_directly_below_the_toilet_s_water_supply_pipe/row_129_col_image_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_directly_below_the_toilet_s_water_supply_pipe/row_129_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..0de72c850eeca38c5d5119c99110cae3b37a4aa6
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_directly_below_the_toilet_s_water_supply_pipe/row_129_col_image_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_directly_below_the_toilet_s_water_supply_pipe/row_129_col_image_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The area at the bottom of the wall directly below the toilet's water supply pipe"
+    ],
+    "target_area_description_en": [
+      "The area at the bottom of the wall directly below the toilet's water supply pipe"
+    ],
+    "target_area_description_cn": [
+      "马桶抽水管正下方的墙壁底部区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          1600,
+          1200
+        ],
+        "counts": "ZXP`07ea16L4M2M3O0O0010O10O10O1000000O1000000000000000000O100O1000000O10000000000O100O100000000O1000000000000000000000000000000O10000O100000000O100000000000001O000O2O001N2O1O2Nkm]V1"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          1600,
+          1200
+        ],
+        "counts": "o]i>1na11O1N2O1N2N2M3HDf^Nb0^`1n0G9F:@`0@`0PLP40000O1000000000000000000000000O10000O1000000O10000000000000000O100000000000000O1000000000000O1000000000000O1000000O10000000000O100000000O10000000000000000O1000000000000000000O10000000000O10000000000O10000002N2N2NS1mN4L5K^1bN3M4L6J3M8H6J5K5K4L4L4L3M3Me1[N4L4Lf0ZO3MQXl4ORRPk0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_directly_below_the_towel/row_167_col_image_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_directly_below_the_towel/row_167_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b6222a201842673cb2a6db6afc866db90dde3cb
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_directly_below_the_towel/row_167_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_towel/row_167_col_image_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The area at the bottom of the wall directly below the towel"
+    ],
+    "target_area_description_en": [
+      "The area at the bottom of the wall directly below the towel"
+    ],
+    "target_area_description_cn": [
+      "毛巾正下方墙壁底部区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          1600,
+          1200
+        ],
+        "counts": "QcPn0m0Sa1000000O10O10000O1000000O1000O10O10000O01000O100O010O100O010O10O10O1000O100O1000O01000000O010000000000000O10000O10O1000O1000000O01000O10O1000O010O10O10O0ZOT_N9`a1J4K4Mhjch0"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          1600,
+          1200
+        ],
+        "counts": "Ud_k0h1m_1;E;E;F:G9J6I7J6J6J9G6K5K5J6I7I7H8F:G9I7J6K5K5K5K5I7I7J6K5K5L4K5L4K5L4K5L4K5L4K5L4K5L4M3O100000000O10000000000O1000000000000O10000000000O1000000000000O10000000000O100000000O10000000000O100000000O100000000O10M300O10O10000000000O2O003M00000000000000000O1000000000000O10000000000O100000aL_3]Ob0K6mLS3D<K5B>E;Lnfgg0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_directly_below_the_window/row_125_col_image_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_directly_below_the_window/row_125_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6d867212906c2c9d20e9f946b94a70acf182f86
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_directly_below_the_window/row_125_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_window/row_125_col_image_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The area at the bottom of the wall directly below the window"
+    ],
+    "target_area_description_en": [
+      "The area at the bottom of the wall directly below the window"
+    ],
+    "target_area_description_cn": [
+      "窗户正下方墙壁底部区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          225,
+          300
+        ],
+        "counts": "onU16k61O00000O1000000000000000000O100000000001O001O1Oc^f0"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          225,
+          300
+        ],
+        "counts": "jfR13i66K4J6L4I7M3M3N2N20000000000000000000000000O1000010O000000000O10000000O101O00nNXJKVef0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_to_the_left_of_the_trash_can/row_123_col_image_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_to_the_left_of_the_trash_can/row_123_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..a787ce1c02a53e361c03177aaed6829a09534ca6
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_to_the_left_of_the_trash_can/row_123_col_image_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_to_the_left_of_the_trash_can/row_123_col_image_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The area at the bottom of the wall to the left of the trash can"
+    ],
+    "target_area_description_en": [
+      "The area at the bottom of the wall to the left of the trash can"
+    ],
+    "target_area_description_cn": [
+      "垃圾桶左边墙壁底部区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          817,
+          1050
+        ],
+        "counts": "fZ\\15[i05L2N1O2N2M2O2N1O1N2O1O1O7I2N2N2M2O1O1O1O0O2O2N1N10000O100O1000000000O01000O100O010O100O010O100O010O100O010O1O100O010O100O010O1000O01000000O10O1000000O01000O010000000O0100000000O10000O1000000000O01000000000O0100000O1f0YO6K3M3M2M5Ladme0"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          817,
+          1050
+        ],
+        "counts": "Xgn11`i03L6K4L4L5K8H2N1O1N2O2N1O2N2N2M3N2N2N2M2O2N1O2N1N3N2N1O1O2N1O1N3N1O2N1O1O2N1O2M3N1O1O2N1O2M3N2N2N1O1N3N1O2N1O2M3N2N2N3M1O2M2O2N1O1O2N001N2O1O2N1O1O2N1N3N2N2N1N3N1O2N1O2N2N2M2O1O1O1O1O1O2N1O2M2O20O2N1O001O1O101N101O0001NO2N100O2O0O100O2O0O2O1O1N10001O0000000001O0100O10O2O0O4MN10001N101O00001O000001O0010O1001N102M2N01O01OO10O10O1000O10000000001OO010O101N100O1O100O10O0100O01000O10O1000000O10O10O010O10O0100O100O1O100O101O0O2O1N2O2M3M8I0O0001O001O010O001O1O1O1O1O1O1O1O2N1O1O1O1O1O1O1O1O1N2O100O1O1O1O1O1O1O1O001O001O1O1O1O1O001O1O001O1O1O1O1O001O1O1O0N3O001O1O1O001O2N1O1O1O1O11N01O1O1O001O1O1O1O1O1O1O1O0O3N1O1O1N2O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O2N1O1O1O2N1O001O1O1O1O001O1O001O001O00001O1O001O001O1O1O10000O1O1O1O2N1O1O1O1O1O1O1O1O1O1O1O1O1O1O]LbNT_O]1m`0cNS_O\\1n`0dNR_O[1n`0fNQ_OZ1Pa0fNP_OY1Qa0fNP_OY1ed0O1O1O1O1N2N2O1O1O1O1O1O1O1O1O02OO1O001O1O001O1O1O1O1O1O1O1O1O2N1M3O1O1O001O1O1O001O1O00Q^`="
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_to_the_right_of_the_sink/row_126_col_image_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_to_the_right_of_the_sink/row_126_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..5eec635a93ca9e62ccb9cd938bec36f6dba70a81
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_at_the_bottom_of_the_wall_to_the_right_of_the_sink/row_126_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_to_the_right_of_the_sink/row_126_col_image_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The area at the bottom of the wall to the right of the sink"
+    ],
+    "target_area_description_en": [
+      "The area at the bottom of the wall to the right of the sink"
+    ],
+    "target_area_description_cn": [
+      "洗手池右边墙壁底部区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          512,
+          282
+        ],
+        "counts": "o_e01o?0000000mJ5m4101O000000000O10O1000O10O1000001N10Ve[3"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          512,
+          282
+        ],
+        "counts": "Rkj07i?4L5K6I5L3M7H4M5K7I5K4K7J5K5K5K4L5K5L44OnBlLk<V3O:F3N6J3M6H3OM3M2N2N2N1O3M2N2N2N1O2N3M3M4L3M3M3M2N2N2N2N2N3M3M2N2N2N2N1O3M1O2N2N2N1O2N4L3M2N4L2N2N4L2N2N1O2N2N2N2N2N2N2N2N1O1O1O2N2N1OR`U2"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_on_the_right_side_of_the_screen__beneath_the_corridor_pillars/row_1158_col_image_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_on_the_right_side_of_the_screen__beneath_the_corridor_pillars/row_1158_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..3179f8678e3f0baf69067b0ca484ee354469ef7a
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_on_the_right_side_of_the_screen__beneath_the_corridor_pillars/row_1158_col_image_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_area_on_the_right_side_of_the_screen__beneath_the_corridor_pillars/row_1158_col_image_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The area on the right side of the screen, beneath the corridor pillars"
+    ],
+    "target_area_description_en": [
+      "The area on the right side of the screen, beneath the corridor pillars"
+    ],
+    "target_area_description_cn": [
+      "位于画面右侧、走廊立柱下方的区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          422,
+          512
+        ],
+        "counts": "ik^46o<2O1N1000000000000000000000000000001O001O0100O010O010O001O00001O001O1O2LSld1"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          422,
+          512
+        ],
+        "counts": "PjQ41X_=n2ojB`0@:\\FYLU9l301OO1001O0000O2O00001O0000001O0000001O0000000000000000000000000000a0_O;E3M4L3M5K4L7I3M4M3K?B5K6K3K4M5K2N8H9GTS\\1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_back_of_the_high_stool_with_a_backrest/2377950_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_back_of_the_high_stool_with_a_backrest/2377950_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..429f884591a4633e8faf3aaa1f665a2ee9a3147d
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_back_of_the_high_stool_with_a_backrest/2377950_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_back_of_the_high_stool_with_a_backrest/2377950_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The back of the high stool with a backrest."
+    ],
+    "target_area_description_en": [
+      "The back of the high stool with a backrest."
+    ],
+    "target_area_description_cn": [
+      "有靠背的高脚凳的背面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          333,
+          500
+        ],
+        "counts": "Q_`22Z20e53TJ2k50PJ2Q67bIIb6>SICP7c0cH@a7a0WHBm7>lGFX89aGN_8b0fGiNZ8R1kGnNU8l0QHUOn7j0RHWOn7i0RHWOn7h0SHXOm7h0SHYOl7h0QHEd7b10L5I501010O8H2NiNlG5T8J^HZODIo7n0\\HXOo7h0RHWOc84]GLc85\\GKd89XGGi84nFJa91dF5W9GlgV2"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          333,
+          500
+        ],
+        "counts": "d[Q21\\:00000UV30kiL0O1O1O1O1N2O2M2O1N2O2M2O2N1O1N3ZGA[7`0bHKT78iHKT77hHOT74hH3S7NlH4Q7OjH5U7MgH6W7a1O1N2N2N2N2N2M3N2NfLWIT3Q7000N2M3N2O1001O0000000000001O1O000jMZIe0f6WOaIf0_6oNXIYO>e1Z6aNXI0k0]1m5`NfJ_1Z5`NiJ^1T7O1O1O1O1O1O1O001O2N1O2N1O1[OQGJP92VGKl81XGMj8OZGO[mT2"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_bottom_area_of_the_lower_left_corner_of_the_wall_directly_ahead/row_138_col_image_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_bottom_area_of_the_lower_left_corner_of_the_wall_directly_ahead/row_138_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..480a559a552775f43a0b9ab58ee35c268d4af872
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_bottom_area_of_the_lower_left_corner_of_the_wall_directly_ahead/row_138_col_image_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_bottom_area_of_the_lower_left_corner_of_the_wall_directly_ahead/row_138_col_image_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The bottom area of the lower left corner of the wall directly ahead"
+    ],
+    "target_area_description_en": [
+      "The bottom area of the lower left corner of the wall directly ahead"
+    ],
+    "target_area_description_cn": [
+      "正前方墙壁的左下角底部区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          600,
+          400
+        ],
+        "counts": "U]b23Zb0;0000000000000000000000000O10000000000000000000^ZY4"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          600,
+          400
+        ],
+        "counts": "dm^23ka0b1XOP3PMn0RO?A<D0000000000000O1000000000000000000O1000000000000000000008H;iIVCj5_=]On0ROb0^Ol0TOf0VM__OQ2Ya0[O5K7I8H7I9G5K4LQbn3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_chair_farthest_from_the_camera/000175_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_chair_farthest_from_the_camera/000175_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d0facb38f1e7b745c224c88d64d6f6e158b0342
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_chair_farthest_from_the_camera/000175_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_chair_farthest_from_the_camera/000175_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The chair farthest from the camera."
+    ],
+    "target_area_description_en": [
+      "The chair farthest from the camera."
+    ],
+    "target_area_description_cn": [
+      "离镜头最远的椅子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "k\\d3f0_9]OfFl0j8g0N02N1O2O100000001O00000000000000000001O1O6K1N02K7]NoFU1iR]1"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "[l]37Y:5M3jMFlI?Q62fH_OAQ1f7e1XOh0N2O1J6M3N2N2O1N2O1O1O100O100O100O10000000000000000001O00001O001O1O1O1]NgIhNZ62nJKS5I\\K3f4FbK7a4\\OlKa0X7L3Mfd\\1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_chair_farthest_from_the_camera/000443_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_chair_farthest_from_the_camera/000443_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca808488e66308e39ad8d3a4e24cabfe772335ab
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_chair_farthest_from_the_camera/000443_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_chair_farthest_from_the_camera/000443_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The chair farthest from the camera."
+    ],
+    "target_area_description_en": [
+      "The chair farthest from the camera."
+    ],
+    "target_area_description_cn": [
+      "离镜头最远的椅子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "iSl1;W:6J6L3L4M2N2N2N2N2N101N2N2O1N1O2N2N1O2N2N1O2N101N101N1O2ZHTNa6l1ZI[Nc6f1WIbNg6_1TIfNk6[1QIiNm6`201O1N101O0O2O001O001O0O1000001O00001O00000O2O000000000000000000001O000000000000000000000000000000O100000000000000O101O00000O100O100O100O1O2O0O1O2N1O2O0O1O2N1O2N1oNhHdNY7[1mH_NU7`1nH]NR7b1SIYNo6f1SIVNo6i1VIRNl6m1n001N2N101N2N2O0O3M2O1M4M2N3M2M5K5L6H6G^ho1"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "[bR2l0d96M2N2N2N2E;K5I7J6M3O1O1N2001O001O001O1O001O00001O0000001O000000001O000000000000001O0000000000000000001O0000000000O100000000000000O1000WOhGUOX8k0lGQOT8a0bGUO0N21>5n7;YQ`2"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_chair_farthest_from_the_camera/000806_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_chair_farthest_from_the_camera/000806_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d44b0fb7b9baf1c98bb84ffeff3c6451704f2c8
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_chair_farthest_from_the_camera/000806_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_chair_farthest_from_the_camera/000806_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The chair farthest from the camera."
+    ],
+    "target_area_description_en": [
+      "The chair farthest from the camera."
+    ],
+    "target_area_description_cn": [
+      "离镜头最远的椅子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "j^]1?T:6K3N3J301O000O1001ON200000000000O10000000001O1N3N1N3M2L<@^Qc3"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "XYX14Y:8K5L5J5I7C=\\Od0GoMhGW2P8QNPHo1l7UNTHk1i7WNWHj1\\7cNdH]1U7jNkHV1Q7mNoHT1h6kMXIS10R1W6\\NiIb00R1X6\\NhIa00S1Y6[NgIa00U1Z6YNfIb00U1Z6ZNfI`00V1Z6ZNfI`00V1[6YNeI`00X1[6YNeI>0Y1[6YNeI>0Y1[6YNeI>0Y1[6l10^LeI;0\\1[6YNeI;0\\1[6YNeI;0\\1[6ZNeIh2Z6YMfI70_1Z6ZNfI70_1Z6ZNfI70_1Z6[NfIe2Z6[MfI40b1Z6ZNfI40b1Z6[NfI20c1Z6[NfI20c1Z6YOfIg0Y6]NgIO0d1Y6]NgIN0f1X6YOhIg0X6^NhIK0k0R7\\OnHI0d0[7AeHJ0>\\Xc3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_drawer_of_the_bedside_table/1062_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_drawer_of_the_bedside_table/1062_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f3390929d8ff5596fb9e3da1cf9dadd0cea3e88
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_drawer_of_the_bedside_table/1062_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_drawer_of_the_bedside_table/1062_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The drawer of the bedside table"
+    ],
+    "target_area_description_en": [
+      "The drawer of the bedside table"
+    ],
+    "target_area_description_cn": [
+      "床头柜的抽屉"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          800,
+          717
+        ],
+        "counts": "_ml=9fh03M2N2N101N101O0000001O0001O0000000000000000000000O01000000000000000000000O10O10000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000001O00001N101N2N3L4Lakn0"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          800,
+          717
+        ],
+        "counts": "lgQ63kh02M3N2O2O0O1O1O1O100O1O1O1O1O1O100O1O1O1O100O1O1O100O1O1O100O100O100O10000O10000O100O100000000O10000O10000O100O10000O100O10000O100O100O100O1O1O1O100O100O100O1O100O1O1O100O1O1O100O100O100O10000O1O100O100O1O1000000000000O10000O10000O10000O100O1O100O1O1O100O100O100O1O1O100O1O100O1O1O100O1O100O1O10000O1O100O1O100O100O100O10000O100O100O100O1O100O1O1O1O100O100O1O100O1O1O1O1O100O100O1O1O100O100O100O1O100O1O1O1O1O1O1O1O100O1O1O1N2O1O1O1O1O1O1O1N2O1N2O1N2N2O1N2O1N2N2N2N2N2N2O1O1N2O1O1O1O1O1O1O1N2O1O1O1O1O1O1O1O1O1O1N2O1O1O1N2O1O1O1N2O1N2O1N2O1N2N2N2O1O1N2O100O1O1N2O1O1O1O1O1O002NF9O2O1O0M4N2O001000O010O1O10O0100O10O0100O001O1O1O001O0O2O001N1O2N12O1N2O1N2O1N2O00001N2O001O1O1O1N2N2O1N2O2M2O1N2N2N2N2M3M4L3M4L3O1N3M2N3M2N3L3N2M2O2N2N101N2N1O2M3M2O2M2O2N2N2N101N2N2M3N2N2M2N3F:K5L4L5@?L4K5VOZYOWOif0e0^YOUOef0i0j0N1G?G7HWVf1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_front_of_the_cabinet/000337_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_front_of_the_cabinet/000337_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7ab16d93a5c9906c23f47258979c9c9d90633e9
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_front_of_the_cabinet/000337_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_front_of_the_cabinet/000337_image.jpg"
+  ],
+  "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": [
+      "柜子正面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          343,
+          512
+        ],
+        "counts": "XaY4j1l83N001O0O1nKfN[K]O1OO40O87MI91DN0O2g2`4Z3O000O2O00001O0O101O00eMeKZN[4f1fKYNY4h1hKWNX4i1iKWNV4i1lKUNT4k1lKUNT4k1mKUNQ4l1oKTNQ4UOfK^19]OQ4l1PLTNo3l1QLTNo3UOhK]19^Oo3ROhKlN0d29^On3UOjK]18^On3m1RLTNm3l1RLUNn3k1QLVNo3j1QLVNn3l1oKVNQ4j1nKXNQ4h1nKYNR4h1kKZNT4V4O00001N10001O000O2O000000001N1000XKTLlN0j2l3YNVLlNNZO7S3d3hNULjN0UO067S3c3FVLQM069Q3a3JVLUM:Q3_3JWLTM;R3^3GZLWM8S3]3E\\LXM7S3\\3E^LXM6S3\\3F]LYM5Q3^3PNZL;3eN47HY2f36^Lm0b3SO^Lm0a3SO`Lm0`3RO_LQ1`3QO^Lo0b3RN\\LmN2Q3b3RN\\LmN2R3`3SN^LjN2S3`3SN_LnM0k4a3WMbLgNMV3a3SNbLgNMV3a3SNcLfNKX3b3ZM^L\\O5ZOKf00Z3a3[M_L[O8NI\\3`3RNaLoM2e0LX3c3\\M]LYO;OG^ONk3S4XLnKN30M0`0730Id05VO@3ii5"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          343,
+          512
+        ],
+        "counts": "ZSk26_:2N2N2O1O1O1O100O100O1N200O1O100O100O10000O10000000000O10000O10000000000O10000O10000O100O1000000O10000O10000O100O100O100O10000O100O100O10000O100000000O1000000O1000000O10000000000000000O10000000000O100000000O10000O100O100O100O100000000O1000000O100O100O1O1O100O1O100O1O1O100O1O100O10000O100000000O1000O100O1O1O1O1O1O1O1N2M3N20001N10000O100O101O0O10001N101N101O1N101N1O2O1N1O2O1N2N2M4M2N4K5IlS?"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_front_of_the_cabinet/001302_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_front_of_the_cabinet/001302_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..133ac0bd689c75ca2ca12a95e4659b42bab4f862
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_front_of_the_cabinet/001302_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_front_of_the_cabinet/001302_image.jpg"
+  ],
+  "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": [
+      "柜子正面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "ncU16\\:8eEEQ:a0PFH`9V1@:F8H8Ha0_O6J8H=C;E3MeLdI^2\\6aMgI^2X6bMhI^2Y6bMdI`2\\6l00O100O1O100O010000000O100aL_Ik2a6UM_IB2Q3`6k01O1aM\\Il0e6RO^Ik0d6TOZIn0g6ROXIn0h6_1O1M3O010000000000O10000000000O2O0000000O1000000000000000000O111No0QOi0WOa0_O`0_O\\\\[3"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "[\\`1:W:7I6L3L4M4L3M2O2M3M3N1N2O2N2M3N1O2N4L3M4L3M2N3M2O1N1O1N3N2N2N2N1O2N3M2N2O0O1O2O0O10O001O1O1O1O1O1O2N3M3M3M1O2N2N1O2N2N2N1O2N2N3M3M2N1O2N1O2N1O1O1O2N1O2N1O2N2N2N1O1O1O2N1O1O2N1O1O1O2N1O2N1O2N1O2N1O1O2N2N2N3M3MZef2"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_front_of_the_dark-colored_hammer/1145_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_front_of_the_dark-colored_hammer/1145_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..b779561533e4cfc406d9e7e0f579da372dd8860d
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_front_of_the_dark-colored_hammer/1145_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_front_of_the_dark-colored_hammer/1145_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The front of the dark-colored hammer"
+    ],
+    "target_area_description_en": [
+      "The front of the dark-colored hammer"
+    ],
+    "target_area_description_cn": [
+      "深色锤子的正面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          525,
+          700
+        ],
+        "counts": "Uhb75X`01O1O000O2O2V@;h>g0N00O1mNdAL_ONo>5R1O2O000Ohm[3"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          525,
+          700
+        ],
+        "counts": "l[l41\\`0000O100O1O100O1O100O1O1O100O100O100O1O100O1O1O1O100O1O1O100O1O100O1O100O1O1O1O1O100O1O100O1O100O1O100O1O1O1O1O1O1O100O1O1O1O1O100O1O1O1O1O1O100O1O1O1O1O1O1O1O100O1O1O1O1O1O1O100OBQB`Nn=^1YB^Nf=a1c0O100O10000001O0000O10001O0O10000000O10000000000000000O10000O11N1000000001OO1O1O100O1O10O010O0100N2O2N2N2N2N2M3N2N2M3M3M3N2N2M3M3O1N2N]ch3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_left_side_of_the_radiator/41048113_8786.177_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_left_side_of_the_radiator/41048113_8786.177_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..098e2458ca4786e099d58bc12f5fd4bb6091b119
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_left_side_of_the_radiator/41048113_8786.177_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_left_side_of_the_radiator/41048113_8786.177_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The left side of the radiator"
+    ],
+    "target_area_description_en": [
+      "The left side of the radiator"
+    ],
+    "target_area_description_cn": [
+      "暖气片的左侧"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "\\RR84j>3M3M3M3N2N2M3N2M2N3M3N1N3N2M2O2M3M2O2M2N3N2N2N1O2N2M3N1N3N2M2O2M3O1N1O2O1N101O1O001O100O10O0100O010O1O100O010O10O0100O10O0100O010O100O10O0100O1O1000O0100O100O010O100O001000O1O01bH"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "ooV41n>10O01O1O100O1O1O100O1O1O100O1O1O2N1O1O100O1O1O1O1O1O100O1O1O1O1O001O1O1O2N1O1N2O1O1N2O1N2O1O1N2O1O1O1O001O1O1O1O1O1O100O1O1O1O1O100O1O100O1O1O100O1O100O1O1O2O0O1O1O1O1O1O100O1O1O1O1O100O1O1O001O1O100O1O1O100O1O1O100O1O101N1O010O1O2N00101N1O1O100O1O100O1O10O01O100O100O1O100O100O100O100O100O101NL5L3O1O2O000O2O000O101O0O101O0O101O000O2O00001N101O0O101O001O0O101N101O00001O01O000010O0010O0001O01O01O01O000001O000000000010O0000001O0000001O01O00001O0000001O0000010O1O01O01O010O001O001O01O01O01O001O01O1O1O1N101N2O2N1O2M2O2N1O2N1O2N1O2N2N2N2N2N1O2N101N2N2N1O3L2O2N2M3M2O2N2M2O2N2N2N1N3M3M2N3M3MW]j0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_lower_right_corner_of_the_wall_with_a_window_directly_ahead/row_1894_col_image_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_lower_right_corner_of_the_wall_with_a_window_directly_ahead/row_1894_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..8225bc2d5040ea8c985f24648728edc3b04fa217
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_lower_right_corner_of_the_wall_with_a_window_directly_ahead/row_1894_col_image_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_lower_right_corner_of_the_wall_with_a_window_directly_ahead/row_1894_col_image_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The lower right corner of the wall with a window directly ahead"
+    ],
+    "target_area_description_en": [
+      "The lower right corner of the wall with a window directly ahead"
+    ],
+    "target_area_description_cn": [
+      "正前方带窗户墙面的右下角"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          576,
+          432
+        ],
+        "counts": "]^]14ka03M1O2O0000000000000000000000000O10O100000000000001N2O1MfWe5"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          576,
+          432
+        ],
+        "counts": "kgZ15da07G9L4K5K5G9J6F:E;QOo0I70000000000000000000000000000O11O0000006J5K4L4L3M3M2N3M2N1O2N2N1O2N1O2N2N2N2N3M2N2N1O2N2N3M2N2N2N1O2N1O2N1N2O2N1O100O2N1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O2N1O1O1O1O1OQnc4"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_right_side_of_the_chair_that_on_the_left/40958749_1109.665_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_right_side_of_the_chair_that_on_the_left/40958749_1109.665_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea5c1b8754b423f0b45b6355eff74d0736420df9
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_right_side_of_the_chair_that_on_the_left/40958749_1109.665_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_right_side_of_the_chair_that_on_the_left/40958749_1109.665_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The right side of the chair that on the left"
+    ],
+    "target_area_description_en": [
+      "The right side of the chair that on the left"
+    ],
+    "target_area_description_cn": [
+      "左边椅子的右侧"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "adW45k>4K6K4L5J5L4K7J5K6I5L3L;F6J7H6K6I7JQ1oN0O2OO001N2K4L5H8M2101O0O2O0O2O1N2O0O2O1N2O1O1N101N2O1O1N2O1N101O1N2O0O2O1N101N2O1O1N101N2O1O0O2O1O1N101O1N2O1O0O2O1O1O1O1O001O100000014M5PGbJQ8V62N2M2N2M3L5K4L5E9H9G8J6M3N2N2N2N2N2N2N2N2N1O2N2N2N1O2N2M3N2N1O2N1N3N1O2N1O2N1N3N2N1O1O2N1O1N3O0N2O1O2NjCaMm;_2oCfMP<X2nCmMQ<a20O2K4O1K6M2H`ClMd<S26L3N2O1O2M2N3N1N2O1O2M2M3M3M4M2N3M2N3L3N3M2O3KWWc2"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "nTR31n>0P?0f`Y1>joeN3XKh40000O10000O10000O11O001O1O1O1O1O1O1O1O1O002N1O001O2N1O001O2N1O1O1O2N1O1O1O1O2N1O1O1O1O1O1O1O1O001O1O1O001O001O1O001O1O001O1O001O1O2N1O1O1O3M2N1O001O001\\Od0K4ZOjC^N[<W1T1]N^Vg3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_side_of_the_big_sofa/41048264_5077.438_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_side_of_the_big_sofa/41048264_5077.438_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..787c657abb830d6014fb9f95add5e2b3cccb6e0a
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_side_of_the_big_sofa/41048264_5077.438_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_side_of_the_big_sofa/41048264_5077.438_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The side of the big sofa."
+    ],
+    "target_area_description_en": [
+      "The side of the big sofa."
+    ],
+    "target_area_description_cn": [
+      "大沙发的侧面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "oV]25i>6K>`NAnBO9f0d<U1K5L3M2N2O1N2O1N2O001N2O001O0O2O0O2N10001N2O001O0O2N2N1O2N101N101O0O2O001E:N3M3N1O2N2O1N101N101O0O2O001O1O10O01O01OO2^Oa0J6N2O100O100O100000000O10O10000O100O100O1N2O1N3M2O2O0O2O1O1N2O00000O10O10O10O1000O100O0100000O100000O0100000O01000000O1000000O10001O000O1000000O1000001N1000000O101O000O10001O001YLjEa2X:[MYFW2j9bMUGc1h;\\O:E4M2M5K<CYYc4"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "ZYf4=Y=\\1iBYN2230Y<e2G:F3M1O5K>B00O10000O10000O10O100000O01000000O1000000O101O0O0100O1O010O100O10O10O10O10O10O1000O10000000000O10O1000000000O1000O10000000O0100000000O01000O10000O0100000000O0100000O1000O10O1000O1000O0100000O1000O1000O100000000O01000000O01000O1000O01000000O01000O100O01000O10O10000000O010000000O010000000O01000000O100000O10O100000O1000O10O100000000O10000000O01000000000O10O1000000000O010000000000O10O10000000000O100000000O10O100000O1000000O01000O1000000O10O10O1000000O0100000O1000O10O10000000O1000O1000O100000O10O1000O1000O010000000O10O1000O100000000O100000000O01000000O0100000O10O100000O1000O10O100000O10O100000O0100000000O10000O10O100000OkI"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_side_of_the_chair_closest_to_the_door/41126941_13421.445_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_side_of_the_chair_closest_to_the_door/41126941_13421.445_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..50b72931323c3b45194ec178fe2cc02083210fe4
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_side_of_the_chair_closest_to_the_door/41126941_13421.445_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_side_of_the_chair_closest_to_the_door/41126941_13421.445_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The side of the chair closest to the door"
+    ],
+    "target_area_description_en": [
+      "The side of the chair closest to the door"
+    ],
+    "target_area_description_cn": [
+      "离门最近的椅子的侧面"
+    ],
+    "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_table_farthest_from_the_camera/000182_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_table_farthest_from_the_camera/000182_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0d37ba7ef320ee77d9ea4c29ce0cd87b9c2bbc8
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_table_farthest_from_the_camera/000182_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_table_farthest_from_the_camera/000182_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The table farthest from the camera."
+    ],
+    "target_area_description_en": [
+      "The table farthest from the camera."
+    ],
+    "target_area_description_cn": [
+      "离镜头最远的桌子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "^l=2b:3M3M3M3M2N3M4M2M4M2M4L3N2M4M2N11TOjF6W9GlF8S9HRG3n8LVG2j8MZGOf81\\GMd83_GK`84cGJ\\87hGDY8<P10WGEW7;iHGU7:kHKn67TIIi68ZIHb69`IE`6<l13L2O3M3M2N4L[OdF5W9LlF4Q9LRG2l8NXG2e8N_G0_80cGO]80gGLY84jGIV86oGFQ8:U100O10000O10O10O1000000O10000000O01000O010O1N20O10000O10000O10O100000O10O10000O01000000O10O10O1000O0100000O010000O0100H80O10003M4K10000O100000O0100000O10O1000O1000O01000O10O10O0100000O0100O103L5L4L4K5M2N2103K3O1N3N001M3L5J5KidV3"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "lab16\\:7J6J8I4L4L4L3M3N2M3N3L3N3M3M2M3N1O4L3M000O10000O100000000000000001O00001O001O1O1O1O1O1O2N2N3M3M1O2N1O2N1O1O1O1O2N1O1O2N3M4L9G2N2N2N2N3L`mP3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_table_farthest_from_the_camera/000253_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_table_farthest_from_the_camera/000253_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..206e8436e2d300f21a320f451b0573006b0820a6
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_table_farthest_from_the_camera/000253_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_table_farthest_from_the_camera/000253_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The table farthest from the camera."
+    ],
+    "target_area_description_en": [
+      "The table farthest from the camera."
+    ],
+    "target_area_description_cn": [
+      "离镜头最远的桌子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "ceh364LMOQ::QFJm98710O1N1010000001O00001O001O001O0000001O0000001O0000001ODoE4Q:LoE59MT9NdF521\\9IbF7N2a9FcFd0_9\\OaFb0b9]O^F?f9AZF;j9EWF8k9HUF8k9HUF8k9HVF7j9IVF8i9HWF8i9HWF8i9HWF9h9GXF9h9GXF9g9HYF9f9GZF9f9GZF:e9F[F:e9GZF9f9GZF:f9EZF;_1Ba63PH;Z1He6NPH;V1Kj6JPH;S1Nm6GoG<P11R7BnG>k02Y7AkG=h02a7AgG>c02i7@dG>>4R83kGNW83eGM^83_GNc8o04K4M3M3M4L3M3M3N3M2O10001[OUF>k9@XF?h9@YF`0g9@ZF?f9@[F`0m9O2O0000001O0000000O2O0000000000PGFe7:XHJg76VHNi72TH0m70oG3R8LkG6W8JfG6]8J_G9b8G[G8h8IUG8m8HPG8S9HjF8Y9`02N1O2L4N2M3M3N2M3N3L3N3Lj`8"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "Pl]3:W:7J5K5L3L3N2N2N2N2N2N2L4M3L4M3N2O1N2N2N2M3I7K5N2N2N2O1O1N2O1N2O1N2O1O1O1O1O1O1N2O1O1O1O1N2O1O1N2O1N2O1N100OO1N1O210ON3O0000000010O001O1N2O1N2N3M2O2O0O2O1N2N101N2N2N2O2M2N2O1O2M2O2M2N3M3L4M3L4L5K5H`0A6B?K7GR^j0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/The_table_leg_closest_to_the_camera/000407_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/The_table_leg_closest_to_the_camera/000407_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..db89579e01f76cab1ba293e68f2aeaf7dbf5744f
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/The_table_leg_closest_to_the_camera/000407_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/The_table_leg_closest_to_the_camera/000407_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The table leg closest to the camera."
+    ],
+    "target_area_description_en": [
+      "The table leg closest to the camera."
+    ],
+    "target_area_description_cn": [
+      "距离镜头最近的桌腿"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          384,
+          512
+        ],
+        "counts": "gbT41P<4K2N2N1O1gGMc44VK5g4LVK8h4JUK<f4EWK>h4CUK`0i4BPJNmNe0S7_OiIg1m5gMiHh0W1d1k5gNcITO]OW2P7fN_Ik1a6WNQIkN1o2n6i11M2N2N2O1O1O2ROkHmLW7P3oHdLZ7Y3i0L3O1M3M4L3[OTGSNo8i1f0_O[FdNh9V1d0K5O1N2O1O1N2O0N2M4L4N1O2O1N101KfDC[;;6N3M20O0M21N300O2O1NliS1"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          384,
+          512
+        ],
+        "counts": "\\cm3d0Y;3N2O1N2O1O100O1O10000O1000000O100001O000000001O001O001O000000O100000000000000001O00001O001O1O1O1O1O1O2N2NcT^1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/basket/41159382_2496.037_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/basket/41159382_2496.037_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..28548e7f6707bc5289f3f4e11a5415e5a3d2145e
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/basket/41159382_2496.037_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/basket/41159382_2496.037_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "basket"
+    ],
+    "target_area_description_en": [
+      "basket"
+    ],
+    "target_area_description_cn": [
+      "篮子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "dag1:c>6L3M2NBoA0o=1SBNl=1WBNg=2ZBOd=1^BNb=1`BO_=0bB0]=0eB0Z=0fB0Z=0gB0W=0kBOU=1kBOU=1lBNT=2lBNS=3^BLG160e=3YB62Hd=c0]B]Ob=d0^B\\O70d<=PCE5N34e<:VCB3016b<:[C@21N6e<:[C^O32K8\\<b0TDJj;6VDKj;6QDOo;1jC5W<Z10O101N101N2O1N101O1N2N101N3N2M4L4M2M3M3N3K4M4L4K:G4K8DSXi6"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "^`T41m>200O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O100O1O1O100O1O1O1O1O1N2O1O1O100O100O1N2O1O1O1O100O1O1O1O1N200O1O1O1O1O1O1O1O1O1O1O100N2O1O1O1O100O1O1O1O1O1O1O1O1O1O1O1O1O100O1O100O1O1O1O1O100O1O1O1O1O100O1O1O1N2O100000000000000000000000000000000O2O00O100O01000O10O1000O01000000O010000000000000O10000000000000000O1000000O100000000O100000000000O0100000O10O1000O010000O010O100000O100000000O10000000000O10000000O0100000O01000O10O01000O0100O1O10O0100O1O1O1O1O010O1N2O0100000O10O100000000O01000000000O10000O10O1000O1000O10O1000O1000O10O10000O0100000O100000000O01000000O01000O10O100000O0100O10000O010O10000O10O1000O100000O0100000O10O1000O10O100000O010000O10O1000O1000O10O100000O010000000O010oNcD_N];_1iD]NW;a1mD]NR;b1QE\\NP;c1RE\\Nn:c1TE\\Nl:d1UE[Nj:e1XEZNh:f1YEYNg:f1ZEZNf:f1[EYNe:g1[EYNd:g1^EWNc:i1^EVNb:j1^EVNb:i1`EVN`:j1`EWN_:a1dDXNn06^:a1hDUNl00QO4Z;g1kDTNP14c4"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/bed_frame/1068_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/bed_frame/1068_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd6d7581b8f386ece8bc1c163d18206c5417dd03
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/bed_frame/1068_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/bed_frame/1068_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bed frame"
+    ],
+    "target_area_description_en": [
+      "bed frame"
+    ],
+    "target_area_description_cn": [
+      "床架"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "\\SS41n>1O2N101M2O1O2N1O2N1N2O2N1O1O2N1O2N100010O0001O01O010O010O0010O00010O0010O01O000010O00010O00010O10O00010O010O00010O000010O10O000010O0010O00010O010O00010O0010O0001O01O01O00010O0010O00100O00010O010O0001O01O0N3N1O1O2N1O2N1O2N1O1O2N1O1O2N1O1O2N1OSf_3"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "mbh22l>2N2O1N2N2M4L3M3L4K5M3N2M3N2M3N2N2M3N2N2N2N2N2O1N2O1N2001O001O001O1O001O1O001O1O001O001O001O001O1O00001O001O1O00001O000000000000O10000O10000O100O100dM\\N[Ge1d8]N[Gc1c8_N\\Gb1c8_N]Ga1b8aN]G_1a8cN^G^1a8cN_G]1`8eN^G\\1`8fN`GZ1_8hN_GY1_8iNaGW1^8jNaGW1^8kNaGU1^8lNaGU1_8kNaGU1`8jN_GW1a8jN^GV1c8iN\\GX1d8hN\\GX1d8iN[GW1f8iNXGX1h8hNXGX1h8iNVGX1k8gNTGZ1l8gNSGY1n8fNQG[1o8fNPGZ1P9fNoF[1R9eNmF[1S9eNmF[1S9fNkF[1V9eNiF[1W9eNhF\\1Y9dNfF\\1Z9dNeF]1[9dNdF\\1]9cNbF^1^9bNbF^1^9cN`F^1a9aN_F_1a9bN]F_1d9`N\\F`1d9`N[Fa1f9_NYFa1g9_NXFb1i9]NWFc1i9^NUFc1k9]NUFc1k9^NSFc1n9\\NRFd1n9\\NQFe1o9\\NPFd1Q:[NnEf1R:[NmEe1S:[NlEf1U:ZNjEf1V:ZNiEg1X:XNhEh1X:YNfEh1Z:XNeEi1\\:WNcEi1]:WNbEj1_:UNaEk1_:VN_Ek1b:TN^El1b:UN\\El1d:TN[Em1f:SNYEm1g:SNXEn1h:SNWEm1j:RNUEo1k:RNTEn1l:RNSEo1n:QNQEo1o:QNPEP2P;QNnDP2S;n0001O00001O001O0E;K5L5M2M3N3M2N3M2O1N3N1N3N1O2N1O1N3N1O1O2N1O1O2M2O1O2N1O2N1O2N1O1O2N1O1O2N1O1O2N1O1O2N1O1O2N1O2N1O2N1O1O2N1O1O2N1O1O2N1O1O2N101N1OPQZ3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/beige_double_electrical_outlet_to_the_left_of_the_parrot_artwork_on_the_right_side_of_the_frame/1182_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/beige_double_electrical_outlet_to_the_left_of_the_parrot_artwork_on_the_right_side_of_the_frame/1182_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..e71c59b70d0143e704c2185910b742d5d0da8c24
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/beige_double_electrical_outlet_to_the_left_of_the_parrot_artwork_on_the_right_side_of_the_frame/1182_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/beige_double_electrical_outlet_to_the_left_of_the_parrot_artwork_on_the_right_side_of_the_frame/1182_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "beige double electrical outlet to the left of the parrot artwork on the right side of the frame"
+    ],
+    "target_area_description_en": [
+      "beige double electrical outlet to the left of the parrot artwork on the right side of the frame"
+    ],
+    "target_area_description_cn": [
+      "位于画面右侧、鹦鹉装饰画左侧的米色双孔电源插座"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          443,
+          512
+        ],
+        "counts": "lRW4;^=7J2O1N1000000000000000000000000001N1O2N`Z]2"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          443,
+          512
+        ],
+        "counts": "Xco27`=4O1N2M3N2O1O1N2N2O1N2N2O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1N2O1O1O1N2O1O100O1O1O100O1O1O1O1O100O1O1O1N2O1O1O1O1O1O1O1000000000000000000O10000000000000000000J5M4N2N2N2O1N2N2N2N2N2N2N2N2O1O1O1N2N2N2N2M3K5FQYb2"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/black_vase_on_the_left_wooden_bar_counter__below_the_purple_flower_arrangement/1144_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/black_vase_on_the_left_wooden_bar_counter__below_the_purple_flower_arrangement/1144_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..0257508db2106416943633bbdc423988ba015c3f
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/black_vase_on_the_left_wooden_bar_counter__below_the_purple_flower_arrangement/1144_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/black_vase_on_the_left_wooden_bar_counter__below_the_purple_flower_arrangement/1144_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "black vase on the left wooden bar counter, below the purple flower arrangement"
+    ],
+    "target_area_description_en": [
+      "black vase on the left wooden bar counter, below the purple flower arrangement"
+    ],
+    "target_area_description_cn": [
+      "位于画面左侧木质吧台台面上、紫色花束下方的黑色花瓶"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          360,
+          480
+        ],
+        "counts": "mW^14R;5L3M3NO100O10000O2M3M5Klme3"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          360,
+          480
+        ],
+        "counts": "l:<l:0O1O100O10000O100O100O100O1O100O1O100O1O1O100O1O1O100O100O1O100O1O1O100O100O1O1O100O1O1O100O1O1O100O1O100O1O1O100O1O1O1O100O1O100O1O1O100O1O1O1O100O1O100O1O1O1O1O100OG:L3M3O2M2O1O101N100O1000001O00001O000O2N1O2N100O2N1000000O2O000000001O000O100O1O100O101O000O2O000000001N100O2O0O1M4K4001O1O100O01O001O001O001O0O1O4Lkc`3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/box/41048242_575.385_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/box/41048242_575.385_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..d62ee9fc1b609f85cd1c268eb1954ae7b31bcbe9
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/box/41048242_575.385_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/box/41048242_575.385_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "box"
+    ],
+    "target_area_description_en": [
+      "box"
+    ],
+    "target_area_description_cn": [
+      "箱子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "ddh4`0^>3N2N2N101N2O1N1O2O0O101N101N100O2N2O0O2O1N2O00001O01O010O01O00010O1O010O0010O010O010O01O010O0010O01O010O10O0100O00100O00010O01O000010O01O0000001N1O1N3N1O1O2N1O2N1O1N3N1O2N1O2N1O2M3JVWX3"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "Vmd44l>`1`N1O2N101N1O2M2WD_OR9a0lFBS9?jFDT9>jFCV9>gFCZ9?bFB^9c0[F_Of9f0QF]OP:i200001O001O001O001O001O1O001O001O0000001O1O001O001O001O001O001O001O001O001O001O001O001O1O001O001O1O001O001O0000001O0000001O00003M3M4L4L2N2N4L2N2N2N2N2N3M5K?A3M3M2N3M3M5K3M3M4L:F4L4L3M6J4L2NRmR3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/box/41127025_6810.711_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/box/41127025_6810.711_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..9097ff4fad1cd233772be3f716e48adf6e8b7716
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/box/41127025_6810.711_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/box/41127025_6810.711_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "box"
+    ],
+    "target_area_description_en": [
+      "box"
+    ],
+    "target_area_description_cn": [
+      "箱子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "iX]5<c>`0@7J=C2N1O1O1O1O001O1O001O0010O01N101O1O001O1O001O000000001O00000O2O000000000O100N200O1O10O10O10000O10O010000000O101O0O2O1O001O1O1N2O001N101O000O2O0N3O1L3O3M8I8H9G6I8I6Ij[f2"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "[k`61n>4L4M5K`0@6J4K=D6J3mBWNh<U2[CgM[<e2I3N4L2M010KRMXDm2h;UMVDk2k;5O00010O01O010O0010O01O010O00010O1O0010O01000O100O2N100O010O010O010O01O010O010O010O01O10O01O1O010O100O00100O1O100O1O100O1O010O001O00010O001O001O010O00010O010O00010O010O010O00010O010O0010O01O010O00010O0010O01O000010O01O001O00010O0010O00010O01O010O000010O_J\\LGe39[LFe3:\\LEd3k51O0010O01O000010O0001O010O000010O01O00010O000010O01O00010O00001O00010O001O000010O0001O00001iK"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/floor_lamp/40809741_11016.046_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/floor_lamp/40809741_11016.046_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..25930619f3ead326b980c7ca833445fe5c90b245
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/floor_lamp/40809741_11016.046_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/floor_lamp/40809741_11016.046_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "floor lamp"
+    ],
+    "target_area_description_en": [
+      "floor lamp"
+    ],
+    "target_area_description_cn": [
+      "落地灯"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "Rig14j>7K2N2N1O2N1O1O1O1O1O1O1O1O1O1O1O1O001O001O1O001O001O00001O001O0010O01N2O0010O00O2O00001O00000000000000000000000001O0001O0O100000001O0000001O000000001O0000001O0001O0000010O0000O100O100000001OO10000O100O1O1O1O1O1N2O103L3M3N2M4L4L2N5J9EYf;0kYD1O001O0000001O001O0000001O001O01O010O000010O000010O00010O0001O01O010O00010O00010O00010O00010O0010O000010O01O01O00010O01O00010O01O010O01O01O00010O00010O0010O00010O0010O01O010O9G4L1N3L2O1O2N1N200N110O01O1N2O1N3M3L4K6JaRn3"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "23m>OO11O100OjhQ52ZhmJNf>6ZALa>;`ACZ>f0fAZOO<d=P1LN37\\BbNX=P2hBVN`<n1bCiM06W<c2hCXMP<Q3K:E8H8lDaMX9V4M3M3Mf0YO4M3N1O0000<D<D4K6K5J`0QIbG^6f8I6K5J917B4aJ[FZ5g9O110O203K6MUFQK\\9_50[OfFZKFL_9NcFl5R9[J^Gi4b8TKbGk4d0YKY6HUIo48TLj6P4oHVLP7d5_H]IV7e6mH[In6_7<aH]Hg6l73M6I3M3M<D7I=C7I4L4L2N8H4L3M3M7I4L3M3M3M4L7I6J4Le0[O=C4L3M4L9G1O3M6J5K6J2N6J4L7I2N6Jj0VOS_j2"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/green_chair/41126783_4704.139_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/green_chair/41126783_4704.139_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e70aecef6769e1ca3e421aa028bdd160e52216d
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/green_chair/41126783_4704.139_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/green_chair/41126783_4704.139_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "green chair"
+    ],
+    "target_area_description_en": [
+      "green chair"
+    ],
+    "target_area_description_cn": [
+      "绿色椅子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "QR]3;c>8I5K7I6K5K4K6K5K6J6I7J5K4K4M2N1N2O000O10O10000O01000O10O10O100O10O10O100O100O010O10O10O10O10O01000O010O10O10O010O10O10O10O10O010O10O10O01000O010O10O10O10O01000O010O10O01000O0100O10O10O10O10O100O010O100O100O010O10000O10000O01000O10000O100O1O2O0O100O1O100O2O0O100O100O101O0O10000O1000001N1000001O0010O0010O01O100O100O2N101N2N2N101N2N3M2N10O0OVMRDd2m;]MWD_2i;aMYD]2f;dM]DZ2a;eMcDY2[;hMhDV2W;jMlDT2S;mMPEP2o:PNTEm1k:SN\\Eh1c:XNdEb1Z:_NjE^1V:`NoE\\1P:dNRF\\1l9dNVF0]NR1[;oN\\FM[NP1Y;SO^FM\\Nk0V;WOaFN\\Nf0T;ZOcF0\\Na0R;^OdF1^N9Q;EbF3f<010OO020O00000O10O102O0N12M3Lhkm2"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "`jY68h>6I4M4K8I9F4M3L7I8H5L3L5K6K4K5K5L0O010O1O10O0100O00010O00100O010O1O010O010O0010O01O10O0100O0010O0100O010O0010O0100O10O01O10O0100O1O10O010O01O010O10O0100O0010O0100O010O10O01O100O00100O10O000010O00010O00010O0010O01O010O10O01O10O01O010O00100O010O010O00100O10O010O010O01O010O010O010O00010O10O010O01O010O00100O00100O00100O0010O01O10O0100O0010O010O01O100O1O100O10O0010O01O010O10O010O10O0100O01000O10O10O100O10O10O10000O1000bLSEi2U6"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/he_area_where_the_light_brown_carpet_meets_the_white_baseboard_at_the_hallway_entrance_on_the_right_side_of_the_frame/row_111_col_image_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/he_area_where_the_light_brown_carpet_meets_the_white_baseboard_at_the_hallway_entrance_on_the_right_side_of_the_frame/row_111_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..537c55e0e9375d5d424026082f13d0e46f1fc772
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/he_area_where_the_light_brown_carpet_meets_the_white_baseboard_at_the_hallway_entrance_on_the_right_side_of_the_frame/row_111_col_image_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/he_area_where_the_light_brown_carpet_meets_the_white_baseboard_at_the_hallway_entrance_on_the_right_side_of_the_frame/row_111_col_image_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "he area where the light brown carpet meets the white baseboard at the hallway entrance on the right side of the frame."
+    ],
+    "target_area_description_en": [
+      "he area where the light brown carpet meets the white baseboard at the hallway entrance on the right side of the frame."
+    ],
+    "target_area_description_cn": [
+      "位于画面右侧、走廊入口处的浅棕色地毯与白色踢脚线相接的区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          768,
+          1024
+        ],
+        "counts": "bmob0:gg0O0010O0100O0010O001O00001O01O010O010O0010O01O01O00010O01O01O00001O001O001O1O001O000000N3M2LUjl3"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          768,
+          1024
+        ],
+        "counts": "ngn<1ng01O1O001O2N2N1N2N2N2O1O1O0O101O1O1O1O1O1O1O1N2O1O1O1O1O1N2O1N2N2N2N3N100J6N2O1N2N2J6N3N001O1O010O10000O10000O1N3N2O0N101O1O1O2N1O100O1O100N2N2N2O1N2O0N3O1N2O1O0O2O1N2O1O1N2O1O1O1N2N2O1O2N001O1O2L3N2O2N10O01O1O2N1L4N2N101N2O2N1O1N2O100O1O1000000N2O1O0O2O2M2N101O1N101O1O1O1O1O1O1O100O100O1O1O100O2N1O2M2O1O1N2O1N2O1O1O1O1O1O1O1O1O1N2O1O1O1N2O1O1O1N2O1N2O1O1N2N2M1OA?O1001O1100O1000001O000O01000O0100O100O010O001O1OO200O010O1O001O0O200N110N11O10O000O1O1O2F9N3M201N1K41OO2N4M3K5N101O1M3N2O1O100M3L4DP]OeKSc0Y4Q]OcKQc0[4;N3M2N2N2O2M2O1N2N2N3M2N2N2N2M4L3M3N2N2M4L3M3N2M3M3M3N3M2M3M3M4M2N2M3L4M4M2N2N2N2O2M2N2N2N3M2N2N2M3N2M4M2N2N2N2O1Ngaj3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/heater/41159420_7660.904_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/heater/41159420_7660.904_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0f58847cd55ce22d133d02d940afc306c66eb24
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/heater/41159420_7660.904_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/heater/41159420_7660.904_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "heater"
+    ],
+    "target_area_description_en": [
+      "heater"
+    ],
+    "target_area_description_cn": [
+      "取暖器"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "j][3212f>6N2N2N3N1N1O2O1N2O1N2N101N2N1O1O2O0O2N1O2O0O2N1O2O1N101N2N2O0O2O0O2N1O1O2O2M2O0O100O00010OK500010O01O010O100O2O1N101O1N101N2O1N2O1N2O1N2O1O1N101N2O1O1O1O10000O010O1O1O1N101O1N2N1N4Gc^e4"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "Rhm31o>1O0O2O0O2O0O2O1N101N2O0O2O1N101N2O1N1O2O1N2O0O2N2O1N101N2O1O0O2OSOXBc0g=<O0OQO[Bf0d=<N2O1N101N2O0O2O1N101N2N1O2O1N1O2N2N1O2N101N101N101N101N1O2O0O2N1O2O1N1O2N1O20O01000O010O100O0100O010O010O010O010O10O010O010O01O10O010O01O010O010O001O010O001O010O001O01O010O01O010O001O010O00001O001O00010O001O00001O010O000010O01O000010O01O01O01O0010O01O00001O0010O01O010O00010O001O010O0010O010O00010O01O0010O01O00010O001O0010O01O01O01O010O1O010O001O0010O01O001O0010O01O0010O010O01O010O010O1O0010O01O010O010O1O0010O01O010O10O01O010O010O1O010O001O010O10O00010O0010O01O001O00001O0O1O1O2O0O101O001O00001O0010O01O00001O00001O0010O0001O00010O0001O010O01O001O001N10001N10001N10001O001O001O001O001O001O0010O01O00001O00001O0001O01O000001O01O0001O0001O01O00000000001O0000000000000ZJ"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/plate/41048223_7177.734_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/plate/41048223_7177.734_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..15f267f1f14517279f30f2a7e90095bb55a9a334
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/plate/41048223_7177.734_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/plate/41048223_7177.734_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "plate"
+    ],
+    "target_area_description_en": [
+      "plate"
+    ],
+    "target_area_description_cn": [
+      "盘子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "Y\\Q2g0Q>?F9G8I6J5L5K3M4M2N2M3O2M2N1O2OO10O10O010O001O1O1N101N2N2N2M3N3L3N2N2N3M2M4M2M4L4K4N5J4M9Bc0]Okad6"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "fXS51o>5L3L3M3M3M2N2N3M3M4L6J4L3M4L4L5K5K3M1O2N1O2N3M2N2N001O1O001O100O1O1O1O2N1O2N2N1O3M2N4M2N4L2NO1O010O1O001O01O01O000010O0000001O000000001N10000O2O0O100O100O100O100O10000001O00001O0000001O00010O00001O0000001O01O01O0000001O01O00000001O01O000000010O0000000000010O00000000000001O000001O00001O01O000001O0000001O00001O00001O00001O0010O01O00001O001O001O001O001O001O001O0010O0001O000000001O01O01O000010O01O000001O00000001O01O0001O000000010O0000001O01O0001O00000010O00000000001O0000001O0000001O000000001O00000000001O000000001O0O1000001O000000001O000000001O00000O101O000000000000000000O01000O1WJ"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/single_sofa/000275_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/single_sofa/000275_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..f68f787415a05ab11b48de78f63a8b4d3f198f7b
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/single_sofa/000275_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/single_sofa/000275_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "single sofa"
+    ],
+    "target_area_description_en": [
+      "single sofa"
+    ],
+    "target_area_description_cn": [
+      "单人沙发"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          384,
+          512
+        ],
+        "counts": "b4R12]O[:V1M5L1N5L5J3N1^FQNQ9`2N3N2M3N6I6K5K7I<WHULe6e4M2O0000000000O001N2M3O1J61N10000000001O0O100000001O00001N100000001O00001O000000010O0001O000001O00010O000100O1O1O00100O1O1O1O101N1O2N101N2N3M3M3M3M3M2N7I5K000001O2N3M4L3M3M3L3N1O001O000000O100O100O1DYH[Lk7[3b0O2N100O2OO0100O1O100O100O100O100O100O1O2N100O100O1O100O1O1O100O100O1O101N1O1000001N101M3SNaFV1a9gNaFY1c9`NaF`1P:O1O3M1O2N1N2O1O1N2F\\EUOf:i0;L5L7ZObD315nol3"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          384,
+          512
+        ],
+        "counts": "lU\\13i;9Hf1\\N4K3N3M2N2N2N100O1O100O1000000O100000000001O00001O00001O1O001O1O2N1O2N3M3M`0@3M7I8H1O3M2M9F7Hbd^3FibRM1mh^O4FKcD7`;2eEG"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/table_corner_at_the_bottom_left_of_the_wooden_side_table_under_the_window_on_the_left_side_of_the_frame/1156_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/table_corner_at_the_bottom_left_of_the_wooden_side_table_under_the_window_on_the_left_side_of_the_frame/1156_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6c97f97c08a3a563b264b05f3fd01c0692276da
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/table_corner_at_the_bottom_left_of_the_wooden_side_table_under_the_window_on_the_left_side_of_the_frame/1156_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/table_corner_at_the_bottom_left_of_the_wooden_side_table_under_the_window_on_the_left_side_of_the_frame/1156_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "table corner at the bottom left of the wooden side table under the window on the left side of the frame"
+    ],
+    "target_area_description_en": [
+      "table corner at the bottom left of the wooden side table under the window on the left side of the frame"
+    ],
+    "target_area_description_cn": [
+      "位于画面左侧、窗户下方木质小桌的左下角桌角"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          256,
+          256
+        ],
+        "counts": "YS54k72O01O00001O00001Nf\\h1"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          256,
+          256
+        ],
+        "counts": "h\\5=d75J3M?A3M>B6J4K3M4M4N;D7K7HN2N2N1O1O3M2N1O2N3M2N2N2N2N1O2N1O2N2N1O2N2N1O2N2N2N2N1O2N2N2N2N1O2N1O2N2N2N2N2N1O2N1O2N2N2N2N1O1O1O1O2N1O1O1O1O1O1O1O001OQhW1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/table_corner_of_the_second_wooden_dining_table_in_the_dining_area_on_the_left_side_of_the_frame/1132_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/table_corner_of_the_second_wooden_dining_table_in_the_dining_area_on_the_left_side_of_the_frame/1132_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4822b1b9f92460f9dbb2461fd867f2fb1f011d5
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/table_corner_of_the_second_wooden_dining_table_in_the_dining_area_on_the_left_side_of_the_frame/1132_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/table_corner_of_the_second_wooden_dining_table_in_the_dining_area_on_the_left_side_of_the_frame/1132_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "table corner of the second wooden dining table in the dining area on the left side of the frame"
+    ],
+    "target_area_description_en": [
+      "table corner of the second wooden dining table in the dining area on the left side of the frame"
+    ],
+    "target_area_description_cn": [
+      "位于画面左侧用餐区、第二张木质餐桌的桌角"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          239,
+          686
+        ],
+        "counts": "mVk0111X77L3M1000001OO2O0000001O1O001O2M2NUfP4"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          239,
+          686
+        ],
+        "counts": "Pa=6R6W1G9K5L400O100000000O100000000O10000O10000000000000000004L2N1O1O2N1O002N1O1O3M005K8H8H9F4L[kW4"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/television/41069134_4104.707_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/television/41069134_4104.707_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9b7abca0c9282f1202372dcd2a3ac753a84c9c3
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/television/41069134_4104.707_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/television/41069134_4104.707_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "television"
+    ],
+    "target_area_description_en": [
+      "television"
+    ],
+    "target_area_description_cn": [
+      "电视机"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "0f4Z:000000000000001O0000000000001O000000001O00000000001O000000001O00000000001O000000001O0000000000001O000000001O00000000001O000000001O000000001O00000000001O0000001O000000001O00000000001O000000001O000000001O00000000001O000000001O000000001O000000001O000000001O000000001O00000000001O000000001O000000001O00000000001O0000001O000000001O000000001O000000001O0000000000001O0000000000N2H8G9J6J6A?J6I7I7G9K5F:B>J6H8H8H8J6J6DVB^On=9aoZ6"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "QXc5669X>3L4C=I8J5L4H8K6J5G9J6K6K4L4K5100O001O010O1O00100O001O010O001O0010O0001O0010O01O00010O000010O00010O0001O010O00010O001O010O00010O001O01O01O0010O00010O01O00010O00010O00010O00010O00010O01O01O010O0001O010O00001O00010O001O000010O01O00001O01O01O001O00010O001O001O010O00001O010O001O000010O01O00001O010O00001O010O000010O01O000010O01O0010O01O001O01O01O001O010O001O00010O000010O01O000010O01O00010O00001O01O01O00010O00001O000010O01O00001O010O001O01O01O010O0010O0001O01O01O0010O0001O010O00001O001O01O01O001N101O001O00000O2O000[J"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/television/41098005_9485.891_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/television/41098005_9485.891_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..00c06025d4676f797e0d60ca8ac2cdd51b9f14df
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/television/41098005_9485.891_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/television/41098005_9485.891_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "television"
+    ],
+    "target_area_description_en": [
+      "television"
+    ],
+    "target_area_description_cn": [
+      "电视机"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "bdc1`21]N^;n2bDZL1j0l9[5TFhI`8V8VNj0VOk0UO`0A`0_O3M10O0O10001N10001N100O2O0O2O0O10001N100O2O0O101N1O10001N100O2O0O101N100O2O0O101O0O101N100O101N100O2O0O100O2O0O101N100O2O0O101N10001N1O10001N100O1O2O000O2N101O0O100O2O0O101N100O2O0O100O101N100O2O0O2O0O101N100O2O0O1O2O000O2O0O101N100O101O0O101N100O2O0O101N101N100O1O101N10001N1O101N100O101O0O2O0O1O2O0O101N1O1M4K4K5I8I6K5ZOZGbJO3P9S5e0N2M3K6dNoE`L4?LFX:Z3jE_L3>_:R3fEeLd:Y3b0O1E<M2M4J5M301O0L4I7M4N1N3L3J6I8J5I7L5H7J7IiPk4"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "n[T51l>3N2O1N2@HlA20<P>MnA4m=b0J6N2M3L4N2M3K5K5M3M3L4N2L4L4M3L4L4M3L4N2M3M3L4L4M3J6M3O100000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000001O001ORJ"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/the_bottom_left_area_of_the_dark_brown_wooden_floor__located_at_the_lower_left_of_the_white_hallway_pillar_on_the_left_side_of_the_frame/row_1056_col_image_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/the_bottom_left_area_of_the_dark_brown_wooden_floor__located_at_the_lower_left_of_the_white_hallway_pillar_on_the_left_side_of_the_frame/row_1056_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..e585727c948ff5b92b70b1c79c06806ae9db893f
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/the_bottom_left_area_of_the_dark_brown_wooden_floor__located_at_the_lower_left_of_the_white_hallway_pillar_on_the_left_side_of_the_frame/row_1056_col_image_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/the_bottom_left_area_of_the_dark_brown_wooden_floor__located_at_the_lower_left_of_the_white_hallway_pillar_on_the_left_side_of_the_frame/row_1056_col_image_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the bottom left area of the dark brown wooden floor, located at the lower left of the white hallway pillar on the left side of the frame."
+    ],
+    "target_area_description_en": [
+      "the bottom left area of the dark brown wooden floor, located at the lower left of the white hallway pillar on the left side of the frame."
+    ],
+    "target_area_description_cn": [
+      "位于画面左侧、走廊白色立柱左下方的深棕色木地板的左下角区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          576,
+          432
+        ],
+        "counts": "Tkd27ha03M2O1O000O100000O1000000000000000000000001O00nd`4"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          576,
+          432
+        ],
+        "counts": "oUg21ma02bM;^BHb=:nA4R>m10000000000O1000000001O00O100000000000000000000002N2N1O4L4L2N4L4L6J2N3M3M4L3M2N2N5K4L2N2N2N5K3M1O3M2N2NSZl3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/the_bottom_right_area_where_the_dark_brown_carpet_meets_the_wooden_baseboard__located_to_the_rear_right_of_the_gallery_bench_on_the_right_side_of_the_frame/row_10_col_image_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/the_bottom_right_area_where_the_dark_brown_carpet_meets_the_wooden_baseboard__located_to_the_rear_right_of_the_gallery_bench_on_the_right_side_of_the_frame/row_10_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fb4acb4d1ef8021efe9694ae46042935835a1ca
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/the_bottom_right_area_where_the_dark_brown_carpet_meets_the_wooden_baseboard__located_to_the_rear_right_of_the_gallery_bench_on_the_right_side_of_the_frame/row_10_col_image_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/the_bottom_right_area_where_the_dark_brown_carpet_meets_the_wooden_baseboard__located_to_the_rear_right_of_the_gallery_bench_on_the_right_side_of_the_frame/row_10_col_image_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the bottom right area where the dark brown carpet meets the wooden baseboard, located to the rear right of the gallery bench on the right side of the frame."
+    ],
+    "target_area_description_en": [
+      "the bottom right area where the dark brown carpet meets the wooden baseboard, located to the rear right of the gallery bench on the right side of the frame."
+    ],
+    "target_area_description_cn": [
+      "位于画面右侧、画廊长椅右后方的深棕色地毯与木质踢脚线相接的右下角区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          1146,
+          2200
+        ],
+        "counts": "fP12hS1OXYdd10if[[N000WoR21QmkMO00\\S1b0G6K2N2O1O1O2N1000000000001O0000000000001O000000000000000000000000000000000000000001O1O1O2N1O01O0000000000000000000000000000000000000000000O1O1O1O1O1O1000000000000000000000000000000000000000000000000000000000000000000000000001N2N2NhYma0"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          1146,
+          2200
+        ],
+        "counts": "fP12hS1OheXY10YZgfN0O100O10000O100O100O10000O100O100O10000O2O0O100O100O1O100O1O10O01O1O1O1O1O1O1O1O1O1O1O1N2O1O1O1N2O1O1O1N2O1O1O1N2O1O1N2O100O100O100O100O100O100O2N100O100O100O1O100O1O100O1O1O1O1O1O1O1N2O1N2O1N2N2N2O1N2O1O1O1O1O1O1O1O1O1O1O1O1O001O1O1O1N2O1O1O100O10000O2O0O10000O010000001O000O1000000000000O1000000O1000000O10O10O10000O100O100O100O1O100O1O1O100O1O1O1O1O1O1O100O100O1000000O10000O10000O100O100O010O100O1O100O1O1O100O1O1O1O1O1OJ6L4M3M3O2M2O2N100O2O0O2O001O00001O000010O01O0010O010O0010O01O001O1O001000O0100O10O1O001O00001O010O000000100O001O010O01O0100O010O10O010O10O0100O10O01O100O1O010O00O1O10000O10000000001O1O001N2O010O1O001O010O0010O01O0O1O2O0O100000000000000000001O00001O0000000000000000001O001O1O001O001O1O010O1O001O010O1O0O101O001O00001O01O01O01O01O01O010O0010O01O001O00001N10001N100O1010O1O100O1O100O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O100O1O1O1O1O100O1O1O1O100O1O100O100O100O100O1O1O1O1O1O1O1O1O1O1O1O1O1O1O100O1O1O1O1O100O1O100O1O100O100O100O100O001O1O1O1O1O1O100O1O100O1O1O100O1O1O100O1O100O1O1O100O1O010O1O1O100O1O1O10RTYa0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/the_bottom_shelf_of_the_metal_rack_on_the_right_side_of_the_frame__to_the_left_of_the_black_cabin_door/1142_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/the_bottom_shelf_of_the_metal_rack_on_the_right_side_of_the_frame__to_the_left_of_the_black_cabin_door/1142_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3b939b62d3cd61e3535611c569520e13bf3d80a
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/the_bottom_shelf_of_the_metal_rack_on_the_right_side_of_the_frame__to_the_left_of_the_black_cabin_door/1142_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/the_bottom_shelf_of_the_metal_rack_on_the_right_side_of_the_frame__to_the_left_of_the_black_cabin_door/1142_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the bottom shelf of the metal rack on the right side of the frame, to the left of the black cabin door"
+    ],
+    "target_area_description_en": [
+      "the bottom shelf of the metal rack on the right side of the frame, to the left of the black cabin door"
+    ],
+    "target_area_description_cn": [
+      "位于画面右侧、黑色舱门左侧的金属架子最下层"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          427,
+          640
+        ],
+        "counts": "mi[62W=4N1N100000000O10000000000000000000000000000O10000001O001O00000000001O0000O11O001Nga]1"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          427,
+          640
+        ],
+        "counts": "YjY62U=5K4SOm0M3K5K5K5YOWNWE^2]:>0000000000000000000000000000000000000000000000001O001O00001O001O00001O00001O00002N2N1O1O1O2N1O1O1O002N1O2N2N2N2N2N2N1O2N2N2N2N2N2N2N2N2N1O2N3M1O2N2N2N2N2N2N2N2N2N2N2N2N1O2N1O2N1O2NY[g0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/the_bottom_wall_area_where_the_light_wooden_floor_meets_the_white_baseboard__located_to_the_lower_left_of_the_window_on_the_left_side_of_the_frame/row_102_col_image_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/the_bottom_wall_area_where_the_light_wooden_floor_meets_the_white_baseboard__located_to_the_lower_left_of_the_window_on_the_left_side_of_the_frame/row_102_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ce45d10ab409a99c142b8742fd85fbab0f86182
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/the_bottom_wall_area_where_the_light_wooden_floor_meets_the_white_baseboard__located_to_the_lower_left_of_the_window_on_the_left_side_of_the_frame/row_102_col_image_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/the_bottom_wall_area_where_the_light_wooden_floor_meets_the_white_baseboard__located_to_the_lower_left_of_the_window_on_the_left_side_of_the_frame/row_102_col_image_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the bottom wall area where the light wooden floor meets the white baseboard, located to the lower left of the window on the left side of the frame"
+    ],
+    "target_area_description_en": [
+      "the bottom wall area where the light wooden floor meets the white baseboard, located to the lower left of the window on the left side of the frame"
+    ],
+    "target_area_description_cn": [
+      "位于画面左侧、窗户左下方的浅木色地板与白色踢脚线相接的墙底区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          1467,
+          2200
+        ],
+        "counts": "emZ<2i]17I8He0[O00000000000000000000000000000000000000000000000000000000000000000000000001O00000000000000000000000000000000000000000000000000000000000000000001O0000000001O0000000000000000000000000000O1000000000000000000000000000000000000000000<D6J6J5K3M4LjTc`2"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          1467,
+          2200
+        ],
+        "counts": "Yfj<2i]16J3M3M2N2N2N1O2N1O1N2O1O1O1O1O0O2O1O001O0O2O001N101O0O2O1N3N1O2N2N2N2N2N2N1O1O1O001O1O1O1O2N2N4L3M2N2N2N2N=C4L2N3M2N1O2N1O1O2N1O1O1O001O1O1O001O2N1O3M2N2N2N2N2N1O3M3M2N2N1O2N1O1O1O1O1O1O6J4L2N2N2N2N1O2O00000000000000001O0000000010O001O1O2N2N2N3M2NO1O1O001O3M2N2N2N1O2N1O1O1O2N1O1O1O1O100O1O1O1O1O001O10O2O0O101N1O100O1000000000O1000O01000O0100O010O010O010O0010O01O10O01O2O0O1O1O100O1O10O01000O10000O10O01O100O010O10000O100O101N3N1O0O2O1N100O2O0O100O100O100O100O100O1000000O010000O10O10O100O100O010O10O01O10O01O2O1N1O2N10001N1000O10O10000O010O2O0O2O0000000O10000000000O10000000000O1000000001O0000001O00000002N1O2N2O00000O100O01O000010O00000001O00000001O1O1N2O1N1O2M2O2N2N3M1O2N2N100O1O2N1O1O100O2N3N1N2O0O2N102M2O1O1N2O002N2N1O1O001O000O10000000000000O02O0O2O0O1O10O001O1O001O1O1O001O1O0000001O000000001O00001O00001O001O001O1O001O1O1O1O1O1O1O1O1O2N1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O2N1O2N2N2N2N1O2N1O2N1O1O1O1O1O1O1O1O1O1O1O2N1O2N2N2N001O1O1O1O001O1O001O1O001O001O001O001O1O001O1O001O001O001O00001O001O1O001O001O001O001O001O1O1O1O1O1O1O1O1O1O1O0N3N2O1O1O001O1O12NL303M2N2N2N2N2N1O1O2N1O12NO1O1O1O1O1L4O001O3M2N2N2N2N1O2N1O1O1O2N1O1O1O1O1O1O1O1O1O2N21ON1O2K5N1O2N1O1O1O1O1O1O1O1O1O1O001O2N1O1O1O1O1O1O1O1O1O2N1O1O1O1O1O2N1O1O1O1O001O1O1O001O1O001O1O001O001O00001O00001O00001O0000001O001O00Rjg=2lUXB0000000000000000000000000000000000000000000000000000000000000000000000000001O0000000000000000000000000000000000001O0000Qnl21lQSM20001O000000001O00O1O1O1NeTmS1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/the_frontof_the_toilet/41069162_1241.532_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/the_frontof_the_toilet/41069162_1241.532_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bac08b9f8d182370858a4b4fa98a99b87e16b1d
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/the_frontof_the_toilet/41069162_1241.532_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/the_frontof_the_toilet/41069162_1241.532_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the frontof the toilet"
+    ],
+    "target_area_description_en": [
+      "the frontof 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": "kdZ374NS>n0B8I6H6L4K5N1N3M2N3N2N1N3M2N2N3M2O1O2N1N3M2O1O2N1N201M2O101N1O1O1O2N1O1O2N1O1O2N1O2N100O2N1O101N1O1O2O0O1O2O0O101N1O101N100O2O0O2O0O2O0O101N10001N100O101O0O101N1000001N10001O000O1000000001N100O100O101N100O1O2O0O2N101N101N1O2O0O2N2O1N2N2O1N2N2N2O1N2N3M2N3M3N3K3N3M4M3L4L3M3M3M3M4L:F7H6K5K3L3N3L6I<C:FYbj3"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "3>a>00O2O001N2O1O1O1O1O1O1O1O1ObPj34VoUL5M3L4M4M2M3N3K4L4M4M2M3L4L5I6L4L4I7YOg0M3M3M3M3L5J5L4ROn001OO10000O1^MkE9U:Y200000O1000000000000000000kNjE`MV:e30lNjE_MU:f300000001O0000001O001O001O00000000001O00000000001O00^OQFSLo9n3QFRLn9`40001O001O001O001O001O1O1O000000000000001O000000001O00001O000000001O01O000001O00000O101O000000001O000000000000000000M3WO]FPLh9`44I7I8J5L4K5L3jNTEVNP;h25K5L4H9H7L4L4L4L4M3J6J7K4L4M3N2M3N1N3N2M4L3N2N2N1O2O0O2O1N2N2N2N2O1O1N2O1O1O1O1O1O1O1O1O100O1O1O1OQW_2"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/the_light_gray_non-slip_tile_area_located_to_the_front_left_of_the_toilet_on_the_right_side_of_the_frame/row_1126_col_image_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/the_light_gray_non-slip_tile_area_located_to_the_front_left_of_the_toilet_on_the_right_side_of_the_frame/row_1126_col_image_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9523a77dd96cb1f5b7b42d8b51d3096ab96c51a
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/the_light_gray_non-slip_tile_area_located_to_the_front_left_of_the_toilet_on_the_right_side_of_the_frame/row_1126_col_image_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/the_light_gray_non-slip_tile_area_located_to_the_front_left_of_the_toilet_on_the_right_side_of_the_frame/row_1126_col_image_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the light gray non-slip tile area located to the front left of the toilet on the right side of the frame"
+    ],
+    "target_area_description_en": [
+      "the light gray non-slip tile area located to the front left of the toilet on the right side of the frame"
+    ],
+    "target_area_description_cn": [
+      "位于画面右侧、马桶左前方的浅灰色防滑地砖区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          375,
+          500
+        ],
+        "counts": "^d_35b;O10000000O100000000000000O100000000O1000O100O10000O1000OMd_l1"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          375,
+          500
+        ],
+        "counts": "\\h\\33Y;;F9J7M3L5I5J7J60000000000O100000001O00000O10000000O1000O2OO100001O\\Od0WOi0F9Le_l1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/to_the_right_of_the_table/41048095_5401.321_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/to_the_right_of_the_table/41048095_5401.321_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c8a141e62799a79cac223a3cda21096a4c3bc80
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/to_the_right_of_the_table/41048095_5401.321_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/to_the_right_of_the_table/41048095_5401.321_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "to the right of the table"
+    ],
+    "target_area_description_en": [
+      "to the right of the table"
+    ],
+    "target_area_description_cn": [
+      "桌子右侧"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "Z[m31n>3M<cACa=o0O1O11N2N01O001O001O000000001O0000000000001O00001O001O1O0O2O001O01O010O1O100O1O1O010O0001O000O2O000100O1O01O00000O2O0O10O100O0O200O1O0000N200011N1O1O1O2M2YOi0HgVX4"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "iaS373KTYU14\\UkN=F<D4K5K5K5M3L4K5G9M3L4L4L4H8M3K5J6N2M3N2M3K5I7K5L4L4H8M3M3L4J6J6J6M3K5K5K5M3L4K5]Oc0O100O1O1O1O1O1O100O1O1O1O1O1N2O100001O001O001O001O001O001O001O00001nNQ1E;L4L5K4G9iJeFd4R:I6I7H7I7J5M5cM`DQ1f;n07Cf0@ofg3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/toilet/41126374_5038.657_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/toilet/41126374_5038.657_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..46f1b85fd69511c5d11c3936ced87067005cdc8c
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/toilet/41126374_5038.657_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/toilet/41126374_5038.657_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "toilet"
+    ],
+    "target_area_description_en": [
+      "toilet"
+    ],
+    "target_area_description_cn": [
+      "马桶"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "hhe1>`=FjBo0b<SOUC00`1h<a0N2O10O1000O01O100O100O100O10000O10000O100O10000O10000O100O10000O100O100O100O100O100O100O2N1O2O1N2N3M5K2N2O00O101O001N101O0O2O001N101O1N10001O0O2O00001O000O2O0000000000000001O0O101O0O2N101N1O2N2N2N2N2M2O2N1N2O0O2N1O2O1O10O10O10O100000O100000O100000000001O00001N2Kkof5"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "Z71^75LK74\\7N1Ogbc3=l\\\\Lf0ZO4K8IP1PO00000O1000000O10000000000O10000000000O100000000000000000000O100000000O10000O10000O1000000O100000000O100000000O1000000O10000000000O10O100O100000O10000000001O0O0100O1000O10000O101N100O010O100O010O1O010O1O1O010O1O10000O010000000O100000000O1000000O1000000000000000000000O01001OO1O0100000000O`HjLX3V3gLjLY3W3gLiLY3W3gLhLZ3X3fLhLZ3X3fLhLZ3W3gLhLZ3X3fLhLZ3X3fLhLZ3X3V41000O100000O1000O1000000000O10O10000000O10O100000O1000000O100000O1O00100O1O10O0100O100O01000O1000O0100000O0100000O1000000O1000000O100000000O100000000O01000000O01000O1000O1000O1000O1000000O1000O1000O10O100000O10O100000O010000000O10000000000O10O100000O100000000O10O1000O1000000O100000000O100000000O010000000O1000O1000O100000O10O10000000O10O10000000O0100000O10O1000O1000O10O100000O01000000000O010000000O10O10000000O10O10000000O100000000O011O00000O1000000O101N10000nI"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/trash_can/41069054_819.314_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/trash_can/41069054_819.314_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..88b10dc8f1bdde1999ee1874dc48abcd76984101
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/trash_can/41069054_819.314_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/trash_can/41069054_819.314_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "trash can"
+    ],
+    "target_area_description_en": [
+      "trash can"
+    ],
+    "target_area_description_cn": [
+      "垃圾桶"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "dVb61l>6K4L3M3N2M3M3M4M2M4L3N3L3M3M3N3L5K4L4M2M4M2L5K4M2]O_MeDd2X;`MdDb2Z;c0O2N1O1N2O1O1O1O001O1O1O1O1N2O1O1O1N2N2N2N2O001O1O10O0100O010O10O0100000O01000O010O10O0100N2O0100000O1O100O1O010O1O1O1O1O1O1O100O1O1O1O010O1O1O1O100O1O100O1O100O10000O1O10000O101O0000001N101O0O101N100O2O0O2O0O2O0O2O0O2O0O2O1N101N2O0O2N2O0O2O0O2O1O1O1O1O001O1N2N2N2N2M4M2M3M3M4M2N2N2N3M2N2N2M3KQBVOR>g05N3M2M4L3N2M3LXR4"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "ono31n>1N2N2M3L4M3K5N2O1N2N2N2N2N2M3M3N2M3L4L4N2O1N2O1N2M3M3L4M3M3M3N2M3N2O1N2N2O1N2O1O1M3N2N2N2N2O1M3L4N2L4O1M3N2N2M3N2M3M3M3O1N2L4N2N2M3N2N2L4N2N2N2N2L4N2N2M3O1O1N2N2N2N2O1N2N2N2O1N2N2O1M3M3K5O1O1O1O100O1N2O1O1O1N2O1N2M3N2L4K5O1O1O1O1O1O1N2O1O1OIVIZHh6a7>M200O102N2M3M3L4M3M3N2N1O2M3M3N2N2M3N2M3N2M3M3L4L4N2N1N3N2N2N2M3N2N2N2N2M3N2N2L4M3N2N2M3M3N2N2N4J5M4K4M4L5J5K4L4M4L4K5L3M4\\Oc0J7J5K6L3M4L3M3N3M2M4M2N2N2N2N2N2O1NPS]2"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/trash_can/41069074_3260.313_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/trash_can/41069074_3260.313_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..188281679eab8c8334dd6c9c5f57653accf1a452
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/trash_can/41069074_3260.313_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/trash_can/41069074_3260.313_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "trash can"
+    ],
+    "target_area_description_en": [
+      "trash can"
+    ],
+    "target_area_description_cn": [
+      "垃圾桶"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "Yjf3:`>=]O[OYBn0^=?L3M3M2N3L3O1O1O1O1O1N2O0O101O0O10001O0000000000000000000001O00000000001O0001O0001N101O001O0O10000O10001N10000000001O000000001O00000000000000O10O100000O100001N1000001N101O001O10O2O0O2OO010O1N101N2O1N2N2N2N3M3_O]B@f=<]BBg=7_BF_>OkSQ4"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "YSX53j>3M3N2N2N2N2L4M3M3M3H9J5I7kNU1K5K5M3M3K5D<000000000001O000000000000000000000000000000000000000000000000000000000000000O100000000000000000000000000000000000000000000O100000000O10000000000O100000000O10000000000O10000000000O1000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000O1000000000000000000000000000000O100000000000000000000000000O10000000000000000O10000000000000000O100000000000000O10000000000000000O1000000000000O100000000O100000000O1000000O100000000O100000000O100000000O10001O0QK"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/trash_can/41069162_1242.032_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/trash_can/41069162_1242.032_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..068ee6ceb018795491fca0bae2022435a5e92e6e
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/trash_can/41069162_1242.032_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/trash_can/41069162_1242.032_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "trash can"
+    ],
+    "target_area_description_en": [
+      "trash can"
+    ],
+    "target_area_description_cn": [
+      "垃圾桶"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "Rjj53k><WAFn0NU<o0mBZO12k<f1M3M2N2O1N2O1N3N1N101O000O2O00001N100000000O1001O1O00001O0000001O000000001O1O001N2O1O1O2N7H7J6I6K4K4M5J8I6I4L6IY_e2"
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+          480,
+          640
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/trash_can/41127016_6600.112_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/trash_can/41127016_6600.112_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..60b247f066bbc5aa87c87ac98b71a7b0a2b7b5de
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/trash_can/41127016_6600.112_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/trash_can/41127016_6600.112_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "trash can"
+    ],
+    "target_area_description_en": [
+      "trash can"
+    ],
+    "target_area_description_cn": [
+      "垃圾桶"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "hSY4>^>8I5L4M3L3N3M2N2O0O2O00001O000000000001N1000000000000000000000000O1000000000000000000000000000000000000O100000000000000O10000000000O10000O100O10000O100O100O1O10000O01000000010O001O010O001O1N2O1M4M2O2M2O1N101N2M4JZg`3"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "^Wl51l>8H4lNDaB50M?b0n<n0O5K5K01UNmBg1R=ZNnBf1R=400002NO1O1N20000000000DRNfCn1W<VNhCj1h;RNVD=Ob1k;gNRD\\1n;k0000000O100000000000000O10000000000000000O10000000000000000O1000000000000O1000000000000O1000000000000O1000000000000O1000000000000O1000000000000O10000000000O10000000000O1000000000000O10000000000O10000000000O10000000000O1000000000000O10000000000000000O10000000000000000O10000000000000000O10000000000000000O100000000000000000000O100000000000000000000O1000000000000000000000000O100000000000000000001O0000000O2O0000001O001O0O2O000gJ"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/trash_can/41159586_50576.769_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/trash_can/41159586_50576.769_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddc022ae221c7e6cad01b6341bc290d00564d75c
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/trash_can/41159586_50576.769_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/trash_can/41159586_50576.769_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "trash can"
+    ],
+    "target_area_description_en": [
+      "trash can"
+    ],
+    "target_area_description_cn": [
+      "垃圾桶"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "Qml35`>=H7I7H7N3N100O2O0O10001O000O1000000000O10001O0000001O0O2O1O1O1N3N5K5J6J5L4JVjl4"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "VVg32l>5K4M2N3L5H7K6H9D>F9G7I7G7J7I6J6H8K5K5K5K4N3M2N3L3L4J7G8M3M3K5E;01O0000001O0000000000O1000000000000001O0000000000O1000000O10000O100O1O1N2N2N2N2N2N2O1O1N2M3M3N2M3N2N2N2N2M3O1M3M3O1N2O1O1N2N2N2N2N2N2L4N2O1M3M3M3N2M3N2N2M3N2N2K5N2O1M3M3O1M3N2M3N2L4N2N2N2N2N2M3N2M3N2N2M3L4N2M3N2M3N2N2N2N2LT^a3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/vegetable_washing_sink/41159382_2478.537_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/vegetable_washing_sink/41159382_2478.537_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0cf843b22923074798688cad127070985c87b51
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/vegetable_washing_sink/41159382_2478.537_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/vegetable_washing_sink/41159382_2478.537_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "vegetable washing sink"
+    ],
+    "target_area_description_en": [
+      "vegetable washing sink"
+    ],
+    "target_area_description_cn": [
+      "洗菜池"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "Qh^35h>8I8H7J6I5J9H7J4K4M3L3M3N3bCYN];k1]D\\N_;l2E8H9G6K1N3N001N2N1O2O001O10O10000O2O0O10001N100O2O0O10001N100O101O000010O003M2O0O0001O00001N101O2N3M6J6J7H4M8H4L7I6J5K6J5J7J6J6J5K6J6J5J7J5K7H7GSmc4"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "PXj01o>00000P_?0Pa@000WYT46dfkK6I2O4K6K6I5K6K5J6J2N:G6I5K5K6K6I6J6J3M4L7J3L001O010O001O010O0010O00010O01O0001O010O0000010O0001O0010O01O001O01O01O01O01O010O00001O01O01O0010O01O01O01O010O0010O01O010O01O000010O01O0001O01O010O001O0010O01O001O00010O000010O01O0010O0001O01O01O0001O0001O0001O00000010O00000001O01O00000001O0001O00010O0000000010O000000010O000001O00010O00001O01O000001O0001O000000001O01O000001O01O000010O000001O01O0000000010O0001O01O01O00010O00001O000001O01O01O00001O0000001O01O00000000001O0001O00000001O01O01O0001O01O01O01O0000000010O000001O000gJ"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/washbasin/41048247_4159.362_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/washbasin/41048247_4159.362_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e6d1e73dfb292ac301271b29303f0b32fbd3b4c
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/washbasin/41048247_4159.362_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/washbasin/41048247_4159.362_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "washbasin"
+    ],
+    "target_area_description_en": [
+      "washbasin"
+    ],
+    "target_area_description_cn": [
+      "洗手池"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "]`^22a>1gA4S>?N2N1M4N2N110O0O10QOUBi0W:WOVI0dLi0T:@PIHlLh0R:DPIDnLi0Q:CZI<d6FhHG`Mc0i9DfH0[M=o9BeH6XM9T:@cHW1^7hNaHY1]7jNbHV1]7lNYHChMb1m9lNYH?fMNP:ESHc0mMHo9GVG[OXOd2b9SNRG\\OQOk2l9lMTFVO508X3^9hMTFVOOJ1c3l9_1N1O1O100O1O100O1O_K[Fi3e9j0N1O1O100O101N1O100O1O1O1O101N100O1O100O1O100O100O1O100O1O100O100O10000O100000O101N2N2N2N2K6K4K5L5K4M4K4K7J6K6G7M3L4M4K:F<E4M3M:F4eM[C7<U1W=M000001O02N1O^NgN]EY1c:hNmCO^1X1e:iNmCO_1W1Y<O010O1O00mNkN\\DT1h<10O00001O010O0010O0001O01O01O0001O01O0001O01O00010O00010O000010O001O01O000010O0001O0001O01O0001O01O0001O01O01O01O0000010O000001O00O2O00000O101N100O100O2N100O2O0O1O2N1O2O0O2M4Lnak3"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Ego/washbasin/41097991_8703.717_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Ego/washbasin/41097991_8703.717_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..cae1d98493bcb50656ab11e8facb0f13d195a5ad
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Ego/washbasin/41097991_8703.717_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Ego/washbasin/41097991_8703.717_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "washbasin"
+    ],
+    "target_area_description_en": [
+      "washbasin"
+    ],
+    "target_area_description_cn": [
+      "洗脸池"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "Sbl1=b>2TC1ROAi:`0QF3SO3X:JeF4QOh0d9VOZG2ROT1X9jNfG3QOP2[8oMcH1ROU2U8kMiH0ROV2S8lMjHNSOV2R8mMjHNTOV2P8nMjHMVOU2o7oMjHNUOT2P8PNTHUOMi0OS2n7QNTHUOKj02Q2n7SNPHa02\\1m7YNiGm3V8_1O2N1O1O2O0O1O1N3N1O1O1O2N1O1O2N1O1O2N1O2N1O1O1O2O0O1O1O2N101M200O1O2M2O2N1O1O1O2N1O1O1O2N1O2N1O1O1O2N1O1O2N1N2O1O2NlMRJXKn5h4RJXKm5h4TJYKj5o6O2O0O1010O0010O05K4RGQJONa06_O2f0Kf5j6dIPJ5TOK8X6\\8XJ]GQ5l8^JSG06OJ2221L1g4c9YKjF4EQ4g:lKYE00[3^;TM\\DV2k;ZMUD1`01DP2R=ZNnBh0S>A9[O_A0ZhQ6"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "i\\`52:1W>l0`ASOm=l1UB^NN=2XOb;`3J1O1O1O2N1O2N2N00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000O1000000O10^MoDU1Q;jNPEV1Y6"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/Armrest222222Cabinet/taskonomy_fonda_point_838_view_4_domain_rgb_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/Armrest222222Cabinet/taskonomy_fonda_point_838_view_4_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ae93df928a746382ed3ad6a529fe4b6f8cece97
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/Armrest222222Cabinet/taskonomy_fonda_point_838_view_4_domain_rgb_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/Armrest222222Cabinet/taskonomy_fonda_point_838_view_4_domain_rgb_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Armrest222222Cabinet"
+    ],
+    "target_area_description_en": [
+      "Armrest",
+      "Cabinet"
+    ],
+    "target_area_description_cn": [
+      "扶手",
+      "柜子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          512,
+          512
+        ],
+        "counts": "^m^26g?9H4L4M2NARA0k>NZA0f>N^A1`>ObA1\\>OfA1Y>NiA1V>0kA0T>OmA1R>0oAOQ>1oA0P>0PB0o=1QBOl=4UBKi=<RBDm=?QBAn=b0QB^Om=3bAK07`0Km=2dAM24<Mm=2fAM339Nm=1iAN2280l=0jAN327Ok=1lAN227Ok=0mAO225Ol=0mA01160j=0oAO2060i=0PB01060i=0PB0115Oj=0PB02040j=0PB02041i=OQB02130j=OQB0214Oj=OPB13030j=OPB13030j=OQB0223Nj=0QB12030i=0QB03030i=0QB03030i=0RB01130i=OSB11O31i=OSB11O40h=0TB1OO50h=0TB3NL61h=0UB3LM61h=OWB3JM71i=NWB5HK92g=OXB5FJ;2g=OZB6BH=4f=N]B8OId=0^B7LJf=NaB6ILe=OcB6FKg=OdB5ELg=OeB5B0e=MhB4CNf=NeB7CKh=0bB7EHk=1_B9DEo=3[B:G_OQ>7VB;U>FiA;W>FgAMH3a>OfANJ3`>0dAMN2_>0cAL02`>2_AJ33_>4lAJV>7iAGZ>;cAC_>;bADa>:d0N3M3LUnY3<`QfL`0@:Fc0^O8Ga0_O4L7I10001N11nLRCn2n<RMRCo2m<QMTCo2k<QMUCP3j<4O1O1O01000O1O10O10O1O1O1O100O100O01O00001O00001O001O00001O1O2N8HGVMiC]2W<cMiC]2X<aMjC^2V<cMiC]2W<dMiC[2W<eMjCZ2V<fMkCY2V<fMjCZ2W<eMjCZ2V<fMjCZ2V<fMkCY2U<gMkCY2o<O1OWOPNbCP2]<SNbCl1"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          512,
+          512
+        ],
+        "counts": "Wn`35d?802N11N02N001N0IBj@`0V?5001O0000000001O0001O000000001O01O00000000001O01O00000001O0001O00001O01O0001O000000001O0Gj@HV?a00000000001O0001O0000000000001OZM]OoEc0g<001O0000000000000000000001O0001O000000000001O01O000000000000001O00000000000010O0000000001ODi@OW?4i@IW?:h@DX?`021O1O001O00001O00001O00001O00000000000000000001O0001O0001O00000000000001O01OdHWOAi0k700000001O0000001O01O00000000000000001O01O0000000000000Kj@@W??j@@V?`0k@_OU?a0l@^OT?c050O2N1O1O000000000001O00000000000000001O01O00000001O0001O01O0Lg@AY?`0g@_OY?a0h@^OX?a0:HRam0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/At_the_handle_of_the_refrigerator222222The_area_at_the_bottom_of_the_door/107978_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/At_the_handle_of_the_refrigerator222222The_area_at_the_bottom_of_the_door/107978_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..983fcc0294ae682d9a151239cdf4aacc55f811c0
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/At_the_handle_of_the_refrigerator222222The_area_at_the_bottom_of_the_door/107978_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/At_the_handle_of_the_refrigerator222222The_area_at_the_bottom_of_the_door/107978_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "At the handle of the refrigerator222222The area at the bottom of the door"
+    ],
+    "target_area_description_en": [
+      "At the handle of the refrigerator",
+      "The area at the bottom of the door"
+    ],
+    "target_area_description_cn": [
+      "冰箱把手处",
+      "门底部区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          1024,
+          681
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/Bookcase_222222_Wooden_chair/058903_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/Bookcase_222222_Wooden_chair/058903_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..fca60f6ca5cb6dae301e07f52eca132faa48dd58
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/Bookcase_222222_Wooden_chair/058903_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/Bookcase_222222_Wooden_chair/058903_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Bookcase 222222 Wooden chair"
+    ],
+    "target_area_description_en": [
+      "Bookcase",
+      "Wooden chair"
+    ],
+    "target_area_description_cn": [
+      "书柜",
+      "木椅"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
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+      }
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+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/Bread_machine_222222_stool/004860_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/Bread_machine_222222_stool/004860_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..3478003ec1fdf55e638e8f5577fa1a7ddc7ae1e0
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/Bread_machine_222222_stool/004860_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/Bread_machine_222222_stool/004860_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Bread machine 222222 stool"
+    ],
+    "target_area_description_en": [
+      "Bread machine",
+      "stool"
+    ],
+    "target_area_description_cn": [
+      "面包机",
+      "凳子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/Brown_box_222222_cabinet/059531_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/Brown_box_222222_cabinet/059531_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7ce0a3734584b4b3b6da250180101764bcedd9c
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/Brown_box_222222_cabinet/059531_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/Brown_box_222222_cabinet/059531_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Brown box 222222 cabinet"
+    ],
+    "target_area_description_en": [
+      "Brown box",
+      "cabinet"
+    ],
+    "target_area_description_cn": [
+      "褐色箱子",
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+      true
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+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/Chair_222222_Microwave_oven/002860_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/Chair_222222_Microwave_oven/002860_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e4a2010217cd2ac8d08d9388c6a19c524509deb
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/Chair_222222_Microwave_oven/002860_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/Chair_222222_Microwave_oven/002860_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Chair 222222 Microwave oven"
+    ],
+    "target_area_description_en": [
+      "Chair",
+      "Microwave oven"
+    ],
+    "target_area_description_cn": [
+      "椅子",
+      "微波炉"
+    ],
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+      true
+    ],
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+      true
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/Door_222222_Elephant_Pattern_Pillow/059338_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/Door_222222_Elephant_Pattern_Pillow/059338_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..48ae23fb63f7c54555fd441b52b30bfec79f7c82
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/Door_222222_Elephant_Pattern_Pillow/059338_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/Door_222222_Elephant_Pattern_Pillow/059338_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Door 222222 Elephant Pattern Pillow"
+    ],
+    "target_area_description_en": [
+      "Door",
+      "Elephant Pattern Pillow"
+    ],
+    "target_area_description_cn": [
+      "门",
+      "大象图案抱枕"
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+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/Door_222222_TV/088260_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/Door_222222_TV/088260_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..96e6f8d7c4123092f3d3163429da588f75b8c06b
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/Door_222222_TV/088260_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/Door_222222_TV/088260_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Door 222222 TV"
+    ],
+    "target_area_description_en": [
+      "Door",
+      "TV"
+    ],
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+      "门",
+      "电视"
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/Fireplace_222222_remote_control/058741_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/Fireplace_222222_remote_control/058741_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc5cc53a01a4601db4d7fb386109448453e1fa44
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/Fireplace_222222_remote_control/058741_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/Fireplace_222222_remote_control/058741_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Fireplace 222222 remote control"
+    ],
+    "target_area_description_en": [
+      "Fireplace",
+      "remote control"
+    ],
+    "target_area_description_cn": [
+      "壁炉",
+      "遥控器"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "aon03_:4M3N1O1N3M3N2N2M3N1N3N2M2O2M2O1O2M3N3M1N100O1000O0100O0100000O010O10O10O10O1000O01000000O01000O1000O01000000O01000O01000O3N3M1N2O3M3LaISO]3i0bLYO_3e0]L_Oe3>ZLCi3GZIb0k2Hn38PLHU44kKI\\44dKJb42_KKf42Q3LUSa3"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "aRQ19U:8F9H8K6K5L3M3N1O2M2O1N2O2M3M3N2MZOlGQOQ8l0UHTOi7i0\\HVOb7i0bHWO[7d0lH]OR7b0QI^Om6`0WI@f6a0\\I_Ob6a0`I_OZ5A_JP19_OY6a0jI^OT6c0mI^OP6b0SJ^Oj5c0XJ]Of5b0]J^Oa5b0aJ^O]5a0fJ^OZ5`0iJ@V5?lJ@S5?oJBP5=RKCl4<WKDg4;\\KDd4:^KG`48cKG]47fKHZ46hKKV45lKJT45nKJR45oKKQ44PLLP42RLNn31SLOn3OSL1m3OSL1n3MRL4o3JQL7Q4EQL;S71000O101N1OFH[F6e9L\\F0b94=1O1O01M4N3Maea3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/Part_of_the_chair_222222_part_of_the_sofa/000175_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/Part_of_the_chair_222222_part_of_the_sofa/000175_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..a99413a1e1f808b3c27f411265e84855e6ef6731
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/Part_of_the_chair_222222_part_of_the_sofa/000175_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/Part_of_the_chair_222222_part_of_the_sofa/000175_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Part of the chair 222222 part of the sofa."
+    ],
+    "target_area_description_en": [
+      "Part of the chair",
+      "part of the sofa."
+    ],
+    "target_area_description_cn": [
+      "椅子的一部分",
+      "沙发的一部分"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "XW^22_:8J4M2N2N2O0O2O0O2O00000000000001N101N101N2N2M4M`em0GiZRO1N23Mhah08n]WO4M2M3O1N2N10001N1000000001O000O2O0O2N2N2N3L5Jm\\d0"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "ilf26\\:6L2N2N2N2N2O001N10000O100O10000O010O101N2O0O100O100O10000O1O100O100O10000O10000O1O100O10000O100O010O10O10O10O010O010O1O1O010O010O1O010O10O0100O10O01O10O01O01000O010O10O01000O10O1000O0100O00100O0100O010O10O10O010O010000O0100O010O010O001000O0100O010O010O010O1000O01O10O0100O10O10O010O10O0100O0100O010O010O010O100O100O100O2O0O2N1O2NOVOZF>0Hk96>KZ\\k0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/Single_sofa_2222222_the_chair_closest_to_the_camera/taskonomy_galatia_point_471_view_7_domain_rgb_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/Single_sofa_2222222_the_chair_closest_to_the_camera/taskonomy_galatia_point_471_view_7_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d3051942e87c5628e08ea6bf047158d16fb8d31
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/Single_sofa_2222222_the_chair_closest_to_the_camera/taskonomy_galatia_point_471_view_7_domain_rgb_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/Single_sofa_2222222_the_chair_closest_to_the_camera/taskonomy_galatia_point_471_view_7_domain_rgb_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Single sofa 2222222 the chair closest to the camera."
+    ],
+    "target_area_description_en": [
+      "Single sofa",
+      "the chair closest to the camera."
+    ],
+    "target_area_description_cn": [
+      "单人沙发",
+      "离镜头最近的椅子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          512,
+          512
+        ],
+        "counts": "gYR4<a?7J5M2M2O1O1O1O1O1N2O2WAoN_>Z1OO100M3N200001N101N1J7A?K4N2N3O0O10_N^Bd0b=ZO`Bf0`=XObBh0]=XOdBh0\\=XOdBh0\\=XOdBh0\\=XOeBg0[=YOeBg0[=YOeBg0Z=ZOfBf08fN^<d0ZCf03kNc<?YCg01nNe<;ZCi0JPOm<7YC[1g<eNYCY1i<gNWCU1m<kNSCR1P=oNoBm0U=SOkBj0X=UOiBh0Z=XOgBf0Z=ZOfBe0[=[OdBe0]=o00000000O100000000O100000000000000002N3M3M2N2N3NYNiBe0U=ZOnBf0P=YORCg0n<XORCM3Fk<=SCI:Ec<a0YCYOFOf01\\<g0m1O2N2M3J6K4K[aZ11`^eN>G6_CYOd9i0ZFYOd9j0YFXOf9j0WFXOg9j0WFXOh9i0WFXOh9i0VFYOj9g0UFYOk9h0SFZOl9g0SFYOn9g0QFYOP:g0nE[OQ:f0nEZOS:f0lE[OT:e0jE\\OX:c0gE]O[:b0dE^O]:b0bE_O_:?aEAb:<]EEd:;[EFd::\\EFe::ZEFf::ZEGe:9[EGf:9lDPOPOh0T<8iD7W;JbD<^;EUDh0j;g11O000000000000000[NPDZOP<1hDPOoN?Y<?lDPOmN?W<`0oDoNkN`0V<a0PEnNlN?T<c0QEmNkN`0T<c0QEmNlN?S<d0RElNmN=R<g0REjNk;T1b1N4UOeV<"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          512,
+          512
+        ],
+        "counts": "o_T41o?0000000_[b02_d]O1O0O2O1N2O1O1N2O0O2ON2M3N`@KY?4f@OX?0g@3Y?Ji@8]?3L3M4M3N2O001N2O001O11O2M2O000O0100N101N1N3O00010O01O010O010O01O00010O0000100O000010O010O0010O1O0010O01O0010O01O01O01O01O01O01O01O01O100O2N1O001O10O01O010O010O00010O0001O00010O001O00010O00010O01O0010O01O0010O01O001O01O01O001CPAHP?6TAHm>6UAJj>5XAJh>5ZAJg>4[AKe>4\\ALe>2]ANb>2g0N10dA0h<0\\RP1<_aoN"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/Table_222222_Television/062656_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/Table_222222_Television/062656_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d3197822879b5b20c867256e7bd43d7cc64f9e4
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/Table_222222_Television/062656_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/Table_222222_Television/062656_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "Table 222222 Television"
+    ],
+    "target_area_description_en": [
+      "Table",
+      "Television"
+    ],
+    "target_area_description_cn": [
+      "桌子",
+      "电视机"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "Ygj12`:5L3N1O2N3M3L?B;E2N00000000kNSGb0n8\\OXG`0h8@YG8n8GSG9l8HTG9k8GUG:j8FVG<h8DXG>f8BZG?e8A[G?e8A[G?d8B\\G?c8A]G?c8A]G?c8@gG7Y8IhG6X8JhG6X8JhG6W8KiG5W8KiG5W8KiG5W8KiG5W8KhG6X8JhG6W8KiG5W8KiG5W8KiG5W8KiG5W8LhG4X8NeG3Z80cG1]81ZG6f8LUG7k8i000000O1oNQG=n8CSG=m8BUG=k8BVG>j8AWGIN9k8MYGE1=f8MgG3Y8LhG4X8KiG4Y8JhG6Z8HfG7]8FcG;_8BaG>Z91N100100O2N101N2M200O10O10OO2L40000000O100000O1fJG98Gb0@^O`0W1kNiNU1W1jNjNU1W1kNiNU1W1nM]NRN<P4W1nM^NQN:R4X1mM^NQN:R4X1mM_NdMOL:c4X1mM`NcMOK:e4W1mMaNbMNL:e4W1lMbNcMNK9f4W1lMcNbMNK8g4W1lMdNaMMK8j4V1jMeN`M0J5l4V1jMfN_M?g4k0jMgN^M>h4k0jMhN]M=i4k0iMjN^M9j4m0hMlN^M5j4o0hMlNaM2g4R1hMlNbM1e4T1iMkNeMNb4W1iMkNfMLb4Y1hMkNhMJ`4[1iMjNgMK`4[1jMiNfML`4[1lMgNdMN`4[1nMdNcM1_4[1nMdNcM1_4[1oMcNaM3`4Z1PNbN^M5b4Z1QN`N\\M7c4Y1RN_N[M8d4X1RN_N[M8c4Y1RN^N\\M9a4Z1TN\\N\\M8a4\\1TN[N\\M8`4]1TN[N\\M8a4\\1dNdN\\1\\1dNdN\\1\\1dNdN\\1\\1dNdN\\1\\1dNcN\\1^1dNbN\\1^1cNcN^1\\1bNdN^1\\1bNdN^1\\1bNdN^1\\1bNeN]1[1cNfN\\1Z1dNmNU1S1kNoNS1Q1mNoNS1Q1lNPOT1P1lNoNU1Q1kNeN_1[1aNdN`1\\1`NdN`1\\1_NeN`1\\1`NeN_1[1aNeN_1[1aNfN^1Z1bNfN^1Z1aNhN^1X1bNhN^1X1bNhN^1X1aNjN^1V1bNjN^1V1bNjN^1W1aNiN_1W1aNiN_1W1aNiN_1W1aNhN`1W1aNiN_1W1aNiN_1W1aNiN_1W1aNiN_1W1aNiN_1W1aNiN_1W1aNhN`1X1_NiNa1W1_NiNa1V1`NjN`1V1`NjN`1V1`NjN`1U1`NlN`1S1aN@l0?UOAl05\\OLU1QOSKOR4R1Y51001O0O1M3@`0N2K6L3O1OlU`1"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "`:1c:0bn^20^QaM0jY94VeFl0001O00000O1000O10000000O1000O10O10000O100000000O100000000000001O0O1000001O00O1000O100001O[OXF>h9AZF>f9B[F=e9C[F=e9B\\F>d9A]F`0c9_O]F2M8e9F^bZ1OmgXO"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/The_area_at_the_lower_left_corner_of_the_bed_and_the_lower_part_of_the_222222_staircase/64d22c7de4b011b0db94ba16_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/The_area_at_the_lower_left_corner_of_the_bed_and_the_lower_part_of_the_222222_staircase/64d22c7de4b011b0db94ba16_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c107058731f3b1a4491ad6353fe521ba3219200
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_area_at_the_lower_left_corner_of_the_bed_and_the_lower_part_of_the_222222_staircase/64d22c7de4b011b0db94ba16_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/The_area_at_the_lower_left_corner_of_the_bed_and_the_lower_part_of_the_222222_staircase/64d22c7de4b011b0db94ba16_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The area at the lower left corner of the bed and the lower part of the 222222 staircase"
+    ],
+    "target_area_description_en": [
+      "The area at the lower left corner of the bed and the lower part of the",
+      "staircase"
+    ],
+    "target_area_description_cn": [
+      "床的左下角区域",
+      "楼梯下半部分区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          768,
+          1024
+        ],
+        "counts": "kXU;T5ib06K4M3M3M3M2O1N101N2O001O0N2N3N1N2O100O100O010O10O100O1O10000O2O00001O1O0O2O1O2M2N2O1N3M2N1O2N2N2N3\\L[^Og0ja0QO_^Oi0bW[2kMWgdM=4A_e09\\ZOd1^e0b0^Ob00O001O001000O01O001O00001O000O1O2O0000000000000000000001N10001O0O10O1O0100O100O1O010O1O100O1000000000000000000000000000000000000000000000000000000000000000000000000\\1dN3M7I5K3M<D4Ld0\\OYZR73_SmH"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          768,
+          1024
+        ],
+        "counts": "Q`U;7fg06K5L4J6J9G6K7G:G6L_2_M6I=E6I5K6K4M6I6J4J:F6L8G7K2L5M2O3M3L3N4L2MR1nN7H5K4L6J4N2N2O1N2M3N1O3M1O00000000000O100000000000000001O000000000000000000000000000000000000000N2001OO101O000001O1O02N3M2N4K9H6J3M3M3M6I7K3M1N2N2N3M3M4L4L4L5K5K4L4L4L4L4L3M3M3M2N2M3M3N3M2N3M2N2N2N1O2N1O2N1O2Mb0_O3M3M3M3M5K4K7J5I4ZOU\\OkL[d0b2j0dN\\1XO^TY9"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/The_bed_farthest_from_the_camera222222_The_desk_closest_to_the_camera/101135_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/The_bed_farthest_from_the_camera222222_The_desk_closest_to_the_camera/101135_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..83eceea1552cc62e8420a758b1b31e630a97d5a6
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_bed_farthest_from_the_camera222222_The_desk_closest_to_the_camera/101135_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/The_bed_farthest_from_the_camera222222_The_desk_closest_to_the_camera/101135_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The bed farthest from the camera222222 The desk closest to the camera"
+    ],
+    "target_area_description_en": [
+      "The bed farthest from the camera",
+      "The desk closest to the camera"
+    ],
+    "target_area_description_cn": [
+      "离镜头最远的床",
+      "离镜头最近的书桌"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      false
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "d8<2Q1h8b0L1N100O10000O10000O10000O10000O10000O10000O100O1000000O100O1000000O10000O1000000O1000000O1000000O11O001O1O1O1O1O1O1O1O2N1O1O1O1O1O1O1O1O1O1O1O1O1O2N1O1O1O1O1O001O2N1O1O1O001O1O2N001O1O1O1O2N1O1O1O1O001O1O1O2N1O1O1O1O100O1O1O1O1N3N001O1O2N1O1O1O010O1O2NTa14d^N5M3M3N1N2O1N2O1N101O2O?@2O0O101O0O1000001O0O10001O000O2O0000001O0O10001O0O101O00001O001O1O001O000O10000O2O0O2O001N3N1O001O000O101O001O1O1O1O1O1O0O1O1M3N2M3N101O1O01000O0100000IUMcHk2^742O1O100O01000O2O0O101N1O100O100O100O100O1O1000ON3M4L3O1N2O1N2O1WNaG[1a893O1N2O1N2O1O1O1O001O1O100O1O101N2L3GjFQOX9n0800O100I^F[Oc9a0aF\\OXR]2"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "iX]1>R:5J6QNYOkIl0S6WOeIP1Z6RO`IS1_6oN[In0k6UOPIk0S7WOhHk0X7XOaHk0`7XO\\Hh0e7[OUHg0k7^OPHa0Q8P13M3N2M3O1N3M2N2N3N1N2O2M2O1O1O2M2O1O1O2N1O1O1O2N1O2N1O2N2N2N1O1N2O1O1N3N1O1N2O2N2M4L3NXZZ3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/The_bottom-left_corner_of_the_table222222Top_of_the_small_bookshelf/000333_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/The_bottom-left_corner_of_the_table222222Top_of_the_small_bookshelf/000333_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..2afb5263cff6e5626452e700afb0f6ede748fee5
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_bottom-left_corner_of_the_table222222Top_of_the_small_bookshelf/000333_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/The_bottom-left_corner_of_the_table222222Top_of_the_small_bookshelf/000333_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The bottom-left corner of the table222222Top of the small bookshelf"
+    ],
+    "target_area_description_en": [
+      "The bottom-left corner of the table",
+      "Top of the small bookshelf"
+    ],
+    "target_area_description_cn": [
+      "桌子的左下角桌角",
+      "小书架顶部"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
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diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/The_chair_at_the_bottom_right_of_the_table.222222The_bucket__farthest_from_the_camera/000235_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/The_chair_at_the_bottom_right_of_the_table.222222The_bucket__farthest_from_the_camera/000235_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dba4174b16a79776de178d98c9431ff50ecc97f
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_chair_at_the_bottom_right_of_the_table.222222The_bucket__farthest_from_the_camera/000235_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/The_chair_at_the_bottom_right_of_the_table.222222The_bucket__farthest_from_the_camera/000235_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The chair at the bottom right of the table.222222The bucket  farthest from the camera"
+    ],
+    "target_area_description_en": [
+      "The chair at the bottom right of the table.",
+      "The bucket  farthest from the camera"
+    ],
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+      "位于桌子右下方的椅子",
+      "离镜头最远的桶"
+    ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/The_chair_closest_to_the_cabinet222222The_chair_closest_to_the_camera/000132_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/The_chair_closest_to_the_cabinet222222The_chair_closest_to_the_camera/000132_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..2891503df8c0a824c43d2d09f189e78032e14142
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_chair_closest_to_the_cabinet222222The_chair_closest_to_the_camera/000132_mask_rle.json
@@ -0,0 +1,47 @@
+{
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+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The chair closest to the cabinet222222The chair closest to the camera."
+    ],
+    "target_area_description_en": [
+      "The chair closest to the cabinet",
+      "The chair closest to the camera."
+    ],
+    "target_area_description_cn": [
+      "离柜子最近的椅子",
+      "离镜头最近的椅子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
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diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/The_chair_closest_to_the_camera222222refrigerator/001085_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/The_chair_closest_to_the_camera222222refrigerator/001085_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd31908eea86a2cc25b6be55b658e3ba60d084d9
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_chair_closest_to_the_camera222222refrigerator/001085_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/The_chair_closest_to_the_camera222222refrigerator/001085_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The chair closest to the camera222222refrigerator"
+    ],
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+      "The chair closest to the camera",
+      "refrigerator"
+    ],
+    "target_area_description_cn": [
+      "离镜头最近的椅子",
+      "冰箱"
+    ],
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+      true
+    ],
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+      true
+    ]
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+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/The_chair_closest_to_the_camera_222222the_sofa_closest_to_the_camera/taskonomy_goffs_point_642_view_9_domain_rgb_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/The_chair_closest_to_the_camera_222222the_sofa_closest_to_the_camera/taskonomy_goffs_point_642_view_9_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ee936c3663572f0d089e42e2e694f53aab4bb1b
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_chair_closest_to_the_camera_222222the_sofa_closest_to_the_camera/taskonomy_goffs_point_642_view_9_domain_rgb_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/The_chair_closest_to_the_camera_222222the_sofa_closest_to_the_camera/taskonomy_goffs_point_642_view_9_domain_rgb_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The chair closest to the camera 222222the sofa closest to the camera"
+    ],
+    "target_area_description_en": [
+      "The chair closest to the camera",
+      "the sofa closest to the camera"
+    ],
+    "target_area_description_cn": [
+      "离镜头最近的椅子",
+      "离镜头最近的沙发"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
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+          512,
+          512
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/The_chair_on_the_right_side_of_the_table_222222_the_table_closest_to_the_sofa/076453_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/The_chair_on_the_right_side_of_the_table_222222_the_table_closest_to_the_sofa/076453_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..a76ffd9a7c4efbb208dba8c78e77ba40e4aade42
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_chair_on_the_right_side_of_the_table_222222_the_table_closest_to_the_sofa/076453_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/The_chair_on_the_right_side_of_the_table_222222_the_table_closest_to_the_sofa/076453_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The chair on the right side of the table 222222 the table closest to the sofa"
+    ],
+    "target_area_description_en": [
+      "The chair on the right side of the table",
+      "the table closest to the sofa"
+    ],
+    "target_area_description_cn": [
+      "靠桌子右边的椅子",
+      "距离沙发最近的桌子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
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+          512
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+          512
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/The_coffee_table_222222_the_chair_closest_to_the_coffee_table/taskonomy_fleming_point_527_view_2_domain_rgb_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/The_coffee_table_222222_the_chair_closest_to_the_coffee_table/taskonomy_fleming_point_527_view_2_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..a95ce60c80ef1e1d61110492d898dc4fd66fdc11
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_coffee_table_222222_the_chair_closest_to_the_coffee_table/taskonomy_fleming_point_527_view_2_domain_rgb_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/The_coffee_table_222222_the_chair_closest_to_the_coffee_table/taskonomy_fleming_point_527_view_2_domain_rgb_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The coffee table 222222 the chair closest to the coffee table."
+    ],
+    "target_area_description_en": [
+      "The coffee table",
+      "the chair closest to the coffee table."
+    ],
+    "target_area_description_cn": [
+      "茶几",
+      "距离茶几最近的椅子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          512,
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+      }
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+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/The_front_part_of_the_white_car222222The_right_rear_wheel_area_of_the_black_car/64d22c6fe4b011b0db94b9a1_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/The_front_part_of_the_white_car222222The_right_rear_wheel_area_of_the_black_car/64d22c6fe4b011b0db94b9a1_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5c4134acccb7654bcda19724376bfe5285ef5f7
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_front_part_of_the_white_car222222The_right_rear_wheel_area_of_the_black_car/64d22c6fe4b011b0db94b9a1_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/The_front_part_of_the_white_car222222The_right_rear_wheel_area_of_the_black_car/64d22c6fe4b011b0db94b9a1_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The front part of the white car222222The right rear wheel area of the black car"
+    ],
+    "target_area_description_en": [
+      "The front part of the white car",
+      "The right rear wheel area of the black car"
+    ],
+    "target_area_description_cn": [
+      "白色汽车车头部分",
+      "黑色汽车右后车轮区域"
+    ],
+    "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_Exo/The_left_armrest_of_the_left_single_sofa_222222_the_lower-left_corner_of_the_coffee_table/000127_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/The_left_armrest_of_the_left_single_sofa_222222_the_lower-left_corner_of_the_coffee_table/000127_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..66cd3ab198bcccac96487c57affb5c34ec74f756
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_left_armrest_of_the_left_single_sofa_222222_the_lower-left_corner_of_the_coffee_table/000127_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/The_left_armrest_of_the_left_single_sofa_222222_the_lower-left_corner_of_the_coffee_table/000127_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The left armrest of the left single sofa 222222 the lower-left corner of the coffee table"
+    ],
+    "target_area_description_en": [
+      "The left armrest of the left single sofa",
+      "the lower-left corner of the coffee table"
+    ],
+    "target_area_description_cn": [
+      "左侧单人沙发的左侧扶手",
+      "茶几的左下角"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "a]o04]:5M3M2N101N101O0000001O00010O001O01O001O001N101N2N2N3Ljdi0MX[VO5L4M2O1N101N10000000000001O0O101N2N2N4KTeP3"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "lTk0b0Q:=C3M2N3N1O1N2O001O1N2O0O2O1O001O1O1O0100O011O1O9F4M2N1N10002N0O01000O010O010O01000O01O010O01O0010O01O010O010O01O01O0010O01O1O01O0001O0000001O01O0001O00001O001O000010O000001O0001O0000000001O01O01O001O0000000001O000000000000000000O100O100O2M2M4N2N3L[YU3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/The_left_corner_of_the_table_222222the_lower-right_corner_of_the_coffee_table/000152_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/The_left_corner_of_the_table_222222the_lower-right_corner_of_the_coffee_table/000152_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8c58015278e8ba4d945817e6d7adbe1d5cb89dd
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_left_corner_of_the_table_222222the_lower-right_corner_of_the_coffee_table/000152_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/The_left_corner_of_the_table_222222the_lower-right_corner_of_the_coffee_table/000152_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The left corner of the table 222222the lower-right corner of the coffee table"
+    ],
+    "target_area_description_en": [
+      "The left corner of the table",
+      "the lower-right corner of the coffee table"
+    ],
+    "target_area_description_cn": [
+      "左侧的桌角",
+      "茶几的右下角"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "cTX18Y:5M3M2N2N101O0O2O000000O2O000O10001O00000O101O0O2O1N2M4MZR^1LfmaN7M3M2N2N1O2O00001N100000000000O101O001N1O2O1M4MbkQ2"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "Q__19Y:3N2N100O100O100O1O100O1O1O10000O1O1O100O1O100O100O100O1O100O100O100O1O100O100O100O100O100O100O01O000010O01O010O00010O000010O010O010O00010O010O01O01O010O0001O10O001O010O000010O0001O01O01O010O000010O00010O00010O01O000010O01O00001O010O00001O000O101O00000010O0000001O00001O0000001O001O1O1O1O1O1N3NNPObFP1_9POaFn0a9RO_Fk0g9N2O0N2O1O1O1O2N2O1N2M3Nj_T2"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/The_left_side_of_the_small_wooden_table222222The_lower_right_corner_of_the_floor_cabinet/107903_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/The_left_side_of_the_small_wooden_table222222The_lower_right_corner_of_the_floor_cabinet/107903_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c6a0ab7278d875749ee1e16f5b38a907d697ab7
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_left_side_of_the_small_wooden_table222222The_lower_right_corner_of_the_floor_cabinet/107903_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/The_left_side_of_the_small_wooden_table222222The_lower_right_corner_of_the_floor_cabinet/107903_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The left side of the small wooden table222222The lower right corner of the floor cabinet"
+    ],
+    "target_area_description_en": [
+      "The left side of the small wooden table",
+      "The lower right corner of the floor cabinet"
+    ],
+    "target_area_description_cn": [
+      "木质小桌子左侧面",
+      "落地柜子右下角"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          1024,
+          683
+        ],
+        "counts": "ae:7go09Hh0XO4L6K2M2O<D4LU1kN2N2N1O01002M2O1O1O2OO100O2N1OO1O1O1O0010O00100O1O1O1O2M3O00O001O01O001O1O002N1O1N201N3M5K2N001O0O2O2N1N3M4L4L4L8Fmjg<YNbUXCS1aQOROZn0\\1N3M1O2O1N101M2O100O2N101O000O1N200O1O100O10000O1000000000001O000000001O0000001O0001O001O1N101N2O2M3VNXROV1om0aNZROX1l\\`4"
+      }
+    ],
+    "masklet_path": [
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/The_leftmost_chair_leg_of_the_chair_on_the_left_side_of_the_table222222The_corner_of_the_table_on_the_right_side_that_is_closest_to_the_camera/64d22c7de4b011b0db94ba12_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/The_leftmost_chair_leg_of_the_chair_on_the_left_side_of_the_table222222The_corner_of_the_table_on_the_right_side_that_is_closest_to_the_camera/64d22c7de4b011b0db94ba12_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3d3d875249e841f9f4e5ac43c78d54111daab94
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_leftmost_chair_leg_of_the_chair_on_the_left_side_of_the_table222222The_corner_of_the_table_on_the_right_side_that_is_closest_to_the_camera/64d22c7de4b011b0db94ba12_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/The_leftmost_chair_leg_of_the_chair_on_the_left_side_of_the_table222222The_corner_of_the_table_on_the_right_side_that_is_closest_to_the_camera/64d22c7de4b011b0db94ba12_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The leftmost chair leg of the chair on the left side of the table222222The corner of the table on the right side that is closest to the camera"
+    ],
+    "target_area_description_en": [
+      "The leftmost chair leg of the chair on the left side of the table",
+      "The corner of the table on the right side that is closest to the camera"
+    ],
+    "target_area_description_cn": [
+      "桌子左边椅子最左边的椅子腿",
+      "桌子右边离镜头最近的桌角"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          600,
+          450
+        ],
+        "counts": "bQ<1gb0Q1POo0PO2N1O000000O2N1N2I7^NX@3i?MX@2h?NX@2h?NX@2h?NW@3i?MX@2h?NX@2i?MW@3i?MW@4h?LX@4h?NV@2j?^100001O000000000EQ_OmNo`0Mc_O2I0ca0K\\^O6Sb00S]Q42gSnKM`;9TD4f;4kC7R<LfC>U<EdCb0Z<_OlAi2d=X1N1O1O1O001O0000O10000O100O100O100O1O2M2N2K6J5_Lb3M3@S^OH[b00cZb2"
+      }
+    ],
+    "masklet_path": [
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+          600,
+          450
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/The_lower-left_corner_of_the_coffee_table_222222the_upper-left_corner_of_the_TV_cabinet/000239_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/The_lower-left_corner_of_the_coffee_table_222222the_upper-left_corner_of_the_TV_cabinet/000239_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..44872edf2032153c78cd13de5b3a0bc7c88d4e39
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_lower-left_corner_of_the_coffee_table_222222the_upper-left_corner_of_the_TV_cabinet/000239_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/The_lower-left_corner_of_the_coffee_table_222222the_upper-left_corner_of_the_TV_cabinet/000239_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The lower-left corner of the coffee table 222222the upper-left corner of the TV cabinet."
+    ],
+    "target_area_description_en": [
+      "The lower-left corner of the coffee table",
+      "the upper-left corner of the TV cabinet."
+    ],
+    "target_area_description_cn": [
+      "茶几的左下角",
+      "电视柜的左上角"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "Zao16]:4M3M2N2N101N100000000000000000000000000000000000000001O0O2O0O2N3M3LWWi00ihVO4M2N2N2O1N10001O1O1O00001O00000001O0000001N10001N101N2N2N3LWhk1"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "fb\\27\\:3N1O1O1O10000O1000000000000N2O100O100O10000O1O1O1O1N2O1N2N2N2N2N2O1N2N2O1N2O1O1O1O1O1O1O1O1N2O1O1N2N2O1N2N2M3N2O1N2N2N2N2O1L4M2N3M3M2M4L3J7I6O2O1O001O01O1O1O0N3K6N1N2N3M2N2N2M3L4K5M3N2M3K6K4N3L4L5L4I:I6I4I7E;M5JT\\j1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/The_lower-left_corner_of_the_lounge_chair_222222_the_right_armrest_of_the_sofa_farthest_from_the_camera/000105_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/The_lower-left_corner_of_the_lounge_chair_222222_the_right_armrest_of_the_sofa_farthest_from_the_camera/000105_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c316db4300e568380293afb680e59a13ac12450
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_lower-left_corner_of_the_lounge_chair_222222_the_right_armrest_of_the_sofa_farthest_from_the_camera/000105_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/The_lower-left_corner_of_the_lounge_chair_222222_the_right_armrest_of_the_sofa_farthest_from_the_camera/000105_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The lower-left corner of the lounge chair 222222 the right armrest of the sofa farthest from the camera."
+    ],
+    "target_area_description_en": [
+      "The lower-left corner of the lounge chair",
+      "the right armrest of the sofa farthest from the camera."
+    ],
+    "target_area_description_cn": [
+      "躺椅的左下角部分",
+      "离镜头最远的沙发右侧扶手"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "na72_:`0B5K3N1N2O1O1N100O2O000000000000000000O11OO10000000000O100O1O1O100O100O2O0O2N2O0O2N2M4L4JTm_2OoR`M4M3M2O1M2O2O0O4M1O1O001O01O1O00000000000O2O001N102M4@nE7Z:Loci1"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "Sbe04^:4cEJW:=L2O1N101O001O1O0O10000O1O100O1000000O100O100O10000O10000O1000000O10000O10000O10000O100O10000O10000O10000O100O100O10000O10000O01O1O001O001O00100O001O100O0010O010O010O010O010O0010O01O010O00010O010O0010O001O001O010O010O01O010O1O001O01N1ON3O10O10O2N100O101O00010N101O1OO010O10O1O1O01O1O0O200O0000100000O10O2O00000O1O2O0O101N1O101N2O0O2O001O001O010O010N1L5M1O3O001K5N200M3O100O1000000000000000000001O1OO10000O1000000000000000001O000000000O10000000000000000000000000O100000000000000000000000O01000001O001O1O1O1O3jEEm9a001O0000O10000O101O002N1O000O2O1M4LYbi1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/The_lower-left_corner_of_the_table_222222_the_corner_of_the_bowl_on_the_right/000110_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/The_lower-left_corner_of_the_table_222222_the_corner_of_the_bowl_on_the_right/000110_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..79d4f14ba5303a04df773f54c852182eb9a2765c
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_lower-left_corner_of_the_table_222222_the_corner_of_the_bowl_on_the_right/000110_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/The_lower-left_corner_of_the_table_222222_the_corner_of_the_bowl_on_the_right/000110_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The lower-left corner of the table 222222 the corner of the bowl on the right."
+    ],
+    "target_area_description_en": [
+      "The lower-left corner of the table",
+      "the corner of the bowl on the right."
+    ],
+    "target_area_description_cn": [
+      "桌子的左下角",
+      "右侧的碗角"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          768,
+          512
+        ],
+        "counts": "Vni07gg04M2O0O2N1O1O1O100O10000O10000000000000000000000000O100O1N3M201N2N3LWjV97bUiF8I3M3L4M2N1O2N100O2N1O1O1O10000O1O1O1O1O01O1O001N3L3N2N3L4K5M4L[X<"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          768,
+          512
+        ],
+        "counts": "oX:8fg05E>J3M3M4K3L5L2N3M3M2N2O2M2O2N1O2N1O1O002N2N1O1O1O1O1000000O2O02OYMcMh_O]2nb0O0100XMcMk_O_2ib02O1000001O0000O100000001O00000000000O100O100O100O100O10O010000O010O1O010O010O010O10O01000O10O10O0100O0100O1000O10O10O010O10000O010O010O01000O010O0010O01O010O1O0010O01O1O0010O010O1000O01O010O010O010O0100O0010O0001O0010O01O01O010O01O00010O00010O000010O0001O001O01O01O0001O01O0001O01O00010O00001O001O010O00001O00001O000000010O00001O000000001O0000010O00000000010O00000000001O01O00001O01O0001O0000001O0001OO11O0001O01O00000001O00001O00001O00000000001O0001O00000000000001O0000000000000000000000001O00000000001O00000000000000000000001O000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000O1000000000000000000000000O100000000O1000000000000O1000000000000000000000000O10000O1000000000000O1000O1O010000O1000`0`NdYO;gg0ZOjg90nWF8cN\\12O000O010O2O000O2O0AbYO[O`f0c0bYO[O_f0d0dYOYO_f0e0cYOVOaf0h0?K4M3L4L6Hi[g0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/The_lower-left_corner_of_the_table_222222_the_lower-left_corner_of_the_desk/000253_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/The_lower-left_corner_of_the_table_222222_the_lower-left_corner_of_the_desk/000253_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..00b1bdf44000aac3d5a1a7903db3e2e1a6afc63b
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_lower-left_corner_of_the_table_222222_the_lower-left_corner_of_the_desk/000253_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/The_lower-left_corner_of_the_table_222222_the_lower-left_corner_of_the_desk/000253_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The lower-left corner of the table 222222 the lower-left corner of the desk"
+    ],
+    "target_area_description_en": [
+      "The lower-left corner of the table",
+      "the lower-left corner of the desk"
+    ],
+    "target_area_description_cn": [
+      "桌子的左下角",
+      "书桌的左下角"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "[_g23_:6K4M2N2O0O2O00001O001O0O101O0000000000O10000O100O10000000001O00001N101N2N2N3KbaV1Kb^iN8K3M2N2N101N101N1O1O1O10O0100O1000O10001N1000001N10001O001N101N2N2N4JdUc0"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "eah23_:6L3M2N2N2O0QFEc9<[FHc9f0O1O1O001O00001O000000000O1000000000000000000O100000O010000000O1000O1000000O01000O10000O10000O100O10000O1000O10O10O001000O0100O010O10O0100O1000O01000O010O1000O010O10O100O010O100O010O10000O010O00100O010O100O1O001O1O001N101O001N100O10000O10001O0O1O10000O100N2O1N3M2O1O1N2O2N1O1O2M2K5M3O01O1O1O101O1O1N101O2M2N2N3M2M3N2O1N2M3N3L3N2M3N2M4M2N3L4L4L5HRie0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/The_lower-left_part_of_the_lounge_chair_222222_the_right_part_of_the_rightmost_vase/000062_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/The_lower-left_part_of_the_lounge_chair_222222_the_right_part_of_the_rightmost_vase/000062_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..178adcee6c194a8be3117308008e1cd0688e2fa2
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_lower-left_part_of_the_lounge_chair_222222_the_right_part_of_the_rightmost_vase/000062_mask_rle.json
@@ -0,0 +1,46 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/The_lower-left_part_of_the_lounge_chair_222222_the_right_part_of_the_rightmost_vase/000062_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The lower-left part of the lounge chair 222222 the right part of the rightmost vase."
+    ],
+    "target_area_description_en": [
+      "The lower-left part of the lounge chair",
+      "the right part of the rightmost vase."
+    ],
+    "target_area_description_cn": [
+      "躺椅的左下部分和最右侧花瓶的右边部分"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      false
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "Wjh05]:4M2M4M2N3M2O1O1O1N2O2N1O1O1O1O1O0010O00001O1O1N2N2N4J[jh3@VVWL6K3M2N2O1O0O10000000O1000000000000000001N101O00000O2O000O2N3MR^4"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "c`S11c:1_E0[:8L1O1N2O10000O100O1N2N20000O1000000O10000O10000O1000000O1000000O1000000O10000O100O10O10000O10O010000O0100000O10000O01000O10O01000O100O010000000O01000O1O10O0100000O100O0100000000O10O10O10000O100000O010000O1000O01000O10O0100000O1000O100O100000O00100O10O01000O1O100O1O10000E;N2N2O1O1I7O1Oa^g18WaXN6J3M2O1N101O00000000000000000000000000000000000000000000001O00001O00000010O00001O1O00000010O00O100O100O10000O100O100O1O101N2O1N2M2Nge8"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/The_lower-right_corner_of_the_left_sofa_222222_part_of_the_right_table/000176_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/The_lower-right_corner_of_the_left_sofa_222222_part_of_the_right_table/000176_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0fc46bdd5ae28cfbefe3bc40bf1584a07a2a8d8
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_lower-right_corner_of_the_left_sofa_222222_part_of_the_right_table/000176_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/The_lower-right_corner_of_the_left_sofa_222222_part_of_the_right_table/000176_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The lower-right corner of the left sofa 222222 part of the right table"
+    ],
+    "target_area_description_en": [
+      "The lower-right corner of the left sofa",
+      "part of the right table"
+    ],
+    "target_area_description_cn": [
+      "左侧沙发的右下角",
+      "右侧桌子的一部分"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "]hS15]:`0A3M3N1N101O0001O001O000O2O0O1O2N2M4K5LQ`f3LS`YL4M2O2M3N1O1O00001O00000001O010O01O00000001O0O2O0O2N`I"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "b]T11b:0`<3[C5M3L5M1N2O1L4M3M2O101N100O2O00000000001O0000001O000000000000001O01O00001O0001O000000010O0000000000001O01O00000000010O00001O01O01O0001O0001O00000001O01O00000001O01O00010O0000001O0001O00000001O0001O0001O01O000001O0000000010O00000001O0000010O0000000000001O01O0001O01O00000001O000001O000001O000001O0000010O00001O01O000001O00000001O000001O000000000001O000001O0001O000000000000000000001O000000001O000000000000000000000000000000001O000000000000001O0000000000001O0000001O0000000000001O000000000000001O0000000000000000001O000000001O0000O1001O000000000000001O0000001O00000000001O001O000000000000O100O100O100O100O100O1O100O10000O001000O01O1000O01000O0100O010O10O010O01000O010O10O10O01000O010O01000O01O10O01O001O000O101O1O000010O001O00100O1O100N3O0O2O1N2N2N3N0O101O0O2N2N2N4K_[5"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/The_lower_left_area_of_the_door222222The_corner_of_the_countertop/1159282_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/The_lower_left_area_of_the_door222222The_corner_of_the_countertop/1159282_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4fcbf4eed397dcd9c1072a4a7b5fd91be6098b3
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_lower_left_area_of_the_door222222The_corner_of_the_countertop/1159282_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/The_lower_left_area_of_the_door222222The_corner_of_the_countertop/1159282_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The lower left area of the door222222The corner of the countertop"
+    ],
+    "target_area_description_en": [
+      "The lower left area of the door",
+      "The corner of the countertop"
+    ],
+    "target_area_description_cn": [
+      "门的左下角区域",
+      "台面拐角处"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          683,
+          1024
+        ],
+        "counts": "mj98Qe04M3M2N2N2O1N2O1N2O2M8I5K=B6J6J^2bM8I2M3N1O1N2O1N2O1N1000001O2N1N2O2M101O1O0O2N100O100O100O100O0010O10O01O1O1O1N2N2O1000O100O10000000000000O10000O1O100O1N2O1CQ@[KR`0e4:00000O10000O1000O100O100O1N2O1O1O1N3N1O2N1O2N2N2N2O2M4L2N4M4K3N2XNa^O_Oaa0>d^O^O^a08V^O`Ng0T1Ta04W_OIm`01[_OIUc0N5JbYg9BlfXF5K3N2N2N2N1O2N2O0O101O000000000000000O1O1000000O10000000001O001O000000000000000000000m[OFUc0:f\\ONWc0T1O1O1O1O001O001O000000001O000000000000000001OO1001N100O100O1O1O1N2O2M2N2N3J5M4J6H7O3L3M4IeTX6APlgI1N2N2N1O100O01O0100O0010O01O10O01O1O00010O1O001O1O001O1O01O01O000mA"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          683,
+          1024
+        ],
+        "counts": "[oe04Te06K3N2N2N2O1N10001O00000000001O00001O0001O001O000000000000N2O1O1O1O100O10000000000000000O100O100O100O1O100O1O100O100O1O100O100O100O100O1O100O100O100O010O10O01O100O1O100O100O1O100O100O10O01O100O100O1O2N100O101N100O2N100O100O100O100001O0000001O00000000000000000000001OO11O00O11OO11O00O11OO11O00O11OO11O00O11OO11O000000O11O00O11O00O11O000000O11O00O11OO11O00O10000000000O10000O1000000O10000O100O100O100O1001O00001O0O100O10001O01O010O00000001O0001O00001O0000000000001O000001O00001O0001O0000001O000000000001OO11O00O11OO11O00O11OO11O000000O11O00O11O000000000000O11O000000000000O11O000000O11O000000O11O000000O11O000000O11OO11OO11O00000000O11O00O11OO11O00O11O000000O11O000000O11O000000000000000000000000O11O00000000O11OO11O000000O11OO11O00O11O000000O11O000000O11O00000O011N011O00000000O100000000O10000O100000000000000000000000O10000O100O100000000000000O100O010000O1000000000000O1000000O01000O01000000000000000000000000000O10000O100000000000O1000000000000O10O1000000O100O100000000000O10000000000000O10000O1000000000000O100000000000000001O000O10001N100O1O1000000O101O000000000000001O00000000001O000O10001N1O1000001O0000000000001O0000000000000O2N100000001O000O10001N4LS1mN2N3L[cj7Km\\UH1N2N2N1O100O01O0100O0010O01O10O01O1O00010O1O001O1O001O1O01O01O000mA"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/The_right_armrest_of_the_single_sofa_222222the_compartment_at_the_lower-right_corner_of_the_cabinet/000163_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/The_right_armrest_of_the_single_sofa_222222the_compartment_at_the_lower-right_corner_of_the_cabinet/000163_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..6094126e0e346564b5ac387aa621ce52fe62c05e
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_right_armrest_of_the_single_sofa_222222the_compartment_at_the_lower-right_corner_of_the_cabinet/000163_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/The_right_armrest_of_the_single_sofa_222222the_compartment_at_the_lower-right_corner_of_the_cabinet/000163_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The right armrest of the single sofa 222222the compartment at the lower-right corner of the cabinet."
+    ],
+    "target_area_description_en": [
+      "The right armrest of the single sofa",
+      "the compartment at the lower-right corner of the cabinet."
+    ],
+    "target_area_description_cn": [
+      "单人沙发的右侧扶手",
+      "柜子的右下角的隔层"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          768,
+          512
+        ],
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+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          768,
+          512
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/The_right_armrest_of_the_sofa222222The_doorway_area_on_the_right/000445_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/The_right_armrest_of_the_sofa222222The_doorway_area_on_the_right/000445_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5a75a493d6a127fded25e2d9262da229210a7cf
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_right_armrest_of_the_sofa222222The_doorway_area_on_the_right/000445_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/The_right_armrest_of_the_sofa222222The_doorway_area_on_the_right/000445_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The right armrest of the sofa222222The doorway area on the right"
+    ],
+    "target_area_description_en": [
+      "The right armrest of the sofa",
+      "The doorway area on the right"
+    ],
+    "target_area_description_cn": [
+      "沙发右边扶手",
+      "右边的门口区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "lUe16^:2N2N2N100O2N2N1O1KATF`0j96O2N101N10100O00010O002N2M3N001O00001O01N1000001O001N3N2M10000O1O1O2O001N2O3L5L0O2N2N2NTae2IR_ZM5L2fEJR:?M2O1O000O2O00000000000000000000010O01O001O0O1000000O1O1KnEDV::3O2O1MX_1"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "YmQ27[:6L2N2N2N2N2O0O2O2N1O001O1O0000000000000000000000000O100000000O100000000O100000000000000O1000000000000000000O1000000000000000000000000000000000000O1000000000000O1000000O100000000O10O100000O1000000O10O10000000O10000000000O1000000000000O1000000000000O10000000000000000000000000000000000001O0000001O1O001N2O0000O10O100000000000O10000000000000000O10000000000O10000000000O1000000000000O100000000O10O10000000O10O1000000O10O10O10000O0100000O100O01N2O1O010O010O010O00001O1O00001N101N1O2N1O2N101N10001O000O2N1O1O1O2O000O100O1000000N2O101N1O1O100O10O100O10O1000O1O101N2N2N2N2N2N2M2N3O1M3N3M3L4L3M4L4A\\FGi97<M3MgS5"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/The_rightmost_table_222222_the_smallest_bookshelf_area/1159294_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/The_rightmost_table_222222_the_smallest_bookshelf_area/1159294_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..842be331b2c0846c6218598eb2efe677743814a8
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_rightmost_table_222222_the_smallest_bookshelf_area/1159294_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/The_rightmost_table_222222_the_smallest_bookshelf_area/1159294_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The rightmost table 222222,the smallest bookshelf area"
+    ],
+    "target_area_description_en": [
+      "The rightmost table",
+      ",the smallest bookshelf area"
+    ],
+    "target_area_description_cn": [
+      "最右边的桌子",
+      "最小的书架区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          1024,
+          685
+        ],
+        "counts": "k_g69eo07If0[O4M5J4L4M2N1L4N2M201N100O1000000001O0010O001O00000001O0000001O001O0000000000000000000000000000001O00001O00000000000000000O2O001O1N2N3M4L6J6Ik^o:A]aPE[OPQOn0cn0>kNU1K5L4K4H9G;H6K4M3N2hN\\LmUOk3oi0]LhUOh3Qj0W1gLgJf[O^5Wd0kJ\\[O\\5cd0hJlZOf5Se0_JcZOg5\\e0\\JZYOl6ef0X1O1O100O1O1O100O1O100O100O100O10000000O1O1M3_Ob0M2`MgXOPK4Le0"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          1024,
+          685
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/The_side_of_the_sofa222222The_chair_on_the_left_side_of_the_table/taskonomy_experiment_point_411_view_3_domain_rgb_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/The_side_of_the_sofa222222The_chair_on_the_left_side_of_the_table/taskonomy_experiment_point_411_view_3_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba0fbe47d4d80d4bdb451e9da51c3fd8d6ac81cf
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_side_of_the_sofa222222The_chair_on_the_left_side_of_the_table/taskonomy_experiment_point_411_view_3_domain_rgb_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/The_side_of_the_sofa222222The_chair_on_the_left_side_of_the_table/taskonomy_experiment_point_411_view_3_domain_rgb_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The side of the sofa222222The chair on the left side of the table"
+    ],
+    "target_area_description_en": [
+      "The side of the sofa",
+      "The chair on the left side of the table"
+    ],
+    "target_area_description_cn": [
+      "沙发的侧面",
+      "桌子左边的椅子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          512,
+          512
+        ],
+        "counts": "nUR2;?1Y>X1C4L2O2N1N2O1O01O00000O100O1O1O1000000000000000O100000000000000000000000O100000000000001O0000000000000000000000O100000000O1M2FUNZBR2f=nM\\BP2`=RNbBn1a=oM_BQ2h=oMUBm1]=RNUCk1f<ZNZCf1e<aNlBF1i1R=aNWCECf1U=fN]CY1b<fN`CZ1_<fNVCENf1o<bN^C^1c<`NjBJ?f1f<aNiBL`0c1h<_NiBO>b1c<YNRC50O9d1d<[NQC210:c1d<[NQC23O6e1e<YNXCNO24h1c<YNdCOHi1d<YNcCNIi1c<ZNdCMHk1b<TNVC2?0@M4o1g<RNUC3`02Bk1g<QNWC2`02Am1`=:LcMeB^2o<bMVC0K`2[=100O1O1J5AZM_CNLj2g<[M\\Cd2f<]MXCb2j<66G7[MgB]2c=I6L4ZNWBn0n=QOVBc0S>YOWB3@GZob04[`]O5L4L5L5K5K6K5[DiNX8Z1\\GnNe8S1RGSOo8P1dFXO]N]O[:[1lF@`N@f:Q1[FHkN\\On:o0`EP1b:V25K3L6I7G8H8G:H9H7BPCbMY=P2lBPNZ=d1mB[NV=U1]BnN`0MS=Q1cBoN;0R=Q1cBPO:OS=Q1cBPO:OS=R1bBoN;0R=Q1bBPO<OS=P1aBQO<OS=P1aBPO=0R=P1aBPO=0S=o0`BQO=0S=o0_BRO>OV=l0\\BUO>OT=MXBn08UO<0S=n0aBRO<0R=o0bBQO<0R=5[B?7\\O;0T=5ZB?7\\O;1S=n0bBSO9OT=o0cBUO6LX=n0bBYO3I[=n0bB]OOE_=n0cBoNI:3Hb=o0jBYO@Ig=OYBM0h0b0Ha=4cBI_=4khj2"
+      }
+    ],
+    "masklet_path": [
+      {
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+          512,
+          512
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/The_single_sofa_on_the_right222222stool/000952_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/The_single_sofa_on_the_right222222stool/000952_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..23d0e418ef691fc3dc6cbcc1a677905757e1615c
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_single_sofa_on_the_right222222stool/000952_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/The_single_sofa_on_the_right222222stool/000952_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The single sofa on the right222222stool"
+    ],
+    "target_area_description_en": [
+      "The single sofa on the right",
+      "stool"
+    ],
+    "target_area_description_cn": [
+      "右边的单人沙发",
+      "凳子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "`af1=U:8H6J7H7J5K6J5K6L3M3M2N3N1N3M101N2N101N101N10TO_HdNa7Z1dHdNZ7]1gHbNY7]1jHaNV7]1lHcNT7]1lHcNT7\\1nHcNQ7^1PIaNP7^1QIbNo6^1RI`No6`1QI`No6`1PI_NR7a1jH`NY7d1`H\\Nc7j1SHYNn7V21M3O1N2N2M3B>00O1000000010O001]N]NRJc1dN[NT7>lHFk0e1W6[O\\Ie0c6]O\\Ic0c6^O^Ia0a6@_I`0a6_OaI`0^6AcI>\\6CdI=\\6CeI=Y6EgI9Y6HhI7W6JjI5V6KlI3S6NPJ0n51TJLm54TJKl55WJGi5:XJCj5=YJ\\Ok5d0XJROo5n0WJfNo5Z1d12L4O100O101O000000000000000000001O000000000001O0000000000000000000001O00000001O1O6J0000000010O0000O3L5D>CVhX2"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "YVi01c:0i\\n00VcQO1c:OZb?0TS@3^EN\\:2eEN[:2eEN[:3eEMZ:3fENY:2fEOY:2gEOX:1hE0V:1kEOS:2mE0Q:0oE2P:MPF5n9KRF6m9KRF8k9HUF:i9FWF<g9DYF?d9A\\Fb0a9_O_Fd09VOg86PGo0R9QOnFn0S9ROmFl0U9SOlFl0U9TOkFj0W9VOiFi0X9WOhFh0Y9XOgFg0Z9YOfFf0[9ZOeFd0]9\\OcFb0`9^O_F`0c9@]F?d9A\\F=g9AZF>g9BYF=h9CYF:i9FWF9j9HUF7l9ITF5n9KRF4o9MPF2P:OPF0Q:0oEOR:1nEMT:3mEKS:6mEIT:7lEHT:9310N3N3K3NSQ_2"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/The_single_sofa_on_the_right222222television/000351_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/The_single_sofa_on_the_right222222television/000351_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6b9e17abbe9d4af56b3bbc7ce2d69f7408bc316
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_single_sofa_on_the_right222222television/000351_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/The_single_sofa_on_the_right222222television/000351_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The single sofa on the right222222television"
+    ],
+    "target_area_description_en": [
+      "The single sofa on the right",
+      "television"
+    ],
+    "target_area_description_cn": [
+      "右边的单人沙发",
+      "电视机"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "_]V2W1^94L1O0O20O000000000000000000000000000000000O10000000000001O000000000000000000000000000000O100000000O2IfiQ1XOQWnN8J5N2O100O100O10000O1000000O10000O10000O10000O10000O100O1000O0100O100O100O10000O10000O101N100O100O100O10000O100O1O10000O100001O00001O001O0O101O000010N1O0O2O1N3N1N2O10O0100O10001O000001O001N101O001O010O001O1O001O0O2O00100O001O001O0O2O1O001MfFiNZ9Z10O001O001N10001O001O1O001OO1M3O1O1O1N2O1O1O100O10dNYGj0f8VO[Gj0B"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          341,
+          512
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/The_small_coffee_table_closest_to_the_wall_222222_the_wooden_pillar_on_the_right_side_of_the_escalator/000009_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/The_small_coffee_table_closest_to_the_wall_222222_the_wooden_pillar_on_the_right_side_of_the_escalator/000009_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..69e4d1750ccbd9a0941497999c0286cdab223eff
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_small_coffee_table_closest_to_the_wall_222222_the_wooden_pillar_on_the_right_side_of_the_escalator/000009_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/The_small_coffee_table_closest_to_the_wall_222222_the_wooden_pillar_on_the_right_side_of_the_escalator/000009_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The small coffee table closest to the wall 222222 the wooden pillar on the right side of the escalator."
+    ],
+    "target_area_description_en": [
+      "The small coffee table closest to the wall",
+      "the wooden pillar on the right side of the escalator."
+    ],
+    "target_area_description_cn": [
+      "最靠近墙壁的小茶几",
+      "扶梯右侧的木头柱子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          343,
+          512
+        ],
+        "counts": "hf\\1k0j94M3M2N1O2O1O0O10001O0000O101O000O2N2O1N2M4L6VORF3O11O_V>NTTB0VWj14^hUN;\\Oc0L3N2N1O2N2O0O1000000O1001O000O101N2N1O2N2M4H9FSYU1"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          343,
+          512
+        ],
+        "counts": "ch`14a:4N1N2N2O0O2N2O1O1O100000O10O10O1000O10O1000O0101N10O10O1000O010O0100O0010O10O0010O01O010O010O000000001O00_HDg4<YKDg4<i210O110N100O2O1O1N10001O002N2MllW13PShN4M2O1N101O00000O1O1O100O101O000000001O000000001O00000010O00000001O00010N11OO110O01O1O2N1N2N2O1M3I7O2NRcY1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/The_socket_next_to_the_curtain222222The_socket_at_the_bottom_of_the_wall_directly_ahead/000386_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/The_socket_next_to_the_curtain222222The_socket_at_the_bottom_of_the_wall_directly_ahead/000386_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..b76caa5435537faea3ff98dbee98cd3aa4d60009
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_socket_next_to_the_curtain222222The_socket_at_the_bottom_of_the_wall_directly_ahead/000386_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/The_socket_next_to_the_curtain222222The_socket_at_the_bottom_of_the_wall_directly_ahead/000386_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The socket next to the curtain222222The socket at the bottom of the wall directly ahead"
+    ],
+    "target_area_description_en": [
+      "The socket next to the curtain",
+      "The socket at the bottom of the wall directly ahead"
+    ],
+    "target_area_description_cn": [
+      "窗帘旁边的插座",
+      "正前方墙壁底部的插座"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          343,
+          512
+        ],
+        "counts": "W`o1a0T:4M3N1N101N100010O000O2O1O1N3M2N3L\\^g2FnaXM9G<E4M1N2O1O00001O01O0O101N101N2M3BVU8"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          343,
+          512
+        ],
+        "counts": "iaP28\\:6K4L4M2N2N2N2O0O2O0O2O000O2O000000000000001O000000010O0000001O01O01O0010O00010O01O00100O01O01O01O010O00010O010O0010O01O01O01O010O00010O001O00010O0001O01O0001O000001O01O01O000010O00000001O0001O00000010O0000001O00000001O000001O0000000010O0000000000000000001O01O000000000000000000000001O000001O0000000000000000000000000000000000000000000001O00000001O000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000O100000000000O100000000000000000O100000000000001O1O000010O00001O001O1OO1000000001N10000O2O0O2O0O2N2O1N2M3N3L5KXi;"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/The_sofa_farther_from_the_camera222222television/001004_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/The_sofa_farther_from_the_camera222222television/001004_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..b56cbc9c682d0906441a6f32b16098ca84ce85e8
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_sofa_farther_from_the_camera222222television/001004_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/The_sofa_farther_from_the_camera222222television/001004_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The sofa farther from the camera222222television"
+    ],
+    "target_area_description_en": [
+      "The sofa farther from the camera",
+      "television"
+    ],
+    "target_area_description_cn": [
+      "距离镜头较远的沙发",
+      "电视机"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "TYV15W:;F7J7L4L4J5M4J6L3N3N2N2N101O01O1O011N1O1O1O1O10O01O1O1O1O1O1O1N1M5G8D<H8F[o\\19cPcN7J6J4L3G:J6L4L4L3N4L1N2O00000000001ON3L3M3O1O100O100O1E;M3M3M3^OdFJ^95dFI]96eFH\\98eFG[98fFG[99eFF\\9:eFE[9:fFFZ9:fFFX9<hFCV9`0jF@T9b0mF]OQ9e0oF[Oo8g0QGYOn8g0SGYOk8i0UGWOj8j0WGUOh8l0XGTOh8l0XGTOg8l0ZGTOf8l0[GSOe8m0\\GROd8n0\\GQOe8o0`0001jFPOf8P1ZGQOe8o0ZGROf8n0[GQOf8n0ZGROf8n0ZGROf8n0[GQOe8o0[GQOe8o0a00O000001O0001O0001O0000000001O0001O000N3M4K6\\OoE;2El9`0RFDk9g0L2N1O010O10O001M2O2O1L4M4L6JkYW1"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "_jR12`:2O100O1O100O1O1O100O1O100O1O1O100O1O1O1O1O100O1O1O100O1O1O100O1O1O1O100O2N10000000000O1O1M3000000000000000000O10000000O1000000O1000000000O010000000000000000000000O0100000000000O100000000000000000O1000O1000000000000000000000000O1000000000000O100000000000000000000O11OO10000000000O10000000000O10000000000000000O10001O000O100000000O100O1000000000000O10000000000000000000000O10RGYOo7g0QHYOR8d0R1M2N1AlE<`:EkhV2"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/The_stool_closest_to_the_camera222222The_cabinet_farthest_from_the_camera/000618_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/The_stool_closest_to_the_camera222222The_cabinet_farthest_from_the_camera/000618_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fc21924022a321a3af75bac9ef3afa08a0c958f
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_stool_closest_to_the_camera222222The_cabinet_farthest_from_the_camera/000618_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/The_stool_closest_to_the_camera222222The_cabinet_farthest_from_the_camera/000618_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The stool closest to the camera222222The cabinet farthest from the camera"
+    ],
+    "target_area_description_en": [
+      "The stool closest to the camera",
+      "The cabinet farthest from the camera"
+    ],
+    "target_area_description_cn": [
+      "离镜头最近的凳子",
+      "离镜头最远的柜子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
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+          968,
+          1296
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+      }
+    ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/The_table_corner_closest_to_the_camera_222222_the_sofa_armrest_on_the_right_sofa_near_the_window/000054_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/The_table_corner_closest_to_the_camera_222222_the_sofa_armrest_on_the_right_sofa_near_the_window/000054_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d5016539e54dfe951fd987b068f66a24f3dcdba
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_table_corner_closest_to_the_camera_222222_the_sofa_armrest_on_the_right_sofa_near_the_window/000054_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/The_table_corner_closest_to_the_camera_222222_the_sofa_armrest_on_the_right_sofa_near_the_window/000054_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The table corner closest to the camera 222222 the sofa armrest on the right sofa near the window."
+    ],
+    "target_area_description_en": [
+      "The table corner closest to the camera",
+      "the sofa armrest on the right sofa near the window."
+    ],
+    "target_area_description_cn": [
+      "最靠近镜头的桌角",
+      "右边沙发靠近窗户的沙发扶手"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "mkZ26^:3M2N101N100000001O00000O100000000001O0000001O0000001N101N2N4IWl]16fSbN3M1O2O0O2O000000000000000000O10000000001N101N3Lbhn0"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "jlc25Z:8L3N2O0O2O007I1O0O1000000O100O10000O1O100O100O100O010O0010O010O010O0010O010O10O10O010O010O010O010O010O10O10O010O10O0100O010O010O10O01O010O00100O010O010O010O10O01O10O010O01O010O00010O01O010O000010O001O01O0001O010O000010O010O01O00010O000100O002N10O01O001O010O001O010O001O1O1O1O101M3N2N3[OTF<T:N1O3L3MR\\U1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/The_table_corner_closest_to_the_camera_222222the_right_side_of_the_floor-standing_bookcase/000007_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/The_table_corner_closest_to_the_camera_222222the_right_side_of_the_floor-standing_bookcase/000007_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..5945b8763e66726383b8ac9e408f7b9d832741ef
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_table_corner_closest_to_the_camera_222222the_right_side_of_the_floor-standing_bookcase/000007_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/The_table_corner_closest_to_the_camera_222222the_right_side_of_the_floor-standing_bookcase/000007_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The table corner closest to the camera 222222the right side of the floor-standing bookcase."
+    ],
+    "target_area_description_en": [
+      "The table corner closest to the camera",
+      "the right side of the floor-standing bookcase."
+    ],
+    "target_area_description_cn": [
+      "离镜头最近的桌角",
+      "落地书柜的右侧面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "jRo0:X:3N3M2N2N2O1N2O001O000O2O000O2O001O000O101O00000O10000000O1000000O10000O101N100O2O1N2N2N2N3L5Kg`T36S_kLb0_O4I6J6H7L4M3M3L3N3N1O1O100O100O1000O10000O101N1O2N1O2N2M4L3L:E:GjU;"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "eTW15]:5K4M2N2N2N101N3N2N1N2M3N2N1O2O0O1000000O100001O00O1O10000O1000000000000000000000000000000000000O100000000O10000O1000000O10000000000O10000000000000000O10000000000000000O1000000O0100000O1000000O01000000O1000O10000000O1000O10O1000O100000O1000O100000O1000O100000O10000O0100000O1000O10O100000O010O10O1000O0100000O10O100000O100000O010000O1000O10O10O10O10000O010000000O100O010000000O100000O01000000O1000000O1000O010O10O10000O10O1000O10O010000O10O10O10O10O10O0100O010O1000O0100O01000O1O0100O010O00100O010O010O10O00100O010O010O0010O010O01O01O01O0010O010O0010O00010O0010O0010O010O00100O01O01O01O01O01O01O0001O0001N100O1M4N1O1O101O2N1O1N1O2O1O1O00001O00000000000001O1O1O2N1O001O001N2O1O1O1N2O1M3M3M3N2M3L4L4M3O2L3M3N2M6K4K5KiS<"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/The_table_corner_of_the_table_near_the_lounge_chair_222222_part_of_the_right_handrail_of_the_stairs/000097_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/The_table_corner_of_the_table_near_the_lounge_chair_222222_part_of_the_right_handrail_of_the_stairs/000097_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..90c31c3af9d7772b8894bd3f3ef6293ccc483f87
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_table_corner_of_the_table_near_the_lounge_chair_222222_part_of_the_right_handrail_of_the_stairs/000097_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/The_table_corner_of_the_table_near_the_lounge_chair_222222_part_of_the_right_handrail_of_the_stairs/000097_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The table corner of the table near the lounge chair 222222 part of the right handrail of the stairs."
+    ],
+    "target_area_description_en": [
+      "The table corner of the table near the lounge chair",
+      "part of the right handrail of the stairs."
+    ],
+    "target_area_description_cn": [
+      "桌子的靠近躺椅的桌角",
+      "阶梯的右侧扶手的一部分"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "gRQ14^:4M2N2N101O000000000O1000001O0000O100000001O0000000O2O1N2N3Likk21WTTM3L3O1N2O001O001O0000000001O01O0000O101O0000000O101N2O1M5J]ih0"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "fiU16[:7K2N2N2O1N101O0O101O0O2O0O101O001O00010O1O010O0010O010O01O010O000010O01O0001O01O00001O01O0001O01O0001O0001O0001O01O01O0000000001O01O000000000000000001O00000000000000000000001O0000000000000000000001O01O0000000001O000001O000001O0000000001O0000000000000001O00000000000000000001O00000000000000000000000000000000000000O10000000000000000000000000000000000O11OO1000000000000000000000O010000000000O01000O100000O0100O10O1000000000O100O1000O0100O01000O10O0100O10O0100O00100O01000O001O010O001O100O001O001O001O1O001N101O001N10001OO02N1O100000000O100O10000O100O01000O001N2O1N101M3M3BkMXHZ2`7oMaH]16]NQ7?kHCI>e81V100010O010000O2O0OZF_ON2;d0Z7L]HS1e7lN[HS1g7mNYHQ1i7nNWHQ1k7oNUHm0P8QOPHm0S8SOmGk0V8TOiGj0\\8SOeGj0]8WOcGg0_8XOaGd0d8\\O\\Gb0f8]OZGb0h8^OXG?k8@UG?m8ASG;R9DmF:W9EiF5^9JbF2d9K]F1Vfj0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/The_top-left_corner_of_the_table_in_front_of_the_sofa222222The_area_at_the_upper_left_corner_of_the_distant_dining_table/000425_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/The_top-left_corner_of_the_table_in_front_of_the_sofa222222The_area_at_the_upper_left_corner_of_the_distant_dining_table/000425_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..89c1a9b834abc67f7c6559e7c81b5d055ca40c6b
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_top-left_corner_of_the_table_in_front_of_the_sofa222222The_area_at_the_upper_left_corner_of_the_distant_dining_table/000425_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/The_top-left_corner_of_the_table_in_front_of_the_sofa222222The_area_at_the_upper_left_corner_of_the_distant_dining_table/000425_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The top-left corner of the table in front of the sofa222222The area at the upper left corner of the distant dining table"
+    ],
+    "target_area_description_en": [
+      "The top-left corner of the table in front of the sofa",
+      "The area at the upper left corner of the distant dining table"
+    ],
+    "target_area_description_cn": [
+      "沙发前方的桌子左上角桌角",
+      "远处餐桌左上方桌角区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      false
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "fi^14^:6L2N2N2N2O0O101O0000001O001O010O000001O001O1N101N2N2N3LbR9O_mF4M2N2N2N101O0O10000000000000000000000O100000000000000001O0000001N1O2O0O3M2M5Kadk2"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "oU_1;X:;G4K3M3N2N3M2N1O2N1O1N2N3N1O1O001O1O1000O110O3M00O1O100001O1O1O4L3M3M01O000000000000001O1O02M10O0100O010O01001jNeFo0g9I>CUZ20ieM`0A2N1O2OO0O101O1N6VOSF<0F\\:NeE0gbQ3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/The_upper_right_corner_area_of_the_stove222222The_bottom_area_behind_the_man_holding_the_child/1159760_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/The_upper_right_corner_area_of_the_stove222222The_bottom_area_behind_the_man_holding_the_child/1159760_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cbdda40b882f7c8021e2e5a6332e8f7427938d8
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/The_upper_right_corner_area_of_the_stove222222The_bottom_area_behind_the_man_holding_the_child/1159760_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/The_upper_right_corner_area_of_the_stove222222The_bottom_area_behind_the_man_holding_the_child/1159760_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "The upper right corner area of the stove222222The bottom area behind the man holding the child"
+    ],
+    "target_area_description_en": [
+      "The upper right corner area of the stove",
+      "The bottom area behind the man holding the child"
+    ],
+    "target_area_description_cn": [
+      "炉子右上角区域",
+      "抱着孩子的男人背后的底部区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          683,
+          1024
+        ],
+        "counts": "lUo3:od06J4M2N3M2O0O2N2PNYOZ_Og0c`0_OY_Oc0e`0_OZ_Oa0d`0CZ_O=e`0EZ_O;e`0GY_O:g`0FU_O>j`0DS_O?k`0BS_Oa0l`0@R_Ob0m`0^OR_Od0l`0^OR_Od0m`0\\OR_Of0m`0ZOQ_Oi0m`0XOQ_Ok0n`0VOP_Ok0o`0VOP_Ol0o`0TOP_On0o`0ROP_Oo0Pa0ROn^OP1Qa0POo^OQ1Pa0QOm^OQ1Qa0QOn^OP1Ra0POm^OQ1Ra0POm^OQ1Ra0POm^OP1Ra0QOm^OQ1Qa0QOn^Oo0Ra0QOn^OP1Pa0SOn^Om0Ra0TOm^Om0Qa0UOn^Ok0Ra0VOm^Ok0Ra0VOl^Ok0Sa0WOl^Oi0Ta0XOk^Oh0Ua0g1000000000O10000O100O1O2O000O10O0100O1O1O1O100O10000O2O000O2N100O1O2M2O2N1N3O0O2N2O0O2N1N3N2O1O001N2O1O1O1O001N2O1O1N2O2N1N2O1O0O2O1O1N1O2O2M2O2M3N2M3M4L2O2M2N3M4K7I5K5JY]Q9GPcnF6K4M2N2N3M2O2M3c[OYORd0S1L2N3L3M3M2M4M3L5K5J6L3M3N3M2N1O2N2O0O101O000000000O100O1000000000O10001N10001N2N101N2N2M2O1M4J5O2M3N1M4K5L4L4H9K5L6K5K5J6JS\\T4"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          683,
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/Window_222222_Door/004924_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/Window_222222_Door/004924_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ec6b1b81bcb28cdd0be81d9972e3ecbfb2358f4
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/Window_222222_Door/004924_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/Window_222222_Door/004924_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
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+      "Window 222222 Door"
+    ],
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+      "Window",
+      "Door"
+    ],
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+      "窗户",
+      "门"
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+      true
+    ],
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+      true
+    ]
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/bag222222bookshelf/002522_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/bag222222bookshelf/002522_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d565c678900d5fd9393ac28aee41ea90e3207e6
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/bag222222bookshelf/002522_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/bag222222bookshelf/002522_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bag222222bookshelf"
+    ],
+    "target_area_description_en": [
+      "bag",
+      "bookshelf"
+    ],
+    "target_area_description_cn": [
+      "书包",
+      "书架"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
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+          1296
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/bag222222guitar/000784_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/bag222222guitar/000784_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..d47387ba93006aa65b79415d79741caa04c16834
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/bag222222guitar/000784_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/bag222222guitar/000784_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bag222222guitar"
+    ],
+    "target_area_description_en": [
+      "bag",
+      "guitar"
+    ],
+    "target_area_description_cn": [
+      "书包",
+      "吉他"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
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+      {
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+          968,
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diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/bed222222television/000968_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/bed222222television/000968_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e3811c37ff4e9cd8331997907b6fe09274e506d
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/bed222222television/000968_mask_rle.json
@@ -0,0 +1,47 @@
+{
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diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_bed/101704_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_bed/101704_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..647f449e092259b2dc449d4cbe7304aeff150c3c
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_bed/101704_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_bed/101704_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bed 222222 bed"
+    ],
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+      "bed",
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+    ],
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+      "床",
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_big_cabinet/101331_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_big_cabinet/101331_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..3160ee445e1d84b4ab7bb573a3c05565bde11614
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_big_cabinet/101331_mask_rle.json
@@ -0,0 +1,47 @@
+{
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+    "FeasiblePath_Exo"
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+      "bed 222222 big cabinet"
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_big_cabinet/102055_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_big_cabinet/102055_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..1493edc56c851b4449ceef160b975a82068b7399
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_big_cabinet/102055_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_big_cabinet/102055_image.jpg"
+  ],
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+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bed 222222 big cabinet"
+    ],
+    "target_area_description_en": [
+      "bed",
+      "big cabinet"
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+      "床",
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_big_cabinet/102057_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_big_cabinet/102057_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..6cec0c633e9d3b0b643196f470a10da62fe96349
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_big_cabinet/102057_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_big_cabinet/102057_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bed 222222 big cabinet"
+    ],
+    "target_area_description_en": [
+      "bed",
+      "big cabinet"
+    ],
+    "target_area_description_cn": [
+      "床",
+      "大柜子"
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+    "visually_blocked": [
+      true
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+    "precise_description": [
+      true
+    ]
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+          512
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+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_big_cabinet/102407_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_big_cabinet/102407_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..eba188a50b5e5eba42f3f4ae34b6e89d67241304
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_big_cabinet/102407_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_big_cabinet/102407_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bed 222222 big cabinet"
+    ],
+    "target_area_description_en": [
+      "bed",
+      "big cabinet"
+    ],
+    "target_area_description_cn": [
+      "床",
+      "大柜子"
+    ],
+    "visually_blocked": [
+      true
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+    "precise_description": [
+      true
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+      }
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+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_cabinet/101278_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_cabinet/101278_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..d401682f96e1f60770ddd91364dd0953dd5afd81
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_cabinet/101278_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_cabinet/101278_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bed 222222 cabinet"
+    ],
+    "target_area_description_en": [
+      "bed",
+      "cabinet"
+    ],
+    "target_area_description_cn": [
+      "床",
+      "柜子"
+    ],
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+      true
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+    "precise_description": [
+      true
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+      }
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+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_cabinet/101645_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_cabinet/101645_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..316a973ed28632bd99ae7944c9a75fe854286d9f
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_cabinet/101645_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_cabinet/101645_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bed 222222 cabinet"
+    ],
+    "target_area_description_en": [
+      "bed",
+      "cabinet"
+    ],
+    "target_area_description_cn": [
+      "床",
+      "柜子"
+    ],
+    "visually_blocked": [
+      true
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+    "precise_description": [
+      true
+    ]
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+      }
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+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_cabinet/101705_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_cabinet/101705_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..84c3004c0a988816f00bb453a66eb23ef30a822f
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_cabinet/101705_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_cabinet/101705_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bed 222222 cabinet"
+    ],
+    "target_area_description_en": [
+      "bed",
+      "cabinet"
+    ],
+    "target_area_description_cn": [
+      "床",
+      "柜子"
+    ],
+    "visually_blocked": [
+      true
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+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
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+      {
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+          384,
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diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_cabinet/101710_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_cabinet/101710_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd4d6e18769c649d64d00e3fd95e1c281072de82
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_cabinet/101710_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_cabinet/101710_image.jpg"
+  ],
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+    "FeasiblePath_Exo"
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_cabinet/101716_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_cabinet/101716_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a65b57097ddd8452e3477314ecbea24feaf900f
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_cabinet/101716_mask_rle.json
@@ -0,0 +1,47 @@
+{
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+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_cabinet/101716_image.jpg"
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+    "FeasiblePath_Exo"
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+      "bed 222222 cabinet"
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_cabinet/101984_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_cabinet/101984_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..3edb575c4486222431765bc3c873bd82ed15aefe
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_cabinet/101984_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_cabinet/101984_image.jpg"
+  ],
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+    "FeasiblePath_Exo"
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+      "bed 222222 cabinet"
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_desk/101355_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_desk/101355_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..29e6da8fc9723cc8f903cbbca7db5f693d8bd3c4
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_desk/101355_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_desk/101355_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bed 222222 desk"
+    ],
+    "target_area_description_en": [
+      "bed",
+      "desk"
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_sofa/101602_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_sofa/101602_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad2034c91a7c11d9083404c9a6c25f3181b94f59
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_sofa/101602_mask_rle.json
@@ -0,0 +1,47 @@
+{
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+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_sofa/101602_image.jpg"
+  ],
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+    "FeasiblePath_Exo"
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+      "bed 222222 sofa"
+    ],
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diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_table/102630_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_table/102630_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dd09ddb4e8872ea0ae5fa63af428276fec24927
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_table/102630_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/bed_222222_table/102630_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "bed 222222 table"
+    ],
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+      "床",
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/cabinet222222bed/taskonomy_forkland_point_630_view_1_domain_rgb_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/cabinet222222bed/taskonomy_forkland_point_630_view_1_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcc7c75400f240c0f1af3ca90f4bd8bb37c45ca8
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/cabinet222222bed/taskonomy_forkland_point_630_view_1_domain_rgb_mask_rle.json
@@ -0,0 +1,47 @@
+{
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+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/cabinet222222bed/taskonomy_forkland_point_630_view_1_domain_rgb_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "cabinet222222bed"
+    ],
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+      "bed"
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/cabinet222222bed/taskonomy_gladstone_point_834_view_8_domain_rgb_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/cabinet222222bed/taskonomy_gladstone_point_834_view_8_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..66e98031fa343e91961e383c90b15feb968bbe2f
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/cabinet222222bed/taskonomy_gladstone_point_834_view_8_domain_rgb_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/cabinet222222bed/taskonomy_gladstone_point_834_view_8_domain_rgb_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "cabinet222222bed"
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+      "bed"
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+      "柜子",
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/cabinet222222chair/002249_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/cabinet222222chair/002249_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..b63e5f1cfa816dff4ea55e57e0505477110bd335
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/cabinet222222chair/002249_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/cabinet222222chair/002249_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "cabinet222222chair"
+    ],
+    "target_area_description_en": [
+      "cabinet",
+      "chair"
+    ],
+    "target_area_description_cn": [
+      "柜子",
+      "椅子"
+    ],
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+      true
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+    "precise_description": [
+      true
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diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/cabinet222222steps/000137_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/cabinet222222steps/000137_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d88a68706a1e3387168ec6f5e1073901b82b8d4
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/cabinet222222steps/000137_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/cabinet222222steps/000137_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "cabinet222222steps"
+    ],
+    "target_area_description_en": [
+      "cabinet",
+      "steps"
+    ],
+    "target_area_description_cn": [
+      "柜子",
+      "台阶"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
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+    ]
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/cabinet222222table/taskonomy_forkland_point_696_view_4_domain_rgb_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/cabinet222222table/taskonomy_forkland_point_696_view_4_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d0c4e979c1bcec4494e2ebcf28a8baa93df84fb
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/cabinet222222table/taskonomy_forkland_point_696_view_4_domain_rgb_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/cabinet222222table/taskonomy_forkland_point_696_view_4_domain_rgb_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "cabinet222222table"
+    ],
+    "target_area_description_en": [
+      "cabinet",
+      "table"
+    ],
+    "target_area_description_cn": [
+      "柜子",
+      "桌子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          512,
+          512
+        ],
+        "counts": "YfP4`1`>>B5K3M6I2O1O00O001O1N2O100O1000000000000000000O10000000O10O100O100O100O100000O3N2M3N00O1O1K5N2\\NdBFNND4m=JbhU24PYjM;C<H7E;E<C<G9]Oc0C=E;G:E:E;M3O10O1O10000001O0001O01O0000eKQEe3o:[LREd3n:\\LSEd3l:\\LUEc3k:]LUEc3k:]LVEb3j:^LVEb3j:]LXEb3h:^LXE]21mMf:FZEW28PN_:GZEn1c0ZNS:G\\Ed1k0eNQ:^OVEh1m0jNb:Q1cEoN_:^OUDMLh0n1LZ=1O00001O0iKYOUIg0k6YOVIf0j6ZOVIf0j6[OUIf0j6[OUIe0k6[OUIe0k6[OWFNf1h0R8ZOXFNf1h0R8ZOWIe0i6[OWIe0i6[OWIe0i6\\OVId0k6ZOWIf0Q;000000000^C"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          512,
+          512
+        ],
+        "counts": "ehZ42n?1O001O1N2O1O1O1O1O1O1N2O0O2N2N2O1O10O010000O001N2N2M2L5O01O10O0100O010O0100O00100O00100O01O01O10O01O10O01O1O10O01O10O01O1O010O001O1O10O01O0010O01O10O0100O000100O010O0100O00100O010O00100O010O010O00100O0010O010O10O1O0100O10O0100O010O0100O01000O10O010O010O010O10O10O010O01O10O010O0101N1O010O1O100O1O010O010O1O0100O010O10O100O1000O0100O10000OI8H8C=I6Dnem0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/cabinet222222toilet/000527_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/cabinet222222toilet/000527_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4a0778619ad40013ca052cda28de4dc2bd14629
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/cabinet222222toilet/000527_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/cabinet222222toilet/000527_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "cabinet222222toilet"
+    ],
+    "target_area_description_en": [
+      "cabinet",
+      "toilet"
+    ],
+    "target_area_description_cn": [
+      "柜子",
+      "马桶"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          968,
+          1296
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222The_cabinet_farthest_from_the_camera/000817_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222The_cabinet_farthest_from_the_camera/000817_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5c4081421f8568680355a7321b84e922a5fd258
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222The_cabinet_farthest_from_the_camera/000817_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222The_cabinet_farthest_from_the_camera/000817_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair222222The cabinet farthest from the camera"
+    ],
+    "target_area_description_en": [
+      "chair",
+      "The cabinet farthest from the camera"
+    ],
+    "target_area_description_cn": [
+      "椅子",
+      "离镜头最远的柜子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          968,
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+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222The_cabinet_farthest_from_the_camera/000834_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222The_cabinet_farthest_from_the_camera/000834_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e2955094bced780e1a84ee0e5eff2b58ca7fd3e
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222The_cabinet_farthest_from_the_camera/000834_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222The_cabinet_farthest_from_the_camera/000834_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair222222The cabinet farthest from the camera"
+    ],
+    "target_area_description_en": [
+      "chair",
+      "The cabinet farthest from the camera"
+    ],
+    "target_area_description_cn": [
+      "椅子",
+      "离镜头最远的柜子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          968,
+          1296
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222The_table_farthest_from_the_camera/000775_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222The_table_farthest_from_the_camera/000775_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..41a7e65b0c8c7392dde46fe3d8e9c3cd1a96f140
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222The_table_farthest_from_the_camera/000775_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222The_table_farthest_from_the_camera/000775_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair222222The table farthest from the camera."
+    ],
+    "target_area_description_en": [
+      "chair",
+      "The table farthest from the camera."
+    ],
+    "target_area_description_cn": [
+      "椅子",
+      "离镜头最远的桌子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          968,
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+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222The_table_farthest_from_the_sofa/062675_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222The_table_farthest_from_the_sofa/062675_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..f90231e3fc1c08cac90a0151685358c419bf1478
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222The_table_farthest_from_the_sofa/062675_mask_rle.json
@@ -0,0 +1,47 @@
+{
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+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222The_table_farthest_from_the_sofa/062675_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair222222The table farthest from the sofa"
+    ],
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+      "chair",
+      "The table farthest from the sofa"
+    ],
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+      "椅子",
+      "离沙发最远的桌子"
+    ],
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+      true
+    ],
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+      true
+    ]
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+      }
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+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222cabinet/001435_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222cabinet/001435_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8cb77ddb55570d95a4d11243a05b269588d9bb7
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222cabinet/001435_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222cabinet/001435_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair222222cabinet"
+    ],
+    "target_area_description_en": [
+      "chair",
+      "cabinet"
+    ],
+    "target_area_description_cn": [
+      "椅子",
+      "柜子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
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+          1296
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222chair/000007_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222chair/000007_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b53f864efb86cd6e13695519dd502461705a72f
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222chair/000007_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222chair/000007_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair222222chair"
+    ],
+    "target_area_description_en": [
+      "chair",
+      "chair"
+    ],
+    "target_area_description_cn": [
+      "椅子",
+      "椅子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          968,
+          1296
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222chair/000171_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222chair/000171_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b5017564b6344afa20b8d2132f956818f7f72b5
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222chair/000171_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222chair/000171_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair222222chair"
+    ],
+    "target_area_description_en": [
+      "chair",
+      "chair"
+    ],
+    "target_area_description_cn": [
+      "椅子",
+      "椅子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          968,
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diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222chair/taskonomy_globe_point_216_view_3_domain_rgb_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222chair/taskonomy_globe_point_216_view_3_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d1ad071fea1bf8909013033c838531bb48e27ac
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222chair/taskonomy_globe_point_216_view_3_domain_rgb_mask_rle.json
@@ -0,0 +1,47 @@
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diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222door/000704_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222door/000704_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0c0c4a23bc5d133e0f45a017a80be92dc434861
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222door/000704_mask_rle.json
@@ -0,0 +1,47 @@
+{
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+    "FeasiblePath_Exo"
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diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222door/001284_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222door/001284_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2890a8e37b3ebc25fb9a01b05b799b4842d3477
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222door/001284_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222door/001284_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair222222door"
+    ],
+    "target_area_description_en": [
+      "chair",
+      "door"
+    ],
+    "target_area_description_cn": [
+      "椅子",
+      "门"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
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+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222low_table/000000_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222low_table/000000_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cfc78dcabbd4887494f488b0b0e88f2c38b70b4
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222low_table/000000_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222low_table/000000_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair222222low table"
+    ],
+    "target_area_description_en": [
+      "chair",
+      "low table"
+    ],
+    "target_area_description_cn": [
+      "椅子",
+      "矮桌子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          968,
+          1296
+        ],
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+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222sofa/000374_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222sofa/000374_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..84809a9e326adfe50b5cc9ef4b55ca4252459554
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222sofa/000374_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222sofa/000374_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair222222sofa"
+    ],
+    "target_area_description_en": [
+      "chair",
+      "sofa"
+    ],
+    "target_area_description_cn": [
+      "椅子",
+      "沙发"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
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+          1296
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222sofa/taskonomy_goodfield_point_101_view_3_domain_rgb_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222sofa/taskonomy_goodfield_point_101_view_3_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..163712523647ce9793df1599f2e1e95ff3324e30
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222sofa/taskonomy_goodfield_point_101_view_3_domain_rgb_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/chair222222sofa/taskonomy_goodfield_point_101_view_3_domain_rgb_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "chair222222sofa"
+    ],
+    "target_area_description_en": [
+      "chair",
+      "sofa"
+    ],
+    "target_area_description_cn": [
+      "椅子",
+      "沙发"
+    ],
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+      true
+    ],
+    "precise_description": [
+      true
+    ]
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/clock222222table/taskonomy_gloria_point_494_view_6_domain_rgb_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/clock222222table/taskonomy_gloria_point_494_view_6_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..7144c76e650be1d1b1cc87733a1bd2a19cd99edf
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/clock222222table/taskonomy_gloria_point_494_view_6_domain_rgb_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/clock222222table/taskonomy_gloria_point_494_view_6_domain_rgb_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "clock222222table"
+    ],
+    "target_area_description_en": [
+      "clock",
+      "table"
+    ],
+    "target_area_description_cn": [
+      "表",
+      "桌子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
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+      }
+    ],
+    "masklet_path": [
+      {
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+          512,
+          512
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/computer222222sofa/000486_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/computer222222sofa/000486_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..5295a9e4ddf882f74f6d29de1b55a77c3e3753a3
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/computer222222sofa/000486_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/computer222222sofa/000486_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "computer222222sofa"
+    ],
+    "target_area_description_en": [
+      "computer",
+      "sofa"
+    ],
+    "target_area_description_cn": [
+      "电脑",
+      "沙发"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          384,
+          512
+        ],
+        "counts": "_59g;1N4M3L5K4M5J4M3L3N5J3N3LFgESOT:k0PFWOm9h0UF[Of9e0\\F_O_9`0cFCX9;lFGQ97RGLi8GfF\\Om0n0[8ClG`0o7_OTHc0h7^OXHe0e7[O\\Hg0`7ZOaHh0\\7XOeHj0W7WOjHj0T7WOkHm0P7TOQIn0l6SOSIP1i6ROWIP1f6POZIS1b6oN^IR1_6POaIQ1]6oNcIS1Z6oNfIS1W6nNhIS1V6oNiIR1V6nNjIS1T6oNkIQ1U6POkIP1S6ROlIn0T6ROlIn0S6UOlIk0S6VOlIj0S6XOlIh0S6ZOmIe0S6\\OlIe0R6]OmIc0S6^OlIb0S6@lIa0S6_OnI`0Q6CmI=S6DlI=R6EmI;R6FoI9Q6HnI9P6JnI6R6JnI6R6KnI5P6MoI3Q6NnI2Q60nI1Q60nI0Q62oIMQ65mILQ68mIGS6:lIFS6d0dI\\O\\6h0`IYO^6l0]IUOc6T3O2O0O101N1O101N100O2O0O2O0O1O101N10001N101N2N100O2O0O101N010O01O001N101O0O2O1O001O1O1O0O200O1N2O1O1O2M2O2N3bJaIV5j6J7I7If0YO4M1O1O001O1N101N2O001O1O1O1O1N2O001N2O1O1O1O001O1O1N2O001N2O1O1O1O1O1O1N2O1O1O1O1N\\OeMgGZ2Z8iMbGW2_8mM]GR2d8QNYGn1h8VNTGi1m8d01O1N2O1O1O1O2N1N2O1O1O1N3N1O1O1O1O1N3N1O1O1O2N1O1O2N1M6KZ1bNbnZ22]QeM6E:J7G8J6M20100000101N2N100O0000002N10O000N2O1O1000001O01O5K10O01O01O0001O010O01O01O000001O0O2O0O1M4J5H8I8J5J8Fmla0"
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/door222222sofa/taskonomy_gladstone_point_345_view_2_domain_rgb_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/door222222sofa/taskonomy_gladstone_point_345_view_2_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb113db85ae472a3aeeab79031b0bf33d4aedfd5
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/door222222sofa/taskonomy_gladstone_point_345_view_2_domain_rgb_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/door222222sofa/taskonomy_gladstone_point_345_view_2_domain_rgb_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "door222222sofa"
+    ],
+    "target_area_description_en": [
+      "door",
+      "sofa"
+    ],
+    "target_area_description_cn": [
+      "门",
+      "沙发"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      false
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
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+          512,
+          512
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/low_table222222door/000182_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/low_table222222door/000182_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..18c702d4aadbee3cff509c8574f7fa0babebfeba
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/low_table222222door/000182_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/low_table222222door/000182_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "low table222222door"
+    ],
+    "target_area_description_en": [
+      "low table",
+      "door"
+    ],
+    "target_area_description_cn": [
+      "矮桌子",
+      "门"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
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+          341,
+          512
+        ],
+        "counts": "g\\_15_:4M5K4L5K3M5K4L4L3M5K5K3M5K3L6K4L3M4L3M1N101OO100000O2O]OYHXNg7g1]HVNc7j1d000O1001N101O1O1O3M4L2M3N1O0000001O0O100000O100000O10O10001O1N8IZJiMS3R2lLSNU3g1lL]NV3]1iLgNY3T1gLoNZ3l0gLXO[3b0dLC]38cLJ_32`L3c3E^L=f3]OZLg0g3TOXLP1j3kNVLX1l3bNULc1[63N3L3N3M4K4M1O0O100O10000O10000O10000O10000O1001O2N2N2N1O2N2N1O0000000000O10000O10000O1000000O10000O100O100O100O10000O10000O100O100O100001O1O1O1O001O2N002lNdGK\\84hGIY85iGXOK5]8b0kGUOK7[8b0mGUOI8\\8a0XH]Oi7a0YH^Oh7a0ZH]Og7a0[H^Of7a0[H^Of7`0[H@f7>[HBf7=ZHCg7<XHEi79XHGi78VHIk75VHKk74THMm71THOm70RH1o7MRH3n7MQH4Q8IPH7Q8HnG9W90O100O100O100O1O100O100O100O100O101N1J\\O[Fd0f9[OYFf0g941O002N1O1O1O001N2O8H6J`nd1"
+      }
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+      {
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+          341,
+          512
+        ],
+        "counts": "_im11d:0Ye01eZO3M2O2N1O0fELR:a0KCSF9f9`0K6IQOfFj0U9=N1O2MfNQGV1i8>M4L1NWN`Ga1^8`0K5JjMmGn1R8:0O2O1fMkGR2W842O2N2M2O3L3N2M3N2N1N3N1N2O2N2M2O1O2M3N1N2O2N2N2M2O2M4M3L5K4M3L3Nk[a1OUd^N11O00mnT1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/low_table222222door/000653_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/low_table222222door/000653_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..f37ae520bd43f0e1277d3e2679510704394faec0
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/low_table222222door/000653_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/low_table222222door/000653_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "low table222222door"
+    ],
+    "target_area_description_en": [
+      "low table",
+      "door"
+    ],
+    "target_area_description_cn": [
+      "矮桌子",
+      "门"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          341,
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+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/refrigerator222222The_table_directly_facing_the_refrigerator/taskonomy_gloria_point_119_view_3_domain_rgb_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/refrigerator222222The_table_directly_facing_the_refrigerator/taskonomy_gloria_point_119_view_3_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4351499e63082f75f1856c8004ac18be5b89311
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/refrigerator222222The_table_directly_facing_the_refrigerator/taskonomy_gloria_point_119_view_3_domain_rgb_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/refrigerator222222The_table_directly_facing_the_refrigerator/taskonomy_gloria_point_119_view_3_domain_rgb_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "refrigerator222222The table directly facing the refrigerator."
+    ],
+    "target_area_description_en": [
+      "refrigerator",
+      "The table directly facing the refrigerator."
+    ],
+    "target_area_description_cn": [
+      "冰箱",
+      "正对冰箱的桌子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
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+        "size": [
+          512,
+          512
+        ],
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+    "masklet_path": [
+      {
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+          512,
+          512
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/refrigerator222222oven/070863_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/refrigerator222222oven/070863_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..613989a8a7b793dff29bb18a142984cd66b7ad8e
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/refrigerator222222oven/070863_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/refrigerator222222oven/070863_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "refrigerator222222oven"
+    ],
+    "target_area_description_en": [
+      "refrigerator",
+      "oven"
+    ],
+    "target_area_description_cn": [
+      "冰箱",
+      "烤箱"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          340,
+          512
+        ],
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+      }
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+          340,
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/round_table222222the_front_of_the_bed/2389332_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/round_table222222the_front_of_the_bed/2389332_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b15b27855ca182076eba6c6c815398e227a31ed
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/round_table222222the_front_of_the_bed/2389332_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/round_table222222the_front_of_the_bed/2389332_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "round table222222the front of the bed"
+    ],
+    "target_area_description_en": [
+      "round table",
+      "the front of the bed"
+    ],
+    "target_area_description_cn": [
+      "圆桌",
+      "床的正面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          375,
+          500
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+      }
+    ],
+    "masklet_path": [
+      {
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+          375,
+          500
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/rubbish_can222222fridge/1364_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/rubbish_can222222fridge/1364_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..5de97ad82ae24e5a16e15b9b2dc4320337d2776e
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/rubbish_can222222fridge/1364_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/rubbish_can222222fridge/1364_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "rubbish can222222fridge"
+    ],
+    "target_area_description_en": [
+      "rubbish can",
+      "fridge"
+    ],
+    "target_area_description_cn": [
+      "垃圾桶",
+      "冰箱"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
+          640
+        ],
+        "counts": "ocm0c0\\>h0XOc0^Ob0^Oi0VO>Cf0ZO;^E[KS:V5Bc0^O3N1N1O1O001O001O000000O10000000000O10000000000O100000000O1000000O10000000000O100O1VOVG^Kj8`4]GZKd8b4cGZK^8d4P1N200O1O100O01000O1N3M2M3O1O1O1OcFhKT8X4iGnKT8Q4kGQLU8o3gGVLX8i3bG^L^8b3aG`L^8_3cGaL]8_3cGaL]8^3dGbL\\8^3dGbL\\8^3eGaL[8^3fGbLZ8^3fGbLZ8^3gGaLY8^3hGbLX8^3hGbLX8^3hGbLX8^3iGaLW8^3jGbLV8^3jGbLV8^3kGaLU8_3kGaLV8]3kGcLW8[3iGeLP9b2QG]MU:\\1lEcNh:j0XEVOf;K[D4Z=N2MU_[3Nm`dL3O1N101N2O0O2O1hAi0MeNd<k2]O0O100O10000O100O10000O10000O1000O010000O1000O10O1000001N10000O2O000O10000000000O100000000001O0000001O00001O00001O00001O00001O00001O00001O0000001O0000001O00001O001O00001O001O001O00001O001O00001O001O00001O1O1O1O0O2M2K6I6G:I6I8H8H8I7M3N1O2O0O2N102K[`e1"
+      }
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+          640
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/single_sofa222222bed/40776203_1043.561_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/single_sofa222222bed/40776203_1043.561_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..574c81579150bdceb34ba6b66831b6fd001d5f86
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/single_sofa222222bed/40776203_1043.561_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/single_sofa222222bed/40776203_1043.561_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "single sofa222222bed"
+    ],
+    "target_area_description_en": [
+      "single sofa",
+      "bed"
+    ],
+    "target_area_description_cn": [
+      "单人沙发",
+      "床"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          480,
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diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222The_chair_near_the_sofa/001110_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222The_chair_near_the_sofa/001110_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa2ba9d85f959df6e13d6a83da0e681978663d37
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222The_chair_near_the_sofa/001110_mask_rle.json
@@ -0,0 +1,47 @@
+{
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+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222The_chair_near_the_sofa/001110_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
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+      "sofa222222The chair near the sofa"
+    ],
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222The_chair_on_the_left_side_of_the_table/taskonomy_glassboro_point_1073_view_3_domain_rgb_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222The_chair_on_the_left_side_of_the_table/taskonomy_glassboro_point_1073_view_3_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c1d0279cd5b02da99c7a80fc424a064837f6031
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222The_chair_on_the_left_side_of_the_table/taskonomy_glassboro_point_1073_view_3_domain_rgb_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222The_chair_on_the_left_side_of_the_table/taskonomy_glassboro_point_1073_view_3_domain_rgb_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "sofa222222The chair on the left side of the table"
+    ],
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+      "sofa",
+      "The chair on the left side of the table"
+    ],
+    "target_area_description_cn": [
+      "沙发",
+      "桌子左边的椅子"
+    ],
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+    ],
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diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222The_lamp_on_the_right_side_of_the_TV/064663_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222The_lamp_on_the_right_side_of_the_TV/064663_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..a46b422a2776f0bfe4b1c2db9904f96aeabb4c09
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222The_lamp_on_the_right_side_of_the_TV/064663_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222The_lamp_on_the_right_side_of_the_TV/064663_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
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+    ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222The_table_farthest_from_the_camera/taskonomy_experiment_point_749_view_7_domain_rgb_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222The_table_farthest_from_the_camera/taskonomy_experiment_point_749_view_7_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c840076d152b64b8ee8015d07a0845b227dfe20
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222The_table_farthest_from_the_camera/taskonomy_experiment_point_749_view_7_domain_rgb_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222The_table_farthest_from_the_camera/taskonomy_experiment_point_749_view_7_domain_rgb_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "sofa222222The table farthest from the camera"
+    ],
+    "target_area_description_en": [
+      "sofa",
+      "The table farthest from the camera"
+    ],
+    "target_area_description_cn": [
+      "沙发",
+      "离镜头最远的桌子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
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+      }
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+    "masklet_path": [
+      {
+        "size": [
+          512,
+          512
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222cabinet/000175_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222cabinet/000175_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..d785dbeecb1d07656fb4e393b235c06503e3f007
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222cabinet/000175_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222cabinet/000175_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "sofa222222cabinet"
+    ],
+    "target_area_description_en": [
+      "sofa",
+      "cabinet"
+    ],
+    "target_area_description_cn": [
+      "沙发",
+      "柜子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "dTi13`:4M7H5I9J7I7J1OO100000000O10@jNaGV1^8lNaGT1_8mN_GS1b8mN[GV1d8kN[GV1e8kNXGW1i8:0O100000000001O001O1O2N3^GXNQ8[2K2N3N2M3M6J3M3M3M3M2N2N3M1O001O0000000O10000000000O100000000O10000O100O1O1N2000O010O1O1O1N2O1O1O1N2O1O1O1O1N2O1O1ZMkHk1V7UNiHk1X7UNhHj1Z7g01O1_MdHh1]7XNcHg1^7YNbHf1_7g01O1O1O1O1O2F[HaMdXa1?YQ_N5cFL_O\\O^8n0fGf0e7W1N0O10000001N7J4M2M1O2N4L3M1N201N001O1O]NRN`Jm1\\5YNbJg1]5ZNdJe1[5\\NeJd1[5[NgJd1Y5\\NgJd1Y5\\NhJc1X5]NhJc1X5]NhJc1X5^NhJa1X5_NhJa1X5_NhJa1X5_NhJa1X5_NhJa1X5`NgJ`1Y5`NgJ`1Y5aNgJa0`NMi6BgJ`0aNNh6BgJ?cNNf6CgJ>eNNd6DhJ<eN0c6CjJ;eN1a6DkJ9eN3`6DlJ7eN5_6DmJ6dN6_6CPK4cN7^6DQK3bN9]6DRK1bN;\\6DSK0aN=[6CTK0aN=[6CUKO`N>[6CUKNaN?Z6CUKMaNa0Z6AVKN`Na0Z6AWKL`Nc0Z6_OWKM_Ne0Z6]OYKL]Nh0Z6\\OmKd0S4\\OlKe0T4YOmKh0S4XOmKh0T4VOmKj0o60000000000000000000000000000000000000001O000OVF"
+      }
+    ],
+    "masklet_path": [
+      {
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+          341,
+          512
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222door/066230_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222door/066230_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..a740d4e76940b387eb0fb69ff2b1f8ada24ee5c4
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222door/066230_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222door/066230_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "sofa222222door"
+    ],
+    "target_area_description_en": [
+      "sofa",
+      "door"
+    ],
+    "target_area_description_cn": [
+      "沙发",
+      "门"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          340,
+          512
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+      }
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+    "masklet_path": [
+      {
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+          340,
+          512
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222television/000175_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222television/000175_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0dac26ebc7c30d8d2da30ffa48c494d39507fa2
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222television/000175_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222television/000175_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "sofa222222television"
+    ],
+    "target_area_description_en": [
+      "sofa",
+      "television"
+    ],
+    "target_area_description_cn": [
+      "沙发",
+      "电视机"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "VSQ26S:=oNLYG:g8GVG<h8FTG=l8DRG=n8e000000000000001O0000001O00000000000000O1000000000000000000O1000000O1000000O1MoFbNQ9]140O10O100000001N10000Om\\i1YOjcVN5cFL_O\\O^8n0fGf0e7W1N0O10000001N7J4M2M1O2N4L3M1N201N001O1O]NRN`Jm1\\5YNbJg1]5ZNdJe1[5\\NeJd1[5[NgJd1Y5\\NgJd1Y5\\NhJc1X5]NhJc1X5]NhJc1X5^NhJa1X5_NhJa1X5_NhJa1X5_NhJa1X5_NhJa1X5`NgJ`1Y5`NgJ`1Y5aNgJa0`NMi6BgJ`0aNNh6BgJ?cNNf6CgJ>eNNd6DhJ<eN0c6CjJ;eN1a6DkJ9eN3`6DlJ7eN5_6DmJ6dN6_6CPK4cN7^6DQK3bN9]6DRK1bN;\\6DSK0aN=[6CTK0aN=[6CUKO`N>[6CUKNaN?Z6CUKMaNa0Z6AVKN`Na0Z6AWKL`Nc0Z6_OWKM_Ne0Z6]OYKL]Nh0Z6\\OmKd0S4\\OlKe0T4YOmKh0S4XOmKh0T4VOmKj0o60000000000000000000000000000000000000001O000OVF"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "]Ve21c:1O2N1O1O1N2O2N1O1O1O1O1O2N1O1O1O1O2N1O1O2N1O100O110O00000001O0000001O01O00000000000000000000001O000000000000001O0000000000001O00000000000000000000000000000000001O000000000001O0001O000001O0000000000000000000000001O0000001O000000000000000000000000000001O000000000000001O000000000001O00000000001O00000001O0000000000001O00001O0001O0001O0001_Oofl0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222television/076409_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222television/076409_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..330cc2ce55b561bde4302e0a470c255dce16d217
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222television/076409_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/sofa222222television/076409_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "sofa222222television"
+    ],
+    "target_area_description_en": [
+      "sofa",
+      "television"
+    ],
+    "target_area_description_cn": [
+      "沙发",
+      "电视机"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "[Ra16^:7J6I6K5J7J5K7H5L5J2O0O010O010O100O10O010000O1O100O10O10O100O01O1O0010O0100O00101E\\GbNe8\\1^GbNi8W1XGhNP9Q1PGnNZ9h0hFWO^9b0a0I7HXZV1:V\\iNDV8b0dGDY8?aGF^8<YGMd8V1K2O1N2O1O1O1N2O1O1O1O1O1O1O1O1O2N1O1N2N2N2O1O1N2O1O1O1O1O1O1O1O100O100O100000RMbHe2^7ZMcHf2^7XMcHh2]7XMdHg2\\7YMeHg2Y7YMiHf2R7_MnHa2P7aMQI^2m6cMnHE1h2P7dMoHD2g2n6lMQIT2o6lMQIT2o6mMPIS2P7i0000000000000000001O000O100000000000000O1O1N2M3O2L3N2O1O1O1O1O100O2N100O1000O010O1N2M3N2YOdIUM\\6f2l0K6J5L5J6K5K6I8H8F7K6^Ob0I:E^al0"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "Qjl11c:1O1O1O1L5L3O1O1O1O1O2N1O1O100O1N2O2N10000000001O00001O000O100O1001O00000000000000000000001O000O1000001O0000001O000000000000001O00001O000000001O000001O0000000001O00000001O000001O0000000000001O0001O00000001O00000000001O0000000000000000000000000000000000000IVFCj97]FHc93bFMS:0mPj10Ye\\N0iYI1SM1[Ho1=YNC"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/sofa_222222_computer/062746_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/sofa_222222_computer/062746_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..55071896140aacd8bf2c24923f3e2e6de77f5e08
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/sofa_222222_computer/062746_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/sofa_222222_computer/062746_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "sofa 222222 computer"
+    ],
+    "target_area_description_en": [
+      "sofa",
+      "computer"
+    ],
+    "target_area_description_cn": [
+      "沙发",
+      "电脑"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          384,
+          512
+        ],
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+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          384,
+          512
+        ],
+        "counts": "fUS11l07o9JoE9o9HoE:P:HeEMI>`:6^EKa:j000000000000000000001O000000001O000001O0000000001O0000000000001O000000000000001O000000010O001O0000001O000000000000000001O000001O000000000000001O00000000001OO2O0O100AaE\\O`:d0`E\\O`:d0`E\\O`:R10000000O100D_EYOa:g0_EYOa:S10E_EWOa:i0_EWOa:i0_EWOa:i0_EWOa:i0_EWOa:i0_EVOb:T1000000000000000000000000000000000000000000000000000000000000000O100000O1000000000M3001O0000O100000000O10000O10000O10O1000O1000000O100000000O1000000000000000000000000000000000000000000000000000001N101O001N10001N101O00001N10001O001O1O00001N101O00001N10001O0O1000001O1O2N1O2N1O2N1O1O1O1O1O1O_dP10]\\M"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/suitcase222222the_front_of_the_TV_stand/2026_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/suitcase222222the_front_of_the_TV_stand/2026_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..df03719b2ba285706ab05bee5b502216bf6766d9
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/suitcase222222the_front_of_the_TV_stand/2026_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/suitcase222222the_front_of_the_TV_stand/2026_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "suitcase222222the front of the TV  stand"
+    ],
+    "target_area_description_en": [
+      "suitcase",
+      "the front of the TV  stand"
+    ],
+    "target_area_description_cn": [
+      "行李箱",
+      "电视柜的正前方"
+    ],
+    "visually_blocked": [
+      true
+    ],
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diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/suitcase222222the_front_of_the_table/2012_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/suitcase222222the_front_of_the_table/2012_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..220928faefd8f8bbbf030ea2c22754652ab7112e
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/suitcase222222the_front_of_the_table/2012_mask_rle.json
@@ -0,0 +1,47 @@
+{
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+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/suitcase222222the_front_of_the_table/2012_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
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+      "suitcase222222the front of the table"
+    ],
+    "target_area_description_en": [
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+      "the front of the table"
+    ],
+    "target_area_description_cn": [
+      "行李箱",
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+    ],
+    "visually_blocked": [
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+    "precise_description": [
+      true
+    ]
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diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/swivel_office_chair222222the_side_of_the_bed/2031_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/swivel_office_chair222222the_side_of_the_bed/2031_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..7397d812bb6a4154f7897c777107610b7c32caa5
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/swivel_office_chair222222the_side_of_the_bed/2031_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/swivel_office_chair222222the_side_of_the_bed/2031_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "swivel office chair222222the side of the bed"
+    ],
+    "target_area_description_en": [
+      "swivel office chair",
+      "the side of the bed"
+    ],
+    "target_area_description_cn": [
+      "滚轮办公椅",
+      "床的侧边"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          600,
+          800
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/table222222The_single_sofa_closest_to_the_table_lamp_on_the_left/000471_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/table222222The_single_sofa_closest_to_the_table_lamp_on_the_left/000471_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b6e63d8de26c7330510b99289a13c11723020bb
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/table222222The_single_sofa_closest_to_the_table_lamp_on_the_left/000471_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/table222222The_single_sofa_closest_to_the_table_lamp_on_the_left/000471_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "table222222The single sofa closest to the table lamp on the left"
+    ],
+    "target_area_description_en": [
+      "table",
+      "The single sofa closest to the table lamp on the left"
+    ],
+    "target_area_description_cn": [
+      "桌子",
+      "距离左边的台灯最近的单人沙发"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          340,
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/table222222The_sofa_on_the_right/000054_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/table222222The_sofa_on_the_right/000054_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7ff4bbb9a0aacc93e09e8ac02507074c96b1b02
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/table222222The_sofa_on_the_right/000054_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/table222222The_sofa_on_the_right/000054_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "table222222The sofa on the right"
+    ],
+    "target_area_description_en": [
+      "table",
+      "The sofa on the right"
+    ],
+    "target_area_description_cn": [
+      "桌子",
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+    ],
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+      true
+    ],
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+      true
+    ]
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/table222222cabinet/000163_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/table222222cabinet/000163_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..982a5971ccc69418ba3da7118c703f5cbe8631dd
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/table222222cabinet/000163_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/table222222cabinet/000163_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "table222222cabinet"
+    ],
+    "target_area_description_en": [
+      "table",
+      "cabinet"
+    ],
+    "target_area_description_cn": [
+      "桌子",
+      "柜子"
+    ],
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+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
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+          512
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+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/table222222table/taskonomy_goffs_point_482_view_1_domain_rgb_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/table222222table/taskonomy_goffs_point_482_view_1_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..db1f2cd019b89def07326a16ea1c9d0a70aa73b1
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/table222222table/taskonomy_goffs_point_482_view_1_domain_rgb_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/table222222table/taskonomy_goffs_point_482_view_1_domain_rgb_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "table222222table"
+    ],
+    "target_area_description_en": [
+      "table",
+      "table"
+    ],
+    "target_area_description_cn": [
+      "桌子",
+      "桌子"
+    ],
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+      true
+    ],
+    "precise_description": [
+      true
+    ]
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/television222222The_sofa_farther_from_the_camera/001004_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/television222222The_sofa_farther_from_the_camera/001004_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d15b2927f21dda055561c4e7cd0e0e73c9e1b19
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/television222222The_sofa_farther_from_the_camera/001004_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/television222222The_sofa_farther_from_the_camera/001004_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "television222222The sofa farther from the camera"
+    ],
+    "target_area_description_en": [
+      "television",
+      "The sofa farther from the camera"
+    ],
+    "target_area_description_cn": [
+      "电视机",
+      "距离镜头较远的沙发"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
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+      }
+    ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/television222222chair/000530_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/television222222chair/000530_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..696a4a21724e54e6acd61a59437e41db31e30425
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/television222222chair/000530_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/television222222chair/000530_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "television222222chair"
+    ],
+    "target_area_description_en": [
+      "television",
+      "chair"
+    ],
+    "target_area_description_cn": [
+      "电视机",
+      "椅子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/the_back_of_the_chair22222__the_front_of_the_cabinet/062831_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/the_back_of_the_chair22222__the_front_of_the_cabinet/062831_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..89730d05a395ce96053bb11234886ac5d4ff15b7
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/the_back_of_the_chair22222__the_front_of_the_cabinet/062831_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/the_back_of_the_chair22222__the_front_of_the_cabinet/062831_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the back of the chair22222  the front of the cabinet"
+    ],
+    "target_area_description_en": [
+      "the back of the chair",
+      "the front of the cabinet"
+    ],
+    "target_area_description_cn": [
+      "椅子的背面",
+      "柜子的正面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
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+          512
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+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/the_back_of_the_table222222_in_front_of_the_door/1007_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/the_back_of_the_table222222_in_front_of_the_door/1007_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..6eb210e491f361181ab9030d2b2840b3f6d510ea
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/the_back_of_the_table222222_in_front_of_the_door/1007_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/the_back_of_the_table222222_in_front_of_the_door/1007_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the back of the table222222 in front of the door"
+    ],
+    "target_area_description_en": [
+      "the back of the table",
+      "in front of the door"
+    ],
+    "target_area_description_cn": [
+      "桌子的后方",
+      "门的前面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/the_biggest_sofa_222222_stool/062927_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/the_biggest_sofa_222222_stool/062927_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b4841a3bda5720cc8e29722ed612e83132ab03a
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/the_biggest_sofa_222222_stool/062927_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/the_biggest_sofa_222222_stool/062927_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the biggest sofa 222222 stool"
+    ],
+    "target_area_description_en": [
+      "the biggest sofa",
+      "stool"
+    ],
+    "target_area_description_cn": [
+      "最大的沙发",
+      "凳子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
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+        "size": [
+          340,
+          512
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+        "counts": "lV8:W:6J5K5G9D;J7K4L5K5L4K5K5L3H9K4N2aIQMU5S3]JPM_OMT6X3YJSMd5U3mI^LO04=n5R4N2N2O00100O010001O000O1O10001O000O2O001N2O1O1O1O2M2O2N2M2O2N1O2M2O2N2M3N1O1N10O10O0100000O10O10O10000O01000O10O10O1000000O010O100000O0100O10000O0100000000bIjL^5W3]JmLc5U3SJSMm5k3O0O10000000000001O001O002N4iKgIk3b6O1O1O1O1O2N1O1O1O1O001O1O2N1N2O2N1O1N2O2M2O1N2O001N101N2O1N101N2O1N2O1N100O10000O10000O100O10000O1O1O1M3J7J6G9ROn0N2M3O2M3LVkj0LbTUO0WF1h91VF1i90UF0m90PF2P:900000HmEOS:ORFNn92SFMn93QFNn92SFMn93QFMo93QFNo91RF2j9OTF2l9;000000O01000O0100E;MiVS2"
+      }
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+          340,
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/the_bottom_of_the_bookshelf222222The_bottom_of_the_chair_closest_to_the_camera/1159289_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/the_bottom_of_the_bookshelf222222The_bottom_of_the_chair_closest_to_the_camera/1159289_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb88d78bdd42b10f108a28fa781b4208ae3849e5
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/the_bottom_of_the_bookshelf222222The_bottom_of_the_chair_closest_to_the_camera/1159289_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/the_bottom_of_the_bookshelf222222The_bottom_of_the_chair_closest_to_the_camera/1159289_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the bottom of the bookshelf222222The bottom of the chair closest to the camera"
+    ],
+    "target_area_description_en": [
+      "the bottom of the bookshelf",
+      "The bottom of the chair closest to the camera"
+    ],
+    "target_area_description_cn": [
+      "书架底部",
+      "离镜头最近的椅子底部"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      false
+    ]
+  },
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/the_coffee_table222222the_front_of_the_floor-standing_cabinet/107903_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/the_coffee_table222222the_front_of_the_floor-standing_cabinet/107903_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2c01a7197466fb31617db858dcfdc72fe558abf
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/the_coffee_table222222the_front_of_the_floor-standing_cabinet/107903_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/the_coffee_table222222the_front_of_the_floor-standing_cabinet/107903_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the coffee table222222the front of the floor-standing cabinet"
+    ],
+    "target_area_description_en": [
+      "the coffee table",
+      "the front of the floor-standing cabinet"
+    ],
+    "target_area_description_cn": [
+      "茶几",
+      "落地橱柜的正面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
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+          683
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+    ],
+    "masklet_path": [
+      {
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+          1024,
+          683
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_TV_stand222222the_front_of_the_sofa/107932_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_TV_stand222222the_front_of_the_sofa/107932_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..19dce22de804afbde3b5486a92dfcb02d21523b9
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_TV_stand222222the_front_of_the_sofa/107932_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_TV_stand222222the_front_of_the_sofa/107932_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the TV stand222222the front of the sofa"
+    ],
+    "target_area_description_en": [
+      "the front of the TV stand",
+      "the front of the sofa"
+    ],
+    "target_area_description_cn": [
+      "电视柜的正面",
+      "沙发的正面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
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+          684,
+          1024
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+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          684,
+          1024
+        ],
+        "counts": "efi71[e02N1O2N2N3M2i\\ODZa0?_^OEaa0>W^OGia0>l]OHTb0;f]OHZb0<\\]OIeb0_1000000000000000000000000000000000000000000000000000000000000000000O1000000O100O10000000000000000O1000000O100O10O1O10O01000O01000O01O1O100O1O100O100O100O10000O10O0100O100O010000O010000O10O10O10000O0100O100000O100000000000000000000000000000000000000000000000000O1000000O100000000O10000000000000000000000000000O1000000O1000000O10001O00001O000000000O2O000O1000000O10000O10000O1000000O100000005K2N1O0O2O00001O001O00001O0000001O00001O00001O00001O00001O00000O2O00001N101O001O1O0O2O001O1O0O2O1O001N2O001O1O001N10001O0O101O0O101O0O10000O2O001N10_Qf00anYO0O1000O10[e00eZO0]`j6"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_Washing_machine222222The_pillar_closest_to_the_camera/taskonomy_goodfield_point_1031_view_1_domain_rgb_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_Washing_machine222222The_pillar_closest_to_the_camera/taskonomy_goodfield_point_1031_view_1_domain_rgb_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd65d8bc506598e44fbebd732875bce96dd2679a
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_Washing_machine222222The_pillar_closest_to_the_camera/taskonomy_goodfield_point_1031_view_1_domain_rgb_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_Washing_machine222222The_pillar_closest_to_the_camera/taskonomy_goodfield_point_1031_view_1_domain_rgb_image.png"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the Washing machine222222The pillar closest to the camera."
+    ],
+    "target_area_description_en": [
+      "the front of the Washing machine",
+      "The pillar closest to the camera."
+    ],
+    "target_area_description_cn": [
+      "洗衣机的正面",
+      "离摄像头最近的柱子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          512,
+          512
+        ],
+        "counts": "c6<d?1O0O2O000O1000001O00000000000000001O000000000010O00000000O2O0010O03M2N1O1O2N2N4L2N2N1O6J<D1kAVNR>m1O9G2N4UChMf;\\2PDlMn;X2iCmMIA0O36e;U4I3M\\1dN3M1O0000000000O1O2O0O1O1O1O1O1O1O1O1O100O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1O1N200O1N2O1O1O1O2N1O1N2O1O1O2N2M6K6J7I6J6I6K8H<C9Hf0WOe0XOePn3^OmoQL9G7G:G8G9G:D;G9I7I8G8J6G9E;G9I7G9F:F:I7F:H8F:I7I6LJ8M4H9K5J7G8K6K5F9I8F8J6K6I8I6G:I7G9I7K5K5F:I7H8H8G9K5I7I7I8F\\b?Khn88b^WO8O3\\K"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          512,
+          512
+        ],
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_bed222222the_front_of_thetaller_cabinet/1098_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_bed222222the_front_of_thetaller_cabinet/1098_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..147e340b63a7be710692babc70ebbf448ac3edb5
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_bed222222the_front_of_thetaller_cabinet/1098_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_bed222222the_front_of_thetaller_cabinet/1098_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the bed222222the front of thetaller cabinet"
+    ],
+    "target_area_description_en": [
+      "the front of the bed",
+      "the front of thetaller cabinet"
+    ],
+    "target_area_description_cn": [
+      "床的正面",
+      "更高的橱柜正前面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          463,
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diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_cabinet222222Chair/004972_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_cabinet222222Chair/004972_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d05eaa87f0254b7626be061e84161a748ee47ce
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_cabinet222222Chair/004972_mask_rle.json
@@ -0,0 +1,47 @@
+{
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+  ],
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+    "FeasiblePath_Exo"
+  ],
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_dark_brown_cabinet222222the_front_of_the_window/2190_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_dark_brown_cabinet222222the_front_of_the_window/2190_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..6df47f60f2822e02c039f87c66f5eb183449b204
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_dark_brown_cabinet222222the_front_of_the_window/2190_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_dark_brown_cabinet222222the_front_of_the_window/2190_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      " the front of the dark brown cabinet222222the front of the window"
+    ],
+    "target_area_description_en": [
+      "the front of the dark brown cabinet",
+      "the front of the window"
+    ],
+    "target_area_description_cn": [
+      "深棕色的橱柜",
+      "窗户的前面"
+    ],
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+      true
+    ],
+    "precise_description": [
+      true
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_fridge222222the_side_of_the_bed/107916_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_fridge222222the_side_of_the_bed/107916_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..e096dd501ee6dcb886421e2ba0697e5bafed2c94
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_fridge222222the_side_of_the_bed/107916_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_fridge222222the_side_of_the_bed/107916_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the fridge222222the side of the bed"
+    ],
+    "target_area_description_en": [
+      "the front of the fridge",
+      "the side of the bed"
+    ],
+    "target_area_description_cn": [
+      "冰箱的正面",
+      "床的侧面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
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+          683,
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diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_refrigerator222222table/064249_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_refrigerator222222table/064249_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9bb5b4ae4d11b45d7910570b08b1031097e5249
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_refrigerator222222table/064249_mask_rle.json
@@ -0,0 +1,47 @@
+{
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+    "FeasiblePath_Exo"
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diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_sofa222222the_door/107932_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_sofa222222the_door/107932_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..355f8d8b40d279f65e58788f76b6eb46fcfe6194
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_sofa222222the_door/107932_mask_rle.json
@@ -0,0 +1,47 @@
+{
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+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_sofa222222the_door/107932_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
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+      "the front of the sofa222222the door"
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diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_sofa_222222the_front_of_thecabinet/062474_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_sofa_222222the_front_of_thecabinet/062474_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..eff1d64a22e5807c233d6f5f5b4240eccade956b
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/the_front_of_the_sofa_222222the_front_of_thecabinet/062474_mask_rle.json
@@ -0,0 +1,47 @@
+{
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+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the front of the sofa 222222the front of thecabinet"
+    ],
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+    ],
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diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/the_right_side_of_the_round_table222222the_left_side_of_the_square_table/1007_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/the_right_side_of_the_round_table222222the_left_side_of_the_square_table/1007_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9ffcfc99443cd7163ba0d4daf502d24c569884e
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/the_right_side_of_the_round_table222222the_left_side_of_the_square_table/1007_mask_rle.json
@@ -0,0 +1,47 @@
+{
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+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/the_right_side_of_the_round_table222222the_left_side_of_the_square_table/1007_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/the_side_of_the_chair222222the_side_of_the_white_refrigerator/107915_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/the_side_of_the_chair222222the_side_of_the_white_refrigerator/107915_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6ba9bf943e5f103034abd7b4773139f028da893
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/the_side_of_the_chair222222the_side_of_the_white_refrigerator/107915_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/the_side_of_the_chair222222the_side_of_the_white_refrigerator/107915_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the side of the chair222222the side of the white refrigerator"
+    ],
+    "target_area_description_en": [
+      "the side of the chair",
+      "the side of the white refrigerator"
+    ],
+    "target_area_description_cn": [
+      "椅子侧面",
+      "白色冰箱侧面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
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+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/the_side_of_the_larger_sofa222222the_side_of_the_small_sofa/1989_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/the_side_of_the_larger_sofa222222the_side_of_the_small_sofa/1989_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..3acf62051bb3e3ec00eef8615067e863a9dc55d1
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/the_side_of_the_larger_sofa222222the_side_of_the_small_sofa/1989_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/the_side_of_the_larger_sofa222222the_side_of_the_small_sofa/1989_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      " the side of the larger sofa222222the side of the small sofa"
+    ],
+    "target_area_description_en": [
+      "the side of the larger sofa",
+      "the side of the small sofa"
+    ],
+    "target_area_description_cn": [
+      "更大的沙发的侧面",
+      "小沙发的侧面"
+    ],
+    "visually_blocked": [
+      true
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/the_side_of_the_pool_table222222the_front_of_the_shelf/1143_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/the_side_of_the_pool_table222222the_front_of_the_shelf/1143_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..2967dc0231f4c6736dc7602dadf8f3ea2831150b
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/the_side_of_the_pool_table222222the_front_of_the_shelf/1143_mask_rle.json
@@ -0,0 +1,47 @@
+{
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+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
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+    ],
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/the_side_of_the_sofa222222the_front_of_TV_stand/1997_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/the_side_of_the_sofa222222the_front_of_TV_stand/1997_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..24fdc2fbf6b731717bb3003b070d8b46e2ba3f84
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/the_side_of_the_sofa222222the_front_of_TV_stand/1997_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/the_side_of_the_sofa222222the_front_of_TV_stand/1997_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the side of the sofa222222the front of  TV stand"
+    ],
+    "target_area_description_en": [
+      "the side of the sofa",
+      "the front of  TV stand"
+    ],
+    "target_area_description_cn": [
+      "沙发的侧面",
+      "电视柜的正面"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/the_side_of_the_table222222the_side_of_the_bed/1994_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/the_side_of_the_table222222the_side_of_the_bed/1994_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..2015b026a492c324e7455c02bf6369c43f1687cb
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/the_side_of_the_table222222the_side_of_the_bed/1994_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/the_side_of_the_table222222the_side_of_the_bed/1994_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "the side of the table222222the side of the bed"
+    ],
+    "target_area_description_en": [
+      "the side of the table",
+      "the side of the bed"
+    ],
+    "target_area_description_cn": [
+      "桌子的侧面",
+      "床的侧面"
+    ],
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+      true
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+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/thr_front_of_the_cabinet_222222_the_front_of_the_oven/002229_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/thr_front_of_the_cabinet_222222_the_front_of_the_oven/002229_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4c9ae6fdb652cd265123f96e73bac185355c9e3
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/thr_front_of_the_cabinet_222222_the_front_of_the_oven/002229_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/thr_front_of_the_cabinet_222222_the_front_of_the_oven/002229_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "thr front of the cabinet 222222 the front of the oven"
+    ],
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+      "thr front of the cabinet",
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+    ],
+    "target_area_description_cn": [
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+      "烤箱的正面"
+    ],
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+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000279_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000279_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f7bf2fc3d29e38703ff25ee04cbd4e0304a9e3f
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000279_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000279_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "two target area"
+    ],
+    "target_area_description_en": [
+      "two target area"
+    ],
+    "target_area_description_cn": [
+      "两个目标区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
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+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "T_k23a:7J0000004L2N1O0M4N1O1N2O2O100O0000O10O100000O1000000000001O00O1000O10000O1000N101001O1O001O001N1O1O2N3M4L3L4Mc2N^M3M4K4O3M6J001N10000O2O0O1000000O100000_OXF5g9=000000000O010O001000O10000O10O012M2O2M2N2N2O1N3M1N201N2N4JUZ[1"
+      }
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+          341,
+          512
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+        "counts": "T_k23a:7J0000004L2N1O0M4N1O1N2O2O100O1O00000O2O00000jFAV8`0iGBU8>kGDS8<SHTOCOY8n0S100010O0O1000001O1O1jF^O7_O\\7U1YH_OOIf7k0XH2e7b1M2O2M2O001O2N1O1O1O1006I3M2O1N2O2M7I2N2O2N1NOfMiGY2V8gMmGV2U8iMkGV2V8jMiGV2Z820O2N2N1O1O2N2N2N2]OVGWOk8Y11O2N1O2N2M3N1N3M2O2N1O1O2N1O1N2O2M2O2M2N2N2O1N3M1N201N2N4JUZ[1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000320_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000320_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce855a75499633e0e0492f8b7816baa1a39f2309
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000320_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000320_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "two target area"
+    ],
+    "target_area_description_en": [
+      "two target area"
+    ],
+    "target_area_description_cn": [
+      "两个目标区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
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+          512
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+      }
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+    "masklet_path": [
+      {
+        "size": [
+          771,
+          512
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000336_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000336_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..2af9e19a073acb06fb38fde270e86c06d0527330
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000336_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000336_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "two target area"
+    ],
+    "target_area_description_en": [
+      "two target area"
+    ],
+    "target_area_description_cn": [
+      "两个目标区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
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+          384,
+          512
+        ],
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+      }
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+    "masklet_path": [
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+          384,
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+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000337_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000337_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7e6a23e55384035b1d6a4b8aaf542a4c675c97d
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000337_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000337_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "two target area"
+    ],
+    "target_area_description_en": [
+      "two target area"
+    ],
+    "target_area_description_cn": [
+      "两个目标区域"
+    ],
+    "visually_blocked": [
+      true
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+    "precise_description": [
+      true
+    ]
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+      }
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+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000486_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000486_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca7ddf39ec00ce17fe65ceaf0d9c7e926292221c
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000486_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000486_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "two target area"
+    ],
+    "target_area_description_en": [
+      "two target area"
+    ],
+    "target_area_description_cn": [
+      "两个目标区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
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+          384,
+          512
+        ],
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+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          384,
+          512
+        ],
+        "counts": "mnY16e;8K4L4N1N2O1M201O1N101N2O0O2N100O100O1O2O0O100O100O100O1O10O01000O01000O0010O01O010O10O010O010O1O10O10O010O001000O0000001O00001O01O00010O001O00100O00001O0010O010O1000O010O01O01O010N10100O010O001O010O1O010O0010O10O010O10O0100O0100O010O0100O010O01O100O010O100O010O010O010O010O00010O010O01O001O000010O1O010O00001O0010O01O1O010O10O01O001O1O000010O01OO20O01O01O01O0100O010O1O00001N1001O0001O01O00001O01O100O10O010O1O010O00100000O10O10O10O0100O1O100O101N2O1N2O0O2N2M3M2O2Mc0]O[Pn1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000504_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000504_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..d742c87e6a178682293a1444932d7f4f64f113f8
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000504_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000504_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "two target area"
+    ],
+    "target_area_description_en": [
+      "two target area"
+    ],
+    "target_area_description_cn": [
+      "两个目标区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          771,
+          512
+        ],
+        "counts": "mXc44ng02H:K3L3N3O0O101O00001O0000000c\\O[O\\?e0c@@Y?`0f@DW?;i@IT?7k@JU?6j@KV?5j@LU?4j@MV?3j@NU?1l@0S?0m@1R?On@2Q?No@3P?MPA3P?MPA4o>LQA4o>LQA5n>KRA6m>JRA7n>IRA7n>IRA7n>IQA8o>HQA8P?GPA9P?GPA9P?Go@:Q?EPA;P?EPA;P?Eo@<R?Bo@=S?@o@`0T?\\Om@d0Yc00001N100000000O1000000O102N1N2N2O001N3M5L^lj5"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          771,
+          512
+        ],
+        "counts": "mXc48jg04Fe0@7H5L:]YO\\N0022ie0[2^ZOiMed0\\2T[OiMjd0k2M5K7I3Me0[O4L5K7I4L3M3M00001O001O1O1O1O1O001O001O1O0000000001O00000000001N2O3Me0[O3M3L4M3M;E4L2M3N6J3Mh0WO8I2N3L5K?B3M9Fa0_O5L^lj5"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000530_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000530_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..98970687bf10bc2d9e576413a9465f0632ef2b83
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000530_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000530_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "two target area"
+    ],
+    "target_area_description_en": [
+      "two target area"
+    ],
+    "target_area_description_cn": [
+      "两个目标区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "kX6?U:2M3N3K5K5M101O0O10001N100O100000000000000000000000000001O00000O101N2O0O2N1O1N5K4L4L3N2HkWQ3OZhnL5M3M4K6J4L6K3M2N1O2N101N2O1O1O0000000000000O11O000O2O0O2O001N10000O2O0O3N2L4L4L3N3M6JRfj0EYZUO0go90geE"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "kX6?U:2M3N3K5K5M101O0O10001N100O100000000000000000000000000001O0000000001O000N201O000000000000000000001O00000001O0000000000001O00000000000000000000000000000000000000000001O0000000000001O00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000O1000000000000O10000000000000000000000000000000000000000000000000000000000000000000000000O1000000O1000000000000000000000000000000000000000000000000O100000000000000O10000000000O10000000000000000000000O11O000O2O0O2O001N10000O2O0O3N2L4L4L3N3M6JRfj0EYZUO0go90geE"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000570_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000570_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..af4ab341e9eac99de94b908dff674239cbaae3e1
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000570_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000570_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "two target area"
+    ],
+    "target_area_description_en": [
+      "two target area"
+    ],
+    "target_area_description_cn": [
+      "两个目标区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "P[l1=V:3N1N101N2O2M2O1N2O0O1O101O00000O10000O1000O0100O1000000001O1O001O00001N1O2O0O2O0N3M2O2M2O2MZoh0JkPWO8A;N101N1O2N100O1O100O100O10000O100000000001O001O001O00001O00000O101O0O2N2N2N2N3L3M3LZ_f1"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "P[l1=V:3N1N101N2O2M2O1N3N0O2N101O1O000O101O0O101O0O2O0O101O001O01O10O01O00010O010O010O010O0010O010O010O0010O0100O010O1O010O1O010O1O01O10O010O10O0100O10000O1000O010O010O0010O0010O010O010O1O10O01000O10O10O010O010O1O0100O1O1O010O10O10O10O010O10000O100O010O10O010O10O01O001O00001O001O001O1O1O1O1O001O001O001O00001O00000O101O0O2N2N2N2N3L3M3LZ_f1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000579_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000579_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..19a75f666833f60a6a8b9d543dbf09daf982e668
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000579_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000579_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "two target area"
+    ],
+    "target_area_description_en": [
+      "two target area"
+    ],
+    "target_area_description_cn": [
+      "两个目标区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          771,
+          512
+        ],
+        "counts": "bYm29gg05L3M4L6H6L2O2O1O1N2O1O00001O000000000000000010O001O00001O0000001O000O10000O100O10000O2O0O3M4L5J5L2E<KXlU6?ZSjI3N3M2M3M3N2O1N3N1N3N1O1O1N101O1N101O1O001O000000000001O1O1O0O2O0O101O0O10001O0O101N3M3M2M3N3M2N9G5KSh`0"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          771,
+          512
+        ],
+        "counts": "bYm29gg05L3M4L6H6L2N3N2N2N2N2N1O1O2N100O1O100O1O1O101N100O10000O10000O100O10O01000O010O10O10O010O010000O010O10O010O010O10O100O010O10O100O0100O010O10000O1000O001000O010O10O10O10O01O010O0100O100O0010O010O01000O01O10O10O010O010O01000O10O010O10O10O10O010O10O10O10O01O0100O01000O10O0100O0100O010O001O00100O00100O0010O010000O010O0100O0010000O010O10O10O1000000O010O100O10O010O1O010O10O10O010O10O10O0100O0100O010O010O1000O01000O0010O1O010O10O10O010O01000O01000O010O010O10O010O10O0100O01000O0100O010O01000O010O10O0010O010O10O10O10O010O010O010000O010O0100O01000O0100O010O01O010O10O10O10O10O10O100O010O010O010O01000O01000O0100O0100O010O1000O010O1O10O1O01000O010O0100O0100O10O10O10O0100O10000O100O10000O2O1O1N101O0O101N1N2O1O2N1O101N3M3M2M3N3M2N9G5KSh`0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000806_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000806_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..39bf6251fdc3913a64e5e5de8ab45c4d610cb1f7
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000806_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000806_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "two target area"
+    ],
+    "target_area_description_en": [
+      "two target area"
+    ],
+    "target_area_description_cn": [
+      "两个目标区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "Wn>7]:4K:G3L3O2M2N2O1N11O0001O001O1O0000O1000000000O11N100O1O10000O101N101M3N3L7FmEGW:39L]Vn0:ZiQO2N1O2N101O2M101O0O101N101N10001O00001O001O000O100000O101O0O101N3N1N3N1N2M3M6Jo[R3"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "XY>2^:6I8M2M4M2M3O2M2N2O1N3N1N2N100O010O100O010O1O100O1O100O100O1O100O1O1O1O100O00100O1O10O0001O001O010O0O110O10O01O1OO2O0000001O00010O000O10000000001O01O010O1O100OO100O10001O01O00010O010O0010O00001N101O0000010O0001O00010O001O001O000001O000000010O00010O00010O0000O1000001O0000000001O10O01O1N101O001O001N2O1N2O1N2O1O1O1O00100O1O1O2O0O1O2O2M2O2J5L4M3M6Jo[R3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000905_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000905_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..38b4d6f0f6f0aab175b0db5d65efeb9f82ddedd9
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000905_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000905_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "two target area"
+    ],
+    "target_area_description_en": [
+      "two target area"
+    ],
+    "target_area_description_cn": [
+      "两个目标区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "_m[17Y:7L3N2N5L2M2N3N1O1N101N1O2O0O1O100O1O101N1O10000001O00001N10001N100000001O001M4L4M3K4M;E6JRUn1MgjQN=N2O1N3M3N1O3L2O3M2N001O001N101O1OO01000O0100001O000O100O100O1O102M2N3M2N2N2N4K5K3MTiR1"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "_m[17Y:7L3N2N5L2M2N3N1O1N101N1O2O0O1O100O1O101N1O100O100O100O10O0100O010O10000O10000O100O010O0010O000100O100O10O1000O01O001O010000O010O010O01O010O0001O010O010O00010O0100O010O010O01O100O0100O010O0100O10O0100O01O010O0010O01O001O010O010O01O010O01O00010O001O0010O00010O010O010O01O010O100O10O0100O10O0100O010O010O01000O0100O1O010O001O00010O010O0100O0010O010O010O0010O01O01O10O0100O100O010O1O10O010O01O010O1O010O0010O001O1O01OO2O001O0O110O00100O0010O01O10O010O0100O010O10O01O010O010000O2N100O010O1O100O100O00100O10O01O10O01O1N3N100O100O100O1O102M2N3M2N2N2N4K5K3MPoi0KUQVO3ON2O10n]5OQbJ1N2N2M3O2_G"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000918_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000918_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d228776ba1171baea3064f1c04dc79bddd1e70d
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000918_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000918_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "two target area"
+    ],
+    "target_area_description_en": [
+      "two target area"
+    ],
+    "target_area_description_cn": [
+      "两个目标区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "\\ff1:X:4L4M2N1O2N1O2M2O1O2N1O100O101O0000001O000000000000O10000O2O000O2O0O101N2O2N0O3N2J6L6J^_o1Md`PN6K5L3L2O2N1N2O2M2N2N2O2O000O100O2N2O0010O001O0010O000000000001N100O1O1O1O2O000O2N2N2N2N2M3L4L5Gdnd0"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "\\ff1:X:4L4M2N1O2N1O2M2O1O2N1O100O101O0000001O0000001O001O00000010O00001O01O01O10O000000001O0000001O00010O001O01O01O0001O01O0000000100O00100O0010O0001O010O00000010O001O001O00100O1O001O1O1O01O01O00001O0000000000010O01O01O00010O001O000001O00001O0000001O0001O0001O000000010O0001O00010O00000010O01O01O01O000000000001O0000001O000000001O00001O01O001O0001O01O0010O0001O0001O01O000010O000000001O01O0001O0000010O0001O00000001O0001O01O00001O01O001O0001O0001O01O0010O00010O0001O001O001O01O010O01O010O0010O01O0010O0001O0001O10O010O001O0010O000000000001N100O1O1O1O2O000O2N2N2N2N2M3L4L5Gdnd0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000952_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000952_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ddbc4be66fc80bc331a5a7dcef8ec48756edffd
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000952_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000952_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "two target area"
+    ],
+    "target_area_description_en": [
+      "two target area"
+    ],
+    "target_area_description_cn": [
+      "两个目标区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "nW11Z:=K5L2N2N2N2N1O2N1O102N01N100000001O1O1O1N2N1O2M3N101N100O2O0MbXc0Ehg\\O5K4O2O1N3M3M3M1000001O00001O000000001O0001O0O2O1N2N2N101N2K5NSfP4"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          341,
+          512
+        ],
+        "counts": "nW11Z:=K5L2N2N2N2N1O2N1N202M10O0100O100O1O100O01O000O1010O010O010O00010O0010O010O01O01O010O01O01O001O010O00010O01O01O0010O010O10O010O01O00010O010O00010O01O000010O00010O01O00001O10O10O000010O01O0001O0001001O1OO1O1O100N2O1O1O100O2N1O2O1N2N2N101N2K5NSfP4"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000959_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000959_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..912daf59d5080edbcf2b67846fb52492709761e4
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000959_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/000959_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "two target area"
+    ],
+    "target_area_description_en": [
+      "two target area"
+    ],
+    "target_area_description_cn": [
+      "两个目标区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
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+          512
+        ],
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+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          771,
+          512
+        ],
+        "counts": "UgV25mg0:E4M4K3M3M2N3M3L4N101N2O1N2O1N1O100O2O0O101N1O2O1N010O100O00100O00100O010O1O100O10O0100O100O1O010O1O1O010O0001O0001O0010O0010O10O01O10O000010O00010O0010O0010O0010O010O0010O01O0010O001O010O01O010O010O01O0000100O01O0010O0010O0010O0010O00001O01O000010O0000001O01O010O0001O001O00000010O00001O000001O010O00000001O00010O00010O0001O0010O0001O010O00001O010O001O010O00010O0N2O2O001O000010O01O0100O0010O0010O1O010O0010O01O010O01O010O01O010O01O010O010O01O01O01O01O01O010O01O0010O10O00010O0010O0001O010O00001O001O010O000010O1O01O010O01O010O001O1O001O1O10O00000000000010O000010O01O010O010O001O00010O00000001O000000010O0001O01O0001O01O00010O0001O001O00010O0010O010O001O001O001O01O01O0001O01O1O1O1O100O1O1O10O01O1O10O01O101N1O1O1O1O2N100N2O1N3N1O1O1N2O2N4L3N1N3K4M3K5L6KUdm0"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/001004_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/001004_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..7324576714cce549a0cb556d73fb3e59da21e233
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/001004_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/001004_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "two target area"
+    ],
+    "target_area_description_en": [
+      "two target area"
+    ],
+    "target_area_description_cn": [
+      "两个目标区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "P\\f17Z:5L2O1O1O1O2N1O2aG]Ok6c0TIBh6>XIEd6=ZIFd6;[IFd6:[IHd69[IHd68[IJd66[IKe65ZIMe63[IMe63ZIOe61[IOe61[IOe61[I0e6O[I1e6OZI2f6M[I3e6M[I3f6LZI4g6JZI5h6IYI7h6GYI9h6EYI:h6EYI;h6DXI;T7YOmHg0`8O1O2N2M2N6JenU3"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          340,
+          512
+        ],
+        "counts": "P\\f17Z:6kEGg9f0M5K5K<D6J?A4M4L3L3N1O1O1O1O001O001O000010O0000001O1N2O1O1N101N<E7Hn0RO6J4K5K6JenU3"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/001065_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/001065_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cf26da92221238f07c32eaf6e9c90e08060ef2f
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/001065_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/001065_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "two target area"
+    ],
+    "target_area_description_en": [
+      "two target area"
+    ],
+    "target_area_description_cn": [
+      "两个目标区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          765,
+          512
+        ],
+        "counts": "jQS15fg04M3L5K4M4L7I3M3L3N2M3M4M2N1O2O0O2O0O2O001N110O00010O001O001O0000000001O000001OO20O0001O001O0O110O00001O1O0O2N1O3M7I6J5J5K9H6Jjln2Eg]c00ke]L0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000]K1h\\O7V4Hn>c0n@]OP?h0m@XOQ?l0m@TOQ?R1k@nNP?Y1n@gNQ?\\1m@dNS?_1j@aNU?b1b31N2N1O2N2O002N0O2O000O2O001O001O0000001O0001O0000001O0O2O001N101N2O1N2O1N2N2N2N3M3M4K7J7H5J6Jik3G"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          765,
+          512
+        ],
+        "counts": "jQS15fg04M3L5K4M4L7I3M3L3N2M3M4M2N1O2O0O2O0O2O001N101N1O1O2O0O2N1O2N10000O1000000O101OO11N10000O100O011O0O100O1000O010001N1000000O1000O0100O0100000O1000O100O10O100000O1000O1000000O0100O10O10O100000O1000000O01000000O01000000O10O10000O0100000O10O100000O10O1000000O10O10000O01000000O10O100000O0100000000O0100000O1000O010000000000O0100000O0100000O01000000O10O100000000O0100000O10000000O0100O01_[O`Mec0`2l0000O1000O1000O1000O1000O10O100O100000O0100O10O10O100000O1000O1000O0100O10O100000O0100000000O0100000000O01000O10000000O1000000O10O100000O100000000O1000000O100000000O0100000000O01000O100000O1000O1000O1000O1000O10O10000O010000000O0100000O10O1000000O100000O10O10O10000O010O1000000O01000O100O10O0100O10O10O1000m\\OdMd`0]2\\_OcMd`0]2\\_OcMd`0\\2]_OdMc`0\\2]_OdMb`0\\2__OdMa`0\\2__OdMa`0[2`_OeM``0[2`_OeM``0[2`_OeM_`0[2b_OeM^`0[2b_OeM^`0[2b_OeM^`0Z2c_OfM]`0Z2c_OfM]`0Z2c_OfM]`0Y2d_OgM\\`0Y2d_OgM[`0Y2f_OgMZ`0Y2f_OgMZ`0Y2f_OgMZ`0Y2f_OgMZ`0X2g_OhMX`0Y2h_OgMX`0Y2h_OgMX`0Y2h_OgMX`0X2i_OhMV`0Y2j_OgMV`0Y2j_OgMV`0Y2j_OgMV`0X2k_OhMU`0X2k_OhMT`0Y2l_OgMT`0X2m_OhMS`0X2m_OhMS`0X2m_OhMR`0Y2n_OgMR`0Y2n_OgMR`0X2o_OhMQ`0X2o_OhMQ`0X2o_OhMP`0Y2P@gMP`0Y2P@gMP`0X2Q@hMo?X2Q@hMo?X2Q@hMo?X2Q@hMn?X2S@hMm?X2S@hMm?X2S@hMm?X2S@hMm?X2S@hMm?W2T@iMl?W2T@iMl?W2T@iMl?V2U@jMk?V2U@jMj?W2V@iMj?W2V@iMi?X2W@hMi?X2W@hMi?W2X@iMg?X2Y@hMg?X2Y@hMg?X2Y@hMg?X2Y@hMf?Y2Z@gMf?Y2o2O1000000O100000O1000O010000000O100O1O100O1O2O0000001O0O2O001N101N2O1N2O1N2N2N2N3M3M4K7J7H5J6Jik3G"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/001460_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/001460_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..19eef68c037fcc4f19581649ea3aba41a407bdce
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/001460_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/001460_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "two target area"
+    ],
+    "target_area_description_en": [
+      "two target area"
+    ],
+    "target_area_description_cn": [
+      "两个目标区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          323,
+          512
+        ],
+        "counts": "ff4:g95K4L3N2N2N2N2O1N101N2O000O10000000000O100000000001O1O001O0000001MoFROQ9j07N2M4L3M4Kci_2GgV`M5K5L:G4K2O0O1O2M201O1O1O2NO100000000000O10000000O10001O0O101O1N3M2O1N3M2N2N3L4L3KS]4LUPZ1"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          323,
+          512
+        ],
+        "counts": "ff4:g95K4L3N2N2N2N2O1N101N2O000O10000000000O10000000000O100000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000O100000000000000000000000000000000000000000000O10000O1000000000000000000O10000000000000000O10000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000O1001O0000000000000000O100000000000000000000O10000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000O1000O10000000000000000O101O0000001N1000O100000O10000O100000000000O10000000O10001O0O101O1N3M2O1N3M2N2N3L4L3KS]4LUPZ1"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/1159380_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/1159380_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..79ee9bc0b2d504d2623ed291bfb56135b6f39268
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/1159380_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/1159380_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      " two target area"
+    ],
+    "target_area_description_en": [
+      " two target area"
+    ],
+    "target_area_description_cn": [
+      "两个目标区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          1024,
+          768
+        ],
+        "counts": "Ukg8;bo05M4K7nPO0em0XOTROo1dm0<J=E5J:G4L3M4M2M3N2M2O1N2O1O1O1N1M4M3M2O1O2N1O1O1O1O1O1O1O1O100O010O10O100O00100O1O1O2N1N2N2N3M2N3M2J7L4F:L3_Oc0L3N3L4K6K5JQj\\3SNjWcL9I5L4M2L4M3K5oMQ2L3O2M3N1O1O2O0O2O0O101N1000001O0O10000O10000000000000000001O0O101O0O2O1N2N2O1N3M3M4KY2hM4K9ES\\S8"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          1024,
+          768
+        ],
+        "counts": "foT9:do02JEePO=Vo09M3O1N2O1O1O100O1O100O100O100O100O100O1N2O1O1N2N2N2N2O1O1O1O1O100O100O100O10000O1O1N2O1N2O1O1O1O1O1N2O1O1O1O1O1N2O1O1O1O11O00001OO1N2O1O1O1O1O1O1O1O1O1O1N2O1N2N2O1N2O1O1O1O1O1O001O00001O0O10O11O0O10000O1O1O2O0010O0001M2N3N1O1O2N1N2N2M2O200N20000O10O0nN^TOhMbk0T2dTOkMZk0X2fTOfMWk0_2iTO_Mmj0m2SUOPMmj0S3SUOgLRk0Z3nTOeLRk0\\3nTOcLRk0]3oTObLQk0_3oTOaLnj0b3RUO]Llj0e3TUO[Ljj0h3VUOWLgj0m3YUORLfj0o3ZUOQLbj0T4^UOlK^j0W4bUOiK[j0Z4fUOeKXj0^4hUOaKUj0b4kUO^KRj0e4oUO[Kni0h4QVOXKmi0k4SVOTKki0n4UVOSKhi0o4XVOQKgi0P5ZVOoJdi0T5[VOlJdi0U5\\VOkJci0W5]VOhJbi0Z5]VOfJbi0[5_VOeJ^i0^5aVObJ]i0a5cVO^JYi0g5fVOYJWi0k5iVOTJUh0N^XOQ6^OPJRh09VXOj5HlIig0]7WXObHfg0b7YXO^Hff0d8ZYO[Ghf0d8XYO[Gif0e8WYOZGjf0f880000001O00O1O2N1O1O1O1O1O1N2O1O1O1M3N2N2O1N2L4M3O1N3N001N2N2M3N2N2N2N2M3M3L4L4L4M3D<K5M3K5H8L4F:M4I6F:I7YOg0J6^Ob0K5I7L`[f7"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/1159414_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/1159414_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..f226a91a628ff6a6ac94e388ad2885222b5c8541
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/1159414_mask_rle.json
@@ -0,0 +1,45 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/two_target_area/1159414_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Ego"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "two target area"
+    ],
+    "target_area_description_en": [
+      "two target area"
+    ],
+    "target_area_description_cn": [
+      "两个目标区域"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      false
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          678,
+          1024
+        ],
+        "counts": "k`o0:jd05K6K4L;E8Hn0RO5LT1kN6KZ2fM7H6K4L5Kj0VO4L2N101N1O10O01000O010O1OO1O100O1000000O10000000O10000O100O1O101O0O100O101O0O101N101N2O0O2O0O1O1O1O2N1O1N3N2N1O2O1N3M2N4K5L4K7H6L8I5J9Hb0]O;Eb0^O=C=C4K<D<B<\\ORkh:fN[bVENXc0X1F8WOh0L3M3N2N2N2N2O1N2O0O2O0000001O0000000000O2O001N101N2N2O1M4M3aNR^OATb0EQ]OL01040LS1:jc0HoQh6"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          678,
+          1024
+        ],
+        "counts": "nQW11Te0101N1O2N1O1O1O2N1O100O00100O00100O1O100O1O100O100O1O100O100O1O100O1O100O1O100O2N2O0O1O100O100O100O1O100O1O1O1O100O1O100O1000000O100O10000O1O100O100O100000000O100O1O100O100O10000O1000000O100O100O10000O100O1O1O1O100O100O100O1O100O10000O10000O100O100O100O10000O100O100O100O100O10000O10000000000O10000O1000000O10000000000O10000O10000O1000O0100O010O01O1O0100O10000O1000000O100O10O10O001000O010O100000O010000O1000O0100O001O1O010O10O10O100O01000O100O0100O10O0100O10O1000O10O010O100O0100000O10O100O10000O100O1O01O01000O010N2N1010O100O100O10000O0100O010O10O010O10O010000O1000O10O01000O10O1000O1000O01000O010000O10000O0100O0010O010000O01000O01000O01000O1O010O1000O010000O010O1000O01000O10O010O10O1000O010O010O010O100000O10O010O100O010O1O01O010O00100O10O010O00001O10O01O10O0100O010O10O1O00M4N101_O\\]O]Nfb0c1?O010O001O001O10O2O0O2O1O1N101NN3M3J5J7M3J6N101O100000O0010000000000O1000O1O1O101N1O2N3J7I6E\\W?JWT@4Yd06a[ONWd0g0G6M5K:G2N1O1O1O100O100O10000O1O1O100O100O101N101N3N3L5L6I5K3M4L3M100O1000O010O1O100O100O10000O1000000000000O1O1O1O1O1O1O2N1O1O2N1O2O1N1O100O1O001O1O100O1O010O100O1O1O00100O1O2N100O1O2O0O010O100N2O100O1O10O02O0O1O10O01O1O1O1O1O1O1O1O100O1O1O100O1O1O1O1O2N100O1O100O101N1O1O1N200O1O1O100O100O2N2N2M3N3M5L5JXYU7"
+      }
+    ]
+  }
+}
diff --git a/Navigation/FeasiblePath/FeasiblePath_Exo/window_222222_cabinet/058801_mask_rle.json b/Navigation/FeasiblePath/FeasiblePath_Exo/window_222222_cabinet/058801_mask_rle.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d47fae1e489eb25314c9cb3b369466ea2fd40d9
--- /dev/null
+++ b/Navigation/FeasiblePath/FeasiblePath_Exo/window_222222_cabinet/058801_mask_rle.json
@@ -0,0 +1,47 @@
+{
+  "image_path_saved": [
+    "EPIC_Bench/Navigation/FeasiblePath/FeasiblePath_Exo/window_222222_cabinet/058801_image.jpg"
+  ],
+  "task_type": [
+    "FeasiblePath_Exo"
+  ],
+  "text_annotation": {
+    "text_label": [
+      "window 222222 cabinet"
+    ],
+    "target_area_description_en": [
+      "window",
+      "cabinet"
+    ],
+    "target_area_description_cn": [
+      "窗户",
+      "柜子"
+    ],
+    "visually_blocked": [
+      true
+    ],
+    "precise_description": [
+      true
+    ]
+  },
+  "mask_annotation": {
+    "masklet_target_area": [
+      {
+        "size": [
+          384,
+          512
+        ],
+        "counts": "Y]a0?`;>C9G0000000000000O1000O10O100O100000000000000000O100000O10O100000000000000000O11N10O1001O000000O10000000O10000000000000006ISX]2K]ebMXOgGO89b0U1[7F[Hd0d7l100000000001O0O1001O00O1000001O0000001O00000O1000001OO1000O101O00000O100000000O2O00000O100O2XOiGaM]8X2l0lMP[f1"
+      }
+    ],
+    "masklet_path": [
+      {
+        "size": [
+          384,
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