[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
Identify the object occluding white rectangular box.


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
Which object must be removed first to grasp blue plastic clip?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
To grasp red Cheez-It box, which object is on top of it?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
To pick up white cardboard box, which object is blocking it?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
Before I grasp red Cheez-It box, what must be removed?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
To pick up Cheez-It card, which object is blocking it?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
Before I grasp white bottle with yellow cap, what must be removed?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
Which object must be removed first to grasp roll of green bags?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
To pick up coiled white cable, which object is blocking it?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
Which object must be removed first to grasp yellow-capped bottle?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
I want to grasp scalpel. What should I remove first?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
Identify the object occluding bandage roll.


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
I want to grasp white coiled cable. What should I remove first?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
What is the top object that occludes small white box?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
Before I grasp black knife, what must be removed?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
What object should be removed before grasping bottom bag roll?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
Which object must be removed first to grasp coiled white cable?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
Tell me the top-most object that blocks access to white glue bottle.


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
What is the first object I need to grasp to reach black-handled knife?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
Identify the object occluding coiled white cable.


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
Which object must be removed first to grasp handsaw?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
What is the top object that occludes red multi-tool?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
Which object must be removed first to grasp red funnel?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
Tell me the top-most object that blocks access to orange toy gun.


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
To pick up golden retriever toy, which object is blocking it?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
What object should be removed before grasping disinfectant spray bottle?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
Before I grasp duct tape, what must be removed?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
Which object must be removed first to grasp yellow snack can?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
I want to grasp metal hacksaw. What should I remove first?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
Which object must be removed first to grasp blue sponge?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
Which object must be removed first to grasp blue object?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
Before I grasp white capped empty bottle, what must be removed?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
Which object must be removed first to grasp yellow object?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
What is the top object that occludes cardboard box?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
What object should be removed before grasping red snack box?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
Before I grasp screw, what must be removed?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
Identify the object occluding aerosol can.


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
What is the first object I need to grasp to reach blue bottle cap?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
To pick up white bottle cap, which object is blocking it?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
What is the first object I need to grasp to reach yellow plastic propellor?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
To pick up metal spring, which object is blocking it?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
What is the top object that occludes white and blue tube?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
To grasp yellow sponge, which object is on top of it?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
I want to grasp blue spray bottle. What should I remove first?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
To grasp white cap bottle, which object is on top of it?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
Before I grasp red cracker box, what must be removed?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
What object should be removed before grasping tall white aerosol can?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
To pick up yellow cube, which object is blocking it?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
What is the top object that occludes bottom right green rectangular box?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
To pick up pipe splitter, which object is blocking it?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
Before I grasp drill, what must be removed?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
Which object must be removed first to grasp green rectangular block?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
Which object must be removed first to grasp white roll?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
Tell me the top-most object that blocks access to white rectangular block.


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
Tell me the top-most object that blocks access to blue ball on left.


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
What is the top object that occludes blue socket?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
What object should be removed before grasping circular metal object?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
Identify the object occluding blue ball on right.


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
Which object must be removed first to grasp purple plum?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
Tell me the top-most object that blocks access to transparent container.


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
What is the top object that occludes dog statue?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
What object should be removed before grasping dropper bottle?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
Tell me the top-most object that blocks access to red and yellow toy gun.


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
Identify the object occluding gray rectangular block.


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
What is the top object that occludes white bottle?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
I want to grasp toothpaste box. What should I remove first?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
I want to grasp yellow mustard bottle. What should I remove first?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
Tell me the top-most object that blocks access to small box.


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
What is the top object that occludes toy dog?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
What is the first object I need to grasp to reach toothpaste box?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
What is the top object that occludes pink display pack?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
What is the top object that occludes blue gum pack?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
I want to grasp strawberry. What should I remove first?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
Tell me the top-most object that blocks access to red and green box.


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
Identify the object occluding mustard bottle.


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
What is the first object I need to grasp to reach pear?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
I want to grasp brown rectangular box. What should I remove first?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
I want to grasp small cardboard box. What should I remove first?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
I want to grasp top right blue gum pack. What should I remove first?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
I want to grasp small cardboard package. What should I remove first?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
What is the top object that occludes blue plastic container?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
What object should be removed before grasping red and green big box?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
Tell me the top-most object that blocks access to yellow plastic bottle.


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
What is the top object that occludes plastic pear?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
What is the top object that occludes blue box?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
What is the top object that occludes green and red box?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
To pick up green pear, which object is blocking it?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
To pick up top rectangular brown box, which object is blocking it?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
Identify the object occluding plastic banana.


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
Tell me the top-most object that blocks access to red and green box.


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
I want to grasp yellow detergent bottle. What should I remove first?


[System]
You are an assistant specialized in robotic grasp planning based on occlusion reasoning. When asked which object must be removed first to grasp a specific target object in a single image:

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- The final answer must be enclosed in <answer>...</answer> tags and formatted strictly as:
  <answer>[<points x y>object name</points>, ...]</answer>

[User]
<image>
To pick up brown rectangular box, which object is blocking it?