[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 yellow cup, 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 grasp top left white box, which object is on top of it?


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

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

[User]
<image>
Before I grasp left yellow cup, 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 grasp right yellow cup, 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 middle toothpaste box, which object is blocking it?


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

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

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


[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 middle left yellow 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>
To grasp bottom middle toothpaste box, which object is on top of it?


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

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

[User]
<image>
Tell me the top-most object that blocks access to upper middle right toothpaste box.


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

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

[User]
<image>
To grasp box above, 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 box 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>
I want to grasp box near center. 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 box.


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

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

[User]
<image>
To grasp left cylinder, 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>
Which object must be removed first to grasp connector 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>
To grasp connector 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>
To grasp valve top, 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 valve 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>
Before I grasp connector bottom, 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>
I want to grasp connector right. What should I remove first?


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

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

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


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

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

[User]
<image>
I want to grasp left valve. 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 box, what must be removed?


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

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

[User]
<image>
Tell me the top-most object that blocks access to bottom left can.


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

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

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


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

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

[User]
<image>
To pick up bottom right can, 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 left can, 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 right can?


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

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

[User]
<image>
Identify the object occluding middle knife.


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

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

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


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

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

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


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

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

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


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

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

[User]
<image>
Before I grasp top left roll, 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 left knife, 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 right red knife?


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

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

[User]
<image>
Identify the object occluding left red knife.


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

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

[User]
<image>
Identify the object occluding left clear tube.


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

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

[User]
<image>
I want to grasp top right yellow dinosaur. 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 bottom knife, what must be removed?


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

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

[User]
<image>
What object should be removed before grasping Top 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>
Tell me the top-most object that blocks access to left toy dog.


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

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

[User]
<image>
To pick up drill on top, 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 drill 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>
What is the first object I need to grasp to reach drill 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>
Tell me the top-most object that blocks access to drill on 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>
Which object must be removed first to grasp 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 is the top object that occludes right large box?


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

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

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


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

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

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


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

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

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


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

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

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


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

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

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


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

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

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


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

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

[User]
<image>
Before I grasp right white packet, 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 left white packet.


[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 clamp 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>
Tell me the top-most object that blocks access to bottom left bottle.


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

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

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


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

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

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


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

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

[User]
<image>
What is the top object that occludes middle cable?


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

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

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


[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 middle 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>
I want to grasp top 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>
Before I grasp top cable, what must be removed?


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

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

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


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

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

[User]
<image>
What is the top object that occludes red 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>
What is the first object I need to grasp to reach small white box?


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

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

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


[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 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>
Which object must be removed first to grasp right middle white cylinder?


[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 yellow 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 bottom white cylinder.


[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 gray 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>
What is the first object I need to grasp to reach right white chalk?


[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 sponge?


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

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

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


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

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

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


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

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

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


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

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

[User]
<image>
To pick up white cable at the bottom, 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 left mustard bottle?


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

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

[User]
<image>
Before I grasp sugar box on top of the white cable, 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 top 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>
To pick up coiled white cable, which object is blocking it?


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

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

[User]
<image>
I want to grasp yellow bottle on left. 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 string?


[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 bottom green box.


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

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

[User]
<image>
What is the top object that occludes bottom orange fruit?


[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 orange ball bottom, which object is blocking it?


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

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

[User]
<image>
Before I grasp right green rectangular box, what must be removed?


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

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

[User]
<image>
What is the first object I need to grasp to reach left orange 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>
To pick up left carton box, which object is blocking it?