[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 front left orange plane covered by top left orange plane, 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 top left orange plane, 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 front right yellow plane covered by top orange plane?


[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 orange cylindrical object with dial?


[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 ball below, 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 yellow ball on left, 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>
Tell me the top-most object that blocks access to right lemon.


[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 Left lemon?


[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 yellow and orange clamp top 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>
What is the first object I need to grasp to reach yellow and orange clamp 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>
To pick up yellow and orange clamp top left, 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 yellow and orange clamp middle?


[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 lemon.


[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 bottom left orange tool, 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>
What object should be removed before grasping yellow lemon?


[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 orange tool below?


[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 apple?


[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 yellow handle above?


[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 orange tool 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>
To grasp Top right tool, 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 left orange submarine toy, 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 is the first object I need to grasp to reach red ball?


[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 left sphere?


[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 connector.


[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 left ball?


[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 handle.


[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 bottom sphere, 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 bottom connector?


[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 bottom lemon, 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 cube?


[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 left lemon.


[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 right lemon?


[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 orange and yellow toy plane at bottom right, 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>
Tell me the top-most object that blocks access to orange and yellow toy plane at top 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>
To pick up red apple, 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 top lemon.


[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 center lemon, 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>
Tell me the top-most object that blocks access to top left toy plane.


[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 bottom right toy plane?


[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 left lemon.


[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 rightmost orange toy submarine?


[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 middle orange toy submarine?


[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 round red 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>
I want to grasp front right airplane. 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 center right airplane. 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 left airplane. 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 handle bottom?


[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 clamp top.


[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 cube 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 object should be removed before grasping handle bottom?


[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 handle top, 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 is the top object that occludes handle 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>
Identify the object occluding piece 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 first object I need to grasp to reach piece 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>
What is the first object I need to grasp to reach piece at back?


[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 horizontal piece, 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 bottom piece, 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 small piece.


[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 left apple.


[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 right apple?


[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 cup?


[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 top cup.


[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 top left apple, 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>
What is the top object that occludes bottom apple?


[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 middle top cup?


[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 bottom left cup?


[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 left peach. 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 middle cup.


[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 left cup, 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>
I want to grasp 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 first object I need to grasp to reach right peach?


[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 scissors. 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>
Before I grasp right peach, 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 is the top object that occludes gray cup?


[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 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>
To grasp right peach, 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>
Tell me the top-most object that blocks access to scissors.


[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 yellow and red peach. 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 white cup?


[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 grey and yellow scissors.


[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 green bowl?


[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 top left toy peach, 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 top right toy peach, 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 white mug.


[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 scissors?


[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 green filter?


[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 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>
To pick up gray cup, 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 cylindrical filter?


[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 bottom left peach.


[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 top right peach?


[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 top left peach, which object is on top of it?