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

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


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

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

[User]
<image>
To grasp bottom gray 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 center gray box?


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

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

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


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

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

[User]
<image>
What is the first object I need to grasp to reach red cracker 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 small clear bottle.


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

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

[User]
<image>
What object should be removed before grasping gray rectangular box left?


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

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

[User]
<image>
Before I grasp gray rectangular box middle, 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 red snack box, which object is blocking it?


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

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

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


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

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

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


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

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

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


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

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

[User]
<image>
I want to grasp screwdriver. 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 screw, 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 bolt on left, what must be removed?


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

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

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


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

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

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


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

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

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


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

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


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

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

[User]
<image>
I want to grasp filter. 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 green container 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>
Which object must be removed first to grasp scissors 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>
Tell me the top-most object that blocks access to screwdriver on top right.


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

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

[User]
<image>
What is the top object that occludes screwdriver 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>
To grasp green and white container, which object is on top of it?


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

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

[User]
<image>
Which object must be removed first to grasp 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>
I want to grasp top scissors. What should I remove first?


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

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

[User]
<image>
Before I grasp bottom 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>
To grasp top left screwdriver, 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 bottom right screwdriver?


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

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


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

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

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


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

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


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

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

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


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

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

[User]
<image>
Before I grasp bottom coiled cable, what must be removed?


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

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

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


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

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

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


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

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

[User]
<image>
Before I grasp bottom coiled cable, what must be removed?


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

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

[User]
<image>
Identify the object occluding screwdriver.


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

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


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

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

[User]
<image>
Identify the object occluding filter.


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

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

[User]
<image>
Tell me the top-most object that blocks access to silver 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>
To pick up green jar, 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 pear in center, which object is blocking it?


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

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

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


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

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

[User]
<image>
What is the first object I need to grasp to reach center 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 blue-handled knife, 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 blue-handled knife.


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

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

[User]
<image>
To pick up blue-handled knife, which object is blocking it?


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

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

[User]
<image>
What is the top object that occludes blue-handled knife?


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

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

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


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

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

[User]
<image>
What object should be removed before grasping middle sugar pack?


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

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

[User]
<image>
Which object must be removed first to grasp top  transparent tube ontop?


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

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

[User]
<image>
Identify the object occluding top  transparent tube under.


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

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


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

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

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


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

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

[User]
<image>
Identify the object occluding lowe sugar box in middle.


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

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

[User]
<image>
What object should be removed before grasping right clear bottle with white 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>
To pick up upper clear bottle with white top bottom middle, which object is blocking it?


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

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

[User]
<image>
Before I grasp lower clear bottle with white top bottom middle, 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 tin of spam. 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 box on left?


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

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

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


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

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

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


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

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

[User]
<image>
To pick up red-handled knife, which object is blocking it?


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

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

[User]
<image>
Which object must be removed first to grasp top-left tilted sugar 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 white bottle cap, 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 blue box.


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

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

[User]
<image>
Identify the object occluding Middle blue strap.


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

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

[User]
<image>
What object should be removed before grasping Middle sugar 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 white cap on bottom right, which object is on top of it?


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

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

[User]
<image>
Tell me the top-most object that blocks access to Top right clear 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 Middle blue box?


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

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

[User]
<image>
To grasp blue knife, 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 blue box?


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

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

[User]
<image>
What object should be removed before grasping right strawberry?


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

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

[User]
<image>
What is the top object that occludes right 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 left package, which object is blocking it?


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

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

[User]
<image>
What is the first object I need to grasp to reach 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 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>
Which object must be removed first to grasp red apple?


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

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

[User]
<image>
To pick up top left green 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>
Which object must be removed first to grasp middle left 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 left strawberry?


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

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

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


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

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


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

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

[User]
<image>
What is the first object I need to grasp to reach right 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 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>
Identify the object occluding right carton.