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

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


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

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


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

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

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


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

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


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

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

[User]
<image>
What is the top object that occludes package above?


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

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

[User]
<image>
To grasp middle package, 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 package bottom left.


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

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

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


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

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


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

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

[User]
<image>
What object should be removed before grasping calculator on left?


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

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

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


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

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


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

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


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

- If the target object is not occluded, return the target object's name/description and its coordinates.
- If the target object has one occlusion path, reason step-by-step along that path, include the occlusion ratio for each occlusion relation when available, and end with the top-most object that must be removed first. Each reasoning step must reference objects with explicit (x,y) coordinates.
- If the target object has multiple occlusion paths, reason step by step for each path separately, and include all distinct top-most occluding objects in the final answer.
- All reasoning must be enclosed within a single pair of <think>...</think> tags.
- 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 right calculator, 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 calculator 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>
Which object must be removed first to grasp calculator 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>
I want to grasp top nozzle. What should I remove first?


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

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

[User]
<image>
Tell me the top-most object that blocks access to center 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>
Which object must be removed first to grasp left package?


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

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


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

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

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


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

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

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


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

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


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

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


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

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

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


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

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


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

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


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

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

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


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

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

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


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

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

[User]
<image>
What object should be removed before grasping plane on left?


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

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

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


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

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


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

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


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

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

[User]
<image>
To pick up right nozzle, 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 left nozzle. 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 tilted box?


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

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

[User]
<image>
Identify the object occluding bottom left 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 top 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>
What object should be removed before grasping left box?


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

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

[User]
<image>
I want to grasp top left 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>
Before I grasp bottom left 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>
Which object must be removed first to grasp left orange and yellow tool?


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

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

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


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

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

[User]
<image>
Tell me the top-most object that blocks access to bottom right orange and yellow tool.


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

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

[User]
<image>
Which object must be removed first to grasp top orange device?


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

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


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

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

[User]
<image>
To grasp top right orange device, 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 yellow right object.


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

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

[User]
<image>
To pick up orange bottom object, 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 orange top object?


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

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

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


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

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

[User]
<image>
What is the top object that occludes center yellow tool?


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

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

[User]
<image>
To pick up bottom left orange tool, which object is blocking it?


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

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

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


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

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

[User]
<image>
Before I grasp middle object, 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 right object. 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 bottom left tool, which object is on top of it?


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

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

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


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

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

[User]
<image>
To pick up top tool, 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 right winged plane?


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

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

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


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

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

[User]
<image>
What is the first object I need to grasp to reach 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>
What is the top object that occludes drill 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>
Which object must be removed first to grasp 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>
Which object must be removed first to grasp drill on left?


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

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

[User]
<image>
What object should be removed before grasping 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>
Identify the object occluding green pear.


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

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

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


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

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

[User]
<image>
To pick up 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>
I want to grasp light bulb. 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 black cable reel, 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 white cable, 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 first object I need to grasp to reach coiled white cable?


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

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

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


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

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

[User]
<image>
To pick up 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>
Tell me the top-most object that blocks access to small dinosaur toy.


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

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


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

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

[User]
<image>
What is the top object that occludes yellow banana?


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

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

[User]
<image>
What is the first object I need to grasp to reach 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>
Which object must be removed first to grasp 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>
Which object must be removed first to grasp floral 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>
What is the first object I need to grasp to reach floral patterned 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 orange correction tape?


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

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

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


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

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