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+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            102,
+            142,
+            212,
+            213
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
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+            213
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1_eye_in_hand_rgb_frame175.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            99,
+            147,
+            206,
+            213
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
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+            243,
+            213
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps2_agentview_rgb_frame48.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            133,
+            156,
+            171,
+            187
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            88,
+            117,
+            202
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            130,
+            76,
+            174,
+            126
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps2_agentview_rgb_frame218.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            0,
+            88,
+            68,
+            202
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            56,
+            133,
+            89,
+            191
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps2_eye_in_hand_rgb_frame5.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            54,
+            0,
+            116,
+            41
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
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+            0,
+            255,
+            103
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps2_eye_in_hand_rgb_frame131.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            119,
+            113,
+            255,
+            213
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            41,
+            119,
+            166,
+            213
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps3_agentview_rgb_frame135.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            58,
+            120,
+            98,
+            151
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
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+            112,
+            206
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            58,
+            82,
+            105,
+            138
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps3_agentview_rgb_frame35.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            133,
+            153,
+            170,
+            184
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            91,
+            112,
+            206
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            105,
+            41,
+            167,
+            92
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps3_eye_in_hand_rgb_frame207.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            0,
+            194,
+            224,
+            213
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps3_eye_in_hand_rgb_frame157.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            113,
+            132,
+            255,
+            213
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            23,
+            43,
+            255,
+            213
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps4_agentview_rgb_frame33.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            133,
+            159,
+            171,
+            191
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            88,
+            114,
+            201
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            125,
+            83,
+            192,
+            127
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps4_agentview_rgb_frame101.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            139,
+            154,
+            174,
+            182
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            88,
+            114,
+            201
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            151,
+            138,
+            167,
+            174
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps4_eye_in_hand_rgb_frame92.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            169,
+            158,
+            255,
+            213
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps4_eye_in_hand_rgb_frame203.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps5_agentview_rgb_frame33.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            125,
+            156,
+            163,
+            187
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            87,
+            111,
+            201
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            117,
+            47,
+            188,
+            91
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps5_agentview_rgb_frame199.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            57,
+            145,
+            94,
+            175
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            87,
+            114,
+            201
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            115,
+            119,
+            135,
+            159
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps5_eye_in_hand_rgb_frame89.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            122,
+            121,
+            255,
+            213
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps5_eye_in_hand_rgb_frame136.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            122,
+            121,
+            255,
+            213
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            32,
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+            234,
+            213
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps6_agentview_rgb_frame128.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            61,
+            116,
+            105,
+            148
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            88,
+            111,
+            201
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            68,
+            73,
+            115,
+            122
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps6_agentview_rgb_frame61.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            122,
+            154,
+            159,
+            185
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            88,
+            111,
+            201
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            131,
+            110,
+            163,
+            153
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps6_eye_in_hand_rgb_frame162.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            109,
+            157,
+            247,
+            213
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
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+            255,
+            214
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps6_eye_in_hand_rgb_frame9.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            87,
+            0,
+            149,
+            47
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            164,
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+            255,
+            108
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps7_agentview_rgb_frame201.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            54,
+            140,
+            91,
+            170
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
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+            102,
+            202
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            92,
+            148,
+            117,
+            184
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps7_agentview_rgb_frame120.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            56,
+            124,
+            101,
+            160
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
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+            115,
+            202
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            59,
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+            100,
+            144
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps7_eye_in_hand_rgb_frame155.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            105,
+            98,
+            255,
+            213
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
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+            213
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps7_eye_in_hand_rgb_frame215.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            0,
+            162,
+            255,
+            213
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps8_agentview_rgb_frame152.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
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+            105,
+            169
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
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+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            69,
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+            97,
+            158
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps8_agentview_rgb_frame61.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
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+            162,
+            190
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
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+            111,
+            203
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            133,
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+            159,
+            174
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps8_eye_in_hand_rgb_frame73.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
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+            255,
+            213
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps8_eye_in_hand_rgb_frame117.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            119,
+            115,
+            255,
+            213
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
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+            214
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps9_agentview_rgb_frame68.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            123,
+            161,
+            161,
+            192
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
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+            112,
+            203
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            132,
+            118,
+            175,
+            164
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps9_agentview_rgb_frame44.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
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+            161,
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+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
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+            203
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            128,
+            66,
+            180,
+            118
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps9_eye_in_hand_rgb_frame195.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            130,
+            142,
+            255,
+            213
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
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+            213
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps9_eye_in_hand_rgb_frame141.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            117,
+            119,
+            255,
+            213
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
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+            94,
+            216,
+            213
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps10_agentview_rgb_frame93.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            130,
+            159,
+            168,
+            189
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
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+            113,
+            204
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            143,
+            139,
+            167,
+            176
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps10_agentview_rgb_frame203.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            64,
+            138,
+            100,
+            166
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
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+            115,
+            204
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            132,
+            133,
+            160,
+            174
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps10_eye_in_hand_rgb_frame166.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            122,
+            132,
+            255,
+            213
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
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+            255,
+            213
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps10_eye_in_hand_rgb_frame22.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            129,
+            25,
+            192,
+            89
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
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+            46,
+            255,
+            202
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps11_agentview_rgb_frame203.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            60,
+            141,
+            96,
+            170
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
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+            113,
+            204
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            98,
+            157,
+            127,
+            190
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps11_agentview_rgb_frame61.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            126,
+            157,
+            164,
+            188
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            89,
+            119,
+            204
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            137,
+            90,
+            167,
+            133
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps11_eye_in_hand_rgb_frame91.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            162,
+            126,
+            255,
+            213
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps11_eye_in_hand_rgb_frame226.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            136,
+            182,
+            255,
+            213
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps12_agentview_rgb_frame140.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            57,
+            132,
+            97,
+            160
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
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+            118,
+            205
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            63,
+            95,
+            111,
+            148
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps12_agentview_rgb_frame208.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            49,
+            140,
+            75,
+            169
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
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+            92,
+            205
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            90,
+            134,
+            118,
+            177
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps12_eye_in_hand_rgb_frame186.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            79,
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+            255,
+            213
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps12_eye_in_hand_rgb_frame95.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            130,
+            149,
+            255,
+            213
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps13_agentview_rgb_frame54.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            127,
+            154,
+            164,
+            185
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
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+            114,
+            201
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            140,
+            103,
+            169,
+            144
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps13_agentview_rgb_frame103.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            104,
+            118,
+            146,
+            151
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
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+            114,
+            201
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            114,
+            90,
+            139,
+            131
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps13_eye_in_hand_rgb_frame199.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps13_eye_in_hand_rgb_frame218.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            160,
+            176,
+            255,
+            213
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps14_agentview_rgb_frame34.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            122,
+            153,
+            158,
+            183
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            88,
+            112,
+            201
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            110,
+            48,
+            178,
+            96
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps14_agentview_rgb_frame31.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            122,
+            153,
+            158,
+            183
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            88,
+            112,
+            201
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            107,
+            46,
+            177,
+            93
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps14_eye_in_hand_rgb_frame137.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            116,
+            115,
+            255,
+            213
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
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+            237,
+            214
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps14_eye_in_hand_rgb_frame112.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            120,
+            118,
+            255,
+            213
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps15_agentview_rgb_frame136.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            52,
+            128,
+            91,
+            160
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
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+            113,
+            204
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            51,
+            92,
+            103,
+            150
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps15_agentview_rgb_frame222.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
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+            90,
+            56,
+            204
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
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+            66,
+            201
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps15_eye_in_hand_rgb_frame202.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
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+            244,
+            210
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps15_eye_in_hand_rgb_frame143.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
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+            255,
+            213
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
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+            213
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps16_agentview_rgb_frame186.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
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+            97,
+            169
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
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+            202
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            112,
+            125,
+            136,
+            160
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps16_agentview_rgb_frame130.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
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+            98,
+            168
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
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+            202
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
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+            100,
+            161
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps16_eye_in_hand_rgb_frame14.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
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+            83
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
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+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
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+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps16_eye_in_hand_rgb_frame86.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            115,
+            116,
+            255,
+            213
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps17_agentview_rgb_frame57.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
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+            155,
+            158,
+            186
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
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+            115,
+            204
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            133,
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+            179,
+            153
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps17_agentview_rgb_frame124.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            84,
+            115,
+            127,
+            146
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
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+            115,
+            204
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            90,
+            71,
+            143,
+            119
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps17_eye_in_hand_rgb_frame84.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            102,
+            145,
+            255,
+            213
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps17_eye_in_hand_rgb_frame186.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            0,
+            149,
+            255,
+            213
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps18_agentview_rgb_frame169.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            61,
+            138,
+            99,
+            170
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
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+            116,
+            201
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            64,
+            108,
+            95,
+            159
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps18_agentview_rgb_frame152.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            72,
+            134,
+            111,
+            166
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            88,
+            116,
+            201
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            74,
+            104,
+            105,
+            163
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps18_eye_in_hand_rgb_frame186.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            80,
+            168,
+            190,
+            213
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
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+            237,
+            213
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps18_eye_in_hand_rgb_frame117.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            121,
+            115,
+            255,
+            213
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            26,
+            151,
+            145,
+            213
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps19_agentview_rgb_frame89.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            126,
+            157,
+            163,
+            186
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
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+            114,
+            205
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            131,
+            129,
+            166,
+            168
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps19_agentview_rgb_frame0.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            126,
+            155,
+            163,
+            186
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            90,
+            114,
+            205
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            91,
+            23,
+            161,
+            64
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps19_eye_in_hand_rgb_frame62.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            119,
+            112,
+            217,
+            213
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            238,
+            197,
+            255,
+            211
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps19_eye_in_hand_rgb_frame182.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            113,
+            190,
+            189,
+            213
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            74,
+            141,
+            255,
+            213
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps20_agentview_rgb_frame54.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            130,
+            161,
+            168,
+            192
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            88,
+            115,
+            201
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            125,
+            99,
+            182,
+            148
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps20_agentview_rgb_frame110.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            118,
+            138,
+            158,
+            167
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            88,
+            115,
+            201
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            125,
+            121,
+            152,
+            156
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps20_eye_in_hand_rgb_frame269.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            0,
+            154,
+            238,
+            213
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps20_eye_in_hand_rgb_frame172.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            119,
+            114,
+            255,
+            213
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            66,
+            53,
+            255,
+            209
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps21_agentview_rgb_frame99.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            138,
+            142,
+            179,
+            173
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            87,
+            116,
+            201
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            144,
+            117,
+            168,
+            157
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps21_agentview_rgb_frame121.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            89,
+            111,
+            135,
+            147
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            87,
+            116,
+            201
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            99,
+            81,
+            120,
+            127
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps21_eye_in_hand_rgb_frame167.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            114,
+            136,
+            225,
+            213
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            49,
+            95,
+            255,
+            213
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps21_eye_in_hand_rgb_frame129.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            122,
+            121,
+            255,
+            213
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            36,
+            127,
+            145,
+            213
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps22_agentview_rgb_frame61.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            125,
+            152,
+            161,
+            182
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            90,
+            115,
+            205
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            136,
+            106,
+            157,
+            147
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps22_agentview_rgb_frame228.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            60,
+            143,
+            97,
+            173
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            90,
+            113,
+            205
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            130,
+            120,
+            164,
+            191
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps22_eye_in_hand_rgb_frame307.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            241,
+            209,
+            255,
+            213
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps22_eye_in_hand_rgb_frame244.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            0,
+            200,
+            24,
+            212
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps23_agentview_rgb_frame64.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            126,
+            152,
+            162,
+            181
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
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+            109,
+            203
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            130,
+            117,
+            176,
+            162
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps23_agentview_rgb_frame230.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            44,
+            146,
+            75,
+            177
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
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+            93,
+            203
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            75,
+            162,
+            107,
+            198
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps23_eye_in_hand_rgb_frame192.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            6,
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+            82,
+            213
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            140,
+            140,
+            213
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps23_eye_in_hand_rgb_frame235.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            103,
+            178,
+            192,
+            213
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps24_agentview_rgb_frame120.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            122,
+            170,
+            162,
+            204
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
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+            114,
+            206
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            143,
+            116,
+            168,
+            158
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps24_agentview_rgb_frame164.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            128,
+            142,
+            170,
+            175
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
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+            114,
+            206
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            136,
+            114,
+            165,
+            156
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps24_eye_in_hand_rgb_frame43.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            144,
+            72,
+            255,
+            194
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
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+            255,
+            211
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps24_eye_in_hand_rgb_frame17.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            142,
+            51,
+            204,
+            114
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            198,
+            37,
+            255,
+            178
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps25_agentview_rgb_frame141.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            59,
+            133,
+            99,
+            167
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            88,
+            114,
+            202
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            58,
+            92,
+            100,
+            152
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps25_agentview_rgb_frame200.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            45,
+            141,
+            65,
+            168
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            88,
+            73,
+            202
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            58,
+            172,
+            85,
+            202
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps25_eye_in_hand_rgb_frame33.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            138,
+            51,
+            200,
+            112
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            166,
+            85,
+            255,
+            211
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps25_eye_in_hand_rgb_frame75.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            121,
+            125,
+            255,
+            213
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps26_agentview_rgb_frame81.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            126,
+            162,
+            164,
+            191
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            87,
+            117,
+            201
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            130,
+            132,
+            173,
+            178
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps26_agentview_rgb_frame137.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            67,
+            135,
+            100,
+            162
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            87,
+            117,
+            201
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            58,
+            102,
+            112,
+            155
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps26_eye_in_hand_rgb_frame180.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            174,
+            192,
+            255,
+            213
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps26_eye_in_hand_rgb_frame218.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps27_agentview_rgb_frame56.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            120,
+            158,
+            157,
+            188
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            90,
+            118,
+            205
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            123,
+            113,
+            169,
+            159
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps27_agentview_rgb_frame124.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            76,
+            108,
+            119,
+            140
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            90,
+            118,
+            205
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            78,
+            71,
+            123,
+            121
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps27_eye_in_hand_rgb_frame68.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            102,
+            112,
+            243,
+            213
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            247,
+            202,
+            255,
+            211
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps27_eye_in_hand_rgb_frame182.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            65,
+            171,
+            255,
+            213
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps28_agentview_rgb_frame156.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            51,
+            131,
+            93,
+            161
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            88,
+            112,
+            202
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            60,
+            115,
+            84,
+            153
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps28_agentview_rgb_frame248.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            56,
+            139,
+            92,
+            168
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            88,
+            113,
+            202
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            113,
+            118,
+            139,
+            187
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps28_eye_in_hand_rgb_frame170.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            108,
+            112,
+            255,
+            213
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            18,
+            90,
+            201,
+            213
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps28_eye_in_hand_rgb_frame133.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            122,
+            116,
+            255,
+            213
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            22,
+            138,
+            150,
+            213
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps29_agentview_rgb_frame195.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            66,
+            140,
+            102,
+            169
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            89,
+            118,
+            204
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            92,
+            105,
+            111,
+            144
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps29_agentview_rgb_frame49.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            123,
+            153,
+            159,
+            183
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            89,
+            117,
+            204
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            118,
+            56,
+            173,
+            105
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps29_eye_in_hand_rgb_frame141.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            126,
+            118,
+            255,
+            213
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            61,
+            153,
+            148,
+            213
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps29_eye_in_hand_rgb_frame26.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            98,
+            11,
+            161,
+            75
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            165,
+            0,
+            255,
+            137
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps30_agentview_rgb_frame106.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            124,
+            159,
+            165,
+            192
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            91,
+            110,
+            206
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            135,
+            138,
+            155,
+            177
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps30_agentview_rgb_frame241.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            48,
+            143,
+            85,
+            172
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            91,
+            101,
+            206
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            90,
+            164,
+            115,
+            199
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps30_eye_in_hand_rgb_frame32.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            143,
+            76,
+            195,
+            127
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            167,
+            106,
+            255,
+            211
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps30_eye_in_hand_rgb_frame173.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            111,
+            129,
+            255,
+            213
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            71,
+            59,
+            255,
+            204
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps31_agentview_rgb_frame229.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            0,
+            89,
+            69,
+            203
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            60,
+            149,
+            86,
+            189
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps31_agentview_rgb_frame211.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            0,
+            89,
+            72,
+            203
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            67,
+            151,
+            91,
+            188
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps31_eye_in_hand_rgb_frame132.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            110,
+            111,
+            255,
+            213
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            35,
+            255,
+            213
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps31_eye_in_hand_rgb_frame156.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            103,
+            152,
+            230,
+            213
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            45,
+            100,
+            255,
+            213
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps32_agentview_rgb_frame153.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
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+            142,
+            103,
+            174
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            90,
+            119,
+            205
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            73,
+            134,
+            92,
+            169
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps32_agentview_rgb_frame156.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            66,
+            148,
+            103,
+            178
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            90,
+            119,
+            205
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            73,
+            132,
+            90,
+            167
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps32_eye_in_hand_rgb_frame199.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            10,
+            148,
+            255,
+            213
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps32_eye_in_hand_rgb_frame189.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            46,
+            154,
+            253,
+            213
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps33_agentview_rgb_frame240.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            48,
+            145,
+            62,
+            166
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            88,
+            83,
+            202
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            64,
+            166,
+            93,
+            202
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps33_agentview_rgb_frame33.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            134,
+            157,
+            172,
+            188
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            88,
+            115,
+            202
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            106,
+            48,
+            176,
+            101
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps33_eye_in_hand_rgb_frame204.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            43,
+            186,
+            191,
+            213
+          ],
+          "phrase": "cabinet"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps33_eye_in_hand_rgb_frame97.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the black bowl in the bottom drawer of the cabinet and close it",
+      "regions": [
+        {
+          "bbox": [
+            111,
+            116,
+            255,
+            213
+          ],
+          "phrase": "black bowl"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps34_agentview_rgb_frame118.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
+        {
+          "bbox": [
+            59,
+            125,
+            103,
+            169
+          ],
+          "phrase": "yellow and white mug"
+        },
+        {
+          "bbox": [
+            0,
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+            123,
+            215
+          ],
+          "phrase": "microwave"
+        },
+        {
+          "bbox": [
+            96,
+            108,
+            132,
+            164
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps34_agentview_rgb_frame39.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
+        {
+          "bbox": [
+            98,
+            140,
+            145,
+            181
+          ],
+          "phrase": "yellow and white mug"
+        },
+        {
+          "bbox": [
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+            123,
+            215
+          ],
+          "phrase": "microwave"
+        },
+        {
+          "bbox": [
+            137,
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+            178,
+            115
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps34_eye_in_hand_rgb_frame148.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
+        {
+          "bbox": [
+            77,
+            150,
+            161,
+            213
+          ],
+          "phrase": "yellow and white mug"
+        },
+        {
+          "bbox": [
+            0,
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+            255,
+            214
+          ],
+          "phrase": "microwave"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps34_eye_in_hand_rgb_frame45.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
+        {
+          "bbox": [
+            150,
+            56,
+            239,
+            159
+          ],
+          "phrase": "yellow and white mug"
+        },
+        {
+          "bbox": [
+            18,
+            132,
+            255,
+            213
+          ],
+          "phrase": "microwave"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps35_agentview_rgb_frame140.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
+        {
+          "bbox": [
+            27,
+            126,
+            32,
+            137
+          ],
+          "phrase": "yellow and white mug"
+        },
+        {
+          "bbox": [
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+            126,
+            212
+          ],
+          "phrase": "microwave"
+        },
+        {
+          "bbox": [
+            28,
+            104,
+            58,
+            145
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps35_agentview_rgb_frame153.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
+        {
+          "bbox": [
+            28,
+            132,
+            30,
+            135
+          ],
+          "phrase": "yellow and white mug"
+        },
+        {
+          "bbox": [
+            0,
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+            126,
+            212
+          ],
+          "phrase": "microwave"
+        },
+        {
+          "bbox": [
+            30,
+            110,
+            55,
+            150
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps35_eye_in_hand_rgb_frame38.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
+        {
+          "bbox": [
+            78,
+            78,
+            163,
+            167
+          ],
+          "phrase": "yellow and white mug"
+        },
+        {
+          "bbox": [
+            4,
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+            255,
+            213
+          ],
+          "phrase": "microwave"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps35_eye_in_hand_rgb_frame145.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
+        {
+          "bbox": [
+            80,
+            139,
+            169,
+            213
+          ],
+          "phrase": "yellow and white mug"
+        },
+        {
+          "bbox": [
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+            255,
+            214
+          ],
+          "phrase": "microwave"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps36_agentview_rgb_frame122.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
+        {
+          "bbox": [
+            68,
+            120,
+            114,
+            164
+          ],
+          "phrase": "yellow and white mug"
+        },
+        {
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+            0,
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+            126,
+            212
+          ],
+          "phrase": "microwave"
+        },
+        {
+          "bbox": [
+            108,
+            96,
+            143,
+            158
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps36_agentview_rgb_frame46.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
+        {
+          "bbox": [
+            111,
+            134,
+            157,
+            175
+          ],
+          "phrase": "yellow and white mug"
+        },
+        {
+          "bbox": [
+            0,
+            81,
+            126,
+            212
+          ],
+          "phrase": "microwave"
+        },
+        {
+          "bbox": [
+            125,
+            77,
+            157,
+            117
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps36_eye_in_hand_rgb_frame20.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
+        {
+          "bbox": [
+            91,
+            48,
+            190,
+            128
+          ],
+          "phrase": "yellow and white mug"
+        },
+        {
+          "bbox": [
+            101,
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+            255,
+            213
+          ],
+          "phrase": "microwave"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps36_eye_in_hand_rgb_frame191.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
+        {
+          "bbox": [
+            32,
+            177,
+            87,
+            213
+          ],
+          "phrase": "yellow and white mug"
+        },
+        {
+          "bbox": [
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+            134,
+            214,
+            213
+          ],
+          "phrase": "microwave"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps37_agentview_rgb_frame231.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
+        {
+          "bbox": [
+            26,
+            134,
+            45,
+            154
+          ],
+          "phrase": "yellow and white mug"
+        },
+        {
+          "bbox": [
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+            117,
+            217
+          ],
+          "phrase": "microwave"
+        },
+        {
+          "bbox": [
+            60,
+            46,
+            98,
+            91
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps37_agentview_rgb_frame163.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
+        {
+          "bbox": [
+            26,
+            118,
+            57,
+            156
+          ],
+          "phrase": "yellow and white mug"
+        },
+        {
+          "bbox": [
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+            70,
+            121,
+            217
+          ],
+          "phrase": "microwave"
+        },
+        {
+          "bbox": [
+            46,
+            98,
+            74,
+            137
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps37_eye_in_hand_rgb_frame227.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
+        {
+          "bbox": [
+            0,
+            157,
+            255,
+            213
+          ],
+          "phrase": "microwave"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps37_eye_in_hand_rgb_frame291.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
+        {
+          "bbox": [
+            240,
+            89,
+            255,
+            103
+          ],
+          "phrase": "yellow and white mug"
+        },
+        {
+          "bbox": [
+            0,
+            0,
+            255,
+            213
+          ],
+          "phrase": "microwave"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps38_agentview_rgb_frame231.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
+        {
+          "bbox": [
+            28,
+            129,
+            48,
+            148
+          ],
+          "phrase": "yellow and white mug"
+        },
+        {
+          "bbox": [
+            0,
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+            124,
+            213
+          ],
+          "phrase": "microwave"
+        },
+        {
+          "bbox": [
+            50,
+            59,
+            110,
+            80
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps38_agentview_rgb_frame303.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
+        {
+          "bbox": [
+            0,
+            86,
+            59,
+            213
+          ],
+          "phrase": "microwave"
+        },
+        {
+          "bbox": [
+            51,
+            107,
+            70,
+            134
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps38_eye_in_hand_rgb_frame21.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
+        {
+          "bbox": [
+            105,
+            36,
+            198,
+            110
+          ],
+          "phrase": "yellow and white mug"
+        },
+        {
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+            213
+          ],
+          "phrase": "microwave"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps38_eye_in_hand_rgb_frame144.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
+        {
+          "bbox": [
+            106,
+            137,
+            207,
+            213
+          ],
+          "phrase": "yellow and white mug"
+        },
+        {
+          "bbox": [
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+            255,
+            214
+          ],
+          "phrase": "microwave"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps39_agentview_rgb_frame187.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
+        {
+          "bbox": [
+            24,
+            134,
+            39,
+            153
+          ],
+          "phrase": "yellow and white mug"
+        },
+        {
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+            214
+          ],
+          "phrase": "microwave"
+        },
+        {
+          "bbox": [
+            42,
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+            146
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps39_agentview_rgb_frame259.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
+        {
+          "bbox": [
+            0,
+            86,
+            56,
+            214
+          ],
+          "phrase": "microwave"
+        },
+        {
+          "bbox": [
+            41,
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+            66,
+            111
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps39_eye_in_hand_rgb_frame121.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
+        {
+          "bbox": [
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+            165,
+            213
+          ],
+          "phrase": "yellow and white mug"
+        },
+        {
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+            214
+          ],
+          "phrase": "microwave"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps39_eye_in_hand_rgb_frame42.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
+        {
+          "bbox": [
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+            189
+          ],
+          "phrase": "yellow and white mug"
+        },
+        {
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+            255,
+            213
+          ],
+          "phrase": "microwave"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps40_agentview_rgb_frame178.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
+        {
+          "bbox": [
+            28,
+            127,
+            49,
+            154
+          ],
+          "phrase": "yellow and white mug"
+        },
+        {
+          "bbox": [
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+            216
+          ],
+          "phrase": "microwave"
+        },
+        {
+          "bbox": [
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+            79,
+            128
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps40_agentview_rgb_frame227.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
+        {
+          "bbox": [
+            28,
+            127,
+            49,
+            154
+          ],
+          "phrase": "yellow and white mug"
+        },
+        {
+          "bbox": [
+            0,
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+            123,
+            216
+          ],
+          "phrase": "microwave"
+        },
+        {
+          "bbox": [
+            59,
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+            111,
+            79
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps40_eye_in_hand_rgb_frame212.png",
+    "height": 256,
+    "width": 256,
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+      "regions": [
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+          "phrase": "gripper"
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+      ]
+    }
+  },
+  {
+    "filename": "eps40_eye_in_hand_rgb_frame133.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
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+          "phrase": "gripper"
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+      ]
+    }
+  },
+  {
+    "filename": "eps41_agentview_rgb_frame153.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
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+          "phrase": "gripper"
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+      ]
+    }
+  },
+  {
+    "filename": "eps41_agentview_rgb_frame119.png",
+    "height": 256,
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+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
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+          "phrase": "gripper"
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+      ]
+    }
+  },
+  {
+    "filename": "eps41_eye_in_hand_rgb_frame64.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
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+          "phrase": "gripper"
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+      ]
+    }
+  },
+  {
+    "filename": "eps41_eye_in_hand_rgb_frame78.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
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+          "phrase": "gripper"
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+      ]
+    }
+  },
+  {
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+    "height": 256,
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+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
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+      ]
+    }
+  },
+  {
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+    "height": 256,
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+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
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+      ]
+    }
+  },
+  {
+    "filename": "eps42_eye_in_hand_rgb_frame147.png",
+    "height": 256,
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+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
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+          "phrase": "gripper"
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+      ]
+    }
+  },
+  {
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+    "height": 256,
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+    "grounding": {
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+      ]
+    }
+  },
+  {
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+    "height": 256,
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+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
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+      ]
+    }
+  },
+  {
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+    "height": 256,
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+    "grounding": {
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+      ]
+    }
+  },
+  {
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+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
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+      ]
+    }
+  },
+  {
+    "filename": "eps43_eye_in_hand_rgb_frame86.png",
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+    "grounding": {
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+      "regions": [
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+  },
+  {
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+      "regions": [
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+      ]
+    }
+  },
+  {
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+    "grounding": {
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+      ]
+    }
+  },
+  {
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+    "grounding": {
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+      "regions": [
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+      ]
+    }
+  },
+  {
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+      "regions": [
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+          "phrase": "gripper"
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+      ]
+    }
+  },
+  {
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+      ]
+    }
+  },
+  {
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+      ]
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+  },
+  {
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+      ]
+    }
+  },
+  {
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+    "grounding": {
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+      ]
+    }
+  },
+  {
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+    "height": 256,
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+    "grounding": {
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+      ]
+    }
+  },
+  {
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+      ]
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+  },
+  {
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+      ]
+    }
+  },
+  {
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+    "grounding": {
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+      ]
+    }
+  },
+  {
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+    "grounding": {
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+      ]
+    }
+  },
+  {
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+    }
+  },
+  {
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+    "grounding": {
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+  },
+  {
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+    "grounding": {
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+      ]
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+  },
+  {
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+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
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+      ]
+    }
+  },
+  {
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+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
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+      ]
+    }
+  },
+  {
+    "filename": "eps48_eye_in_hand_rgb_frame117.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
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+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps48_eye_in_hand_rgb_frame143.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
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+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps49_agentview_rgb_frame83.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
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+          "phrase": "gripper"
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+      ]
+    }
+  },
+  {
+    "filename": "eps49_agentview_rgb_frame282.png",
+    "height": 256,
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+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
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+          "phrase": "gripper"
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+      ]
+    }
+  },
+  {
+    "filename": "eps49_eye_in_hand_rgb_frame36.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
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+          "phrase": "gripper"
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+      ]
+    }
+  },
+  {
+    "filename": "eps49_eye_in_hand_rgb_frame151.png",
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+    "grounding": {
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
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+    "height": 256,
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+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
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+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps50_agentview_rgb_frame287.png",
+    "height": 256,
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+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
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+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps50_eye_in_hand_rgb_frame12.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
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+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps50_eye_in_hand_rgb_frame116.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
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+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps51_agentview_rgb_frame226.png",
+    "height": 256,
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+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
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+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
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+      "caption": "put the yellow and white mug in the microwave and close it",
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+          "phrase": "gripper"
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+      ]
+    }
+  },
+  {
+    "filename": "eps51_eye_in_hand_rgb_frame86.png",
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+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
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+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
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+      "caption": "put the yellow and white mug in the microwave and close it",
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
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+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
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+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
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+    "height": 256,
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+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps53_agentview_rgb_frame114.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
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+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
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+          "phrase": "gripper"
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+      ]
+    }
+  },
+  {
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+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
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+          "phrase": "gripper"
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+      ]
+    }
+  },
+  {
+    "filename": "eps54_agentview_rgb_frame30.png",
+    "height": 256,
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+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
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+      ]
+    }
+  },
+  {
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+    "height": 256,
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+      ]
+    }
+  },
+  {
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+    "grounding": {
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+          "phrase": "gripper"
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+      ]
+    }
+  },
+  {
+    "filename": "eps54_eye_in_hand_rgb_frame424.png",
+    "height": 256,
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+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
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+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps55_agentview_rgb_frame25.png",
+    "height": 256,
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+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
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+      ]
+    }
+  },
+  {
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+    "height": 256,
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+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
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+          "phrase": "gripper"
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+      ]
+    }
+  },
+  {
+    "filename": "eps55_eye_in_hand_rgb_frame108.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
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+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps55_eye_in_hand_rgb_frame54.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
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+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps56_agentview_rgb_frame262.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the yellow and white mug in the microwave and close it",
+      "regions": [
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+          "phrase": "gripper"
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+      ]
+    }
+  },
+  {
+    "filename": "eps56_agentview_rgb_frame278.png",
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+  },
+  {
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+  },
+  {
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+  },
+  {
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+  },
+  {
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+  },
+  {
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+  },
+  {
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+  },
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+      ]
+    }
+  },
+  {
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+  },
+  {
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+  },
+  {
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+  },
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+      ]
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+  },
+  {
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+  },
+  {
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+      ]
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+  },
+  {
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+  },
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+  },
+  {
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+  },
+  {
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+  },
+  {
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+  },
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+  },
+  {
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+  },
+  {
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+  },
+  {
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+  },
+  {
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+  },
+  {
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+  },
+  {
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+  },
+  {
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+      ]
+    }
+  },
+  {
+    "filename": "eps63_agentview_rgb_frame201.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put both the alphabet soup and the cream cheese box in the basket",
+      "regions": [
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+      ]
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+  },
+  {
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+  },
+  {
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+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps167_agentview_rgb_frame247.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the white mug on the left plate and put the yellow and white mug on the right plate",
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+          "phrase": "gripper"
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+    }
+  },
+  {
+    "filename": "eps167_eye_in_hand_rgb_frame21.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the white mug on the left plate and put the yellow and white mug on the right plate",
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+          "phrase": "gripper"
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+      ]
+    }
+  },
+  {
+    "filename": "eps167_eye_in_hand_rgb_frame129.png",
+    "height": 256,
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+    "grounding": {
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+          "phrase": "gripper"
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+    }
+  },
+  {
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+    "height": 256,
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+    "grounding": {
+      "caption": "put the white mug on the left plate and put the yellow and white mug on the right plate",
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+  },
+  {
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+  },
+  {
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+    "grounding": {
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+          "phrase": "gripper"
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+      ]
+    }
+  },
+  {
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+    "grounding": {
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+      ]
+    }
+  },
+  {
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+    "grounding": {
+      "caption": "put the white mug on the left plate and put the yellow and white mug on the right plate",
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+          "phrase": "gripper"
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+      ]
+    }
+  },
+  {
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+    "grounding": {
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+  },
+  {
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+    "height": 256,
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+    "grounding": {
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+    }
+  },
+  {
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+      ]
+    }
+  },
+  {
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+  },
+  {
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+          "phrase": "gripper"
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+      ]
+    }
+  },
+  {
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+    "grounding": {
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+      ]
+    }
+  },
+  {
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+    "grounding": {
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+      ]
+    }
+  },
+  {
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+      ]
+    }
+  },
+  {
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+    }
+  },
+  {
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+    "grounding": {
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+      ]
+    }
+  },
+  {
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+    "grounding": {
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+  },
+  {
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+    }
+  },
+  {
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+    }
+  },
+  {
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+    "grounding": {
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+          "phrase": "gripper"
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+      ]
+    }
+  },
+  {
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+    "grounding": {
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+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
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+  },
+  {
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+  },
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+  },
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+  },
+  {
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+  },
+  {
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+  },
+  {
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+  },
+  {
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+    }
+  },
+  {
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+    "height": 256,
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+    "grounding": {
+      "caption": "put the white mug on the left plate and put the yellow and white mug on the right plate",
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+  },
+  {
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+      "caption": "put the white mug on the left plate and put the yellow and white mug on the right plate",
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+  },
+  {
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+  {
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+  },
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+  },
+  {
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+  },
+  {
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+  },
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+  },
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+  },
+  {
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+  },
+  {
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+  },
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+  },
+  {
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+  },
+  {
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+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps254_eye_in_hand_rgb_frame261.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put both moka pots on the stove",
+      "regions": [
+        {
+          "bbox": [
+            79,
+            150,
+            138,
+            213
+          ],
+          "phrase": "left moka pot"
+        },
+        {
+          "bbox": [
+            0,
+            195,
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+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps255_agentview_rgb_frame20.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the white mug on the plate and put the chocolate pudding to the right of the plate",
+      "regions": [
+        {
+          "bbox": [
+            94,
+            195,
+            158,
+            245
+          ],
+          "phrase": "plate"
+        },
+        {
+          "bbox": [
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+            99,
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+          ],
+          "phrase": "chocolate pudding"
+        },
+        {
+          "bbox": [
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+            200,
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+          ],
+          "phrase": "white mug"
+        },
+        {
+          "bbox": [
+            123,
+            41,
+            213,
+            97
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps255_agentview_rgb_frame72.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the white mug on the plate and put the chocolate pudding to the right of the plate",
+      "regions": [
+        {
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+            158,
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+          ],
+          "phrase": "plate"
+        },
+        {
+          "bbox": [
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+            99,
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+          ],
+          "phrase": "chocolate pudding"
+        },
+        {
+          "bbox": [
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+          ],
+          "phrase": "white mug"
+        },
+        {
+          "bbox": [
+            98,
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+            115
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps255_eye_in_hand_rgb_frame90.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the white mug on the plate and put the chocolate pudding to the right of the plate",
+      "regions": [
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+          ],
+          "phrase": "plate"
+        },
+        {
+          "bbox": [
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+            174,
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+          ],
+          "phrase": "white mug"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps255_eye_in_hand_rgb_frame24.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the white mug on the plate and put the chocolate pudding to the right of the plate",
+      "regions": [
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+          "bbox": [
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+          "phrase": "plate"
+        },
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+          "phrase": "chocolate pudding"
+        },
+        {
+          "bbox": [
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+            142,
+            213
+          ],
+          "phrase": "white mug"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps256_agentview_rgb_frame53.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the white mug on the plate and put the chocolate pudding to the right of the plate",
+      "regions": [
+        {
+          "bbox": [
+            102,
+            193,
+            166,
+            242
+          ],
+          "phrase": "plate"
+        },
+        {
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+          ],
+          "phrase": "chocolate pudding"
+        },
+        {
+          "bbox": [
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+          "phrase": "white mug"
+        },
+        {
+          "bbox": [
+            131,
+            74,
+            207,
+            119
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps256_agentview_rgb_frame176.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the white mug on the plate and put the chocolate pudding to the right of the plate",
+      "regions": [
+        {
+          "bbox": [
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+            166,
+            242
+          ],
+          "phrase": "plate"
+        },
+        {
+          "bbox": [
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+          ],
+          "phrase": "chocolate pudding"
+        },
+        {
+          "bbox": [
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+          ],
+          "phrase": "white mug"
+        },
+        {
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+            128,
+            155
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps256_eye_in_hand_rgb_frame200.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the white mug on the plate and put the chocolate pudding to the right of the plate",
+      "regions": [
+        {
+          "bbox": [
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+          ],
+          "phrase": "plate"
+        },
+        {
+          "bbox": [
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+            177,
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+          ],
+          "phrase": "chocolate pudding"
+        },
+        {
+          "bbox": [
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+          ],
+          "phrase": "white mug"
+        },
+        {
+          "bbox": [
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+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps256_eye_in_hand_rgb_frame125.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the white mug on the plate and put the chocolate pudding to the right of the plate",
+      "regions": [
+        {
+          "bbox": [
+            67,
+            69,
+            129,
+            165
+          ],
+          "phrase": "plate"
+        },
+        {
+          "bbox": [
+            163,
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+            190,
+            213
+          ],
+          "phrase": "chocolate pudding"
+        },
+        {
+          "bbox": [
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+            65,
+            134,
+            184
+          ],
+          "phrase": "white mug"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps257_agentview_rgb_frame199.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the white mug on the plate and put the chocolate pudding to the right of the plate",
+      "regions": [
+        {
+          "bbox": [
+            93,
+            205,
+            158,
+            251
+          ],
+          "phrase": "plate"
+        },
+        {
+          "bbox": [
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+            106,
+            173
+          ],
+          "phrase": "chocolate pudding"
+        },
+        {
+          "bbox": [
+            85,
+            165,
+            147,
+            229
+          ],
+          "phrase": "white mug"
+        },
+        {
+          "bbox": [
+            59,
+            101,
+            136,
+            150
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps257_agentview_rgb_frame236.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the white mug on the plate and put the chocolate pudding to the right of the plate",
+      "regions": [
+        {
+          "bbox": [
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+            205,
+            158,
+            251
+          ],
+          "phrase": "plate"
+        },
+        {
+          "bbox": [
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+            90,
+            204
+          ],
+          "phrase": "chocolate pudding"
+        },
+        {
+          "bbox": [
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+            147,
+            229
+          ],
+          "phrase": "white mug"
+        },
+        {
+          "bbox": [
+            28,
+            122,
+            121,
+            178
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps257_eye_in_hand_rgb_frame142.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the white mug on the plate and put the chocolate pudding to the right of the plate",
+      "regions": [
+        {
+          "bbox": [
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+            147,
+            147
+          ],
+          "phrase": "plate"
+        },
+        {
+          "bbox": [
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+            188,
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+          ],
+          "phrase": "white mug"
+        },
+        {
+          "bbox": [
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+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps257_eye_in_hand_rgb_frame238.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the white mug on the plate and put the chocolate pudding to the right of the plate",
+      "regions": [
+        {
+          "bbox": [
+            0,
+            45,
+            81,
+            171
+          ],
+          "phrase": "plate"
+        },
+        {
+          "bbox": [
+            79,
+            90,
+            161,
+            213
+          ],
+          "phrase": "chocolate pudding"
+        },
+        {
+          "bbox": [
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+            85,
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+          ],
+          "phrase": "white mug"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps258_agentview_rgb_frame185.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the white mug on the plate and put the chocolate pudding to the right of the plate",
+      "regions": [
+        {
+          "bbox": [
+            106,
+            201,
+            171,
+            248
+          ],
+          "phrase": "plate"
+        },
+        {
+          "bbox": [
+            79,
+            150,
+            100,
+            171
+          ],
+          "phrase": "chocolate pudding"
+        },
+        {
+          "bbox": [
+            112,
+            168,
+            171,
+            234
+          ],
+          "phrase": "white mug"
+        },
+        {
+          "bbox": [
+            44,
+            121,
+            127,
+            162
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps258_agentview_rgb_frame78.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the white mug on the plate and put the chocolate pudding to the right of the plate",
+      "regions": [
+        {
+          "bbox": [
+            105,
+            196,
+            170,
+            247
+          ],
+          "phrase": "plate"
+        },
+        {
+          "bbox": [
+            79,
+            146,
+            100,
+            171
+          ],
+          "phrase": "chocolate pudding"
+        },
+        {
+          "bbox": [
+            157,
+            100,
+            207,
+            146
+          ],
+          "phrase": "white mug"
+        },
+        {
+          "bbox": [
+            123,
+            58,
+            213,
+            111
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps258_eye_in_hand_rgb_frame184.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the white mug on the plate and put the chocolate pudding to the right of the plate",
+      "regions": [
+        {
+          "bbox": [
+            92,
+            138,
+            184,
+            213
+          ],
+          "phrase": "chocolate pudding"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps258_eye_in_hand_rgb_frame160.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the white mug on the plate and put the chocolate pudding to the right of the plate",
+      "regions": [
+        {
+          "bbox": [
+            35,
+            41,
+            112,
+            134
+          ],
+          "phrase": "plate"
+        },
+        {
+          "bbox": [
+            137,
+            204,
+            171,
+            213
+          ],
+          "phrase": "chocolate pudding"
+        },
+        {
+          "bbox": [
+            0,
+            1,
+            93,
+            117
+          ],
+          "phrase": "white mug"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps259_agentview_rgb_frame108.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the white mug on the plate and put the chocolate pudding to the right of the plate",
+      "regions": [
+        {
+          "bbox": [
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+            196,
+            148,
+            238
+          ],
+          "phrase": "plate"
+        },
+        {
+          "bbox": [
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+            90,
+            174
+          ],
+          "phrase": "chocolate pudding"
+        },
+        {
+          "bbox": [
+            80,
+            163,
+            149,
+            222
+          ],
+          "phrase": "white mug"
+        },
+        {
+          "bbox": [
+            42,
+            108,
+            158,
+            177
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps259_agentview_rgb_frame9.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the white mug on the plate and put the chocolate pudding to the right of the plate",
+      "regions": [
+        {
+          "bbox": [
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+            190,
+            148,
+            238
+          ],
+          "phrase": "plate"
+        },
+        {
+          "bbox": [
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+            108,
+            174
+          ],
+          "phrase": "chocolate pudding"
+        },
+        {
+          "bbox": [
+            151,
+            113,
+            201,
+            162
+          ],
+          "phrase": "white mug"
+        },
+        {
+          "bbox": [
+            96,
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+            191,
+            83
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps259_eye_in_hand_rgb_frame3.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the white mug on the plate and put the chocolate pudding to the right of the plate",
+      "regions": [
+        {
+          "bbox": [
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+            81
+          ],
+          "phrase": "plate"
+        },
+        {
+          "bbox": [
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+            185,
+            162
+          ],
+          "phrase": "chocolate pudding"
+        },
+        {
+          "bbox": [
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+            139,
+            97,
+            206
+          ],
+          "phrase": "white mug"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps259_eye_in_hand_rgb_frame170.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the white mug on the plate and put the chocolate pudding to the right of the plate",
+      "regions": [
+        {
+          "bbox": [
+            48,
+            109,
+            153,
+            201
+          ],
+          "phrase": "plate"
+        },
+        {
+          "bbox": [
+            0,
+            136,
+            157,
+            213
+          ],
+          "phrase": "white mug"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps260_agentview_rgb_frame109.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the white mug on the plate and put the chocolate pudding to the right of the plate",
+      "regions": [
+        {
+          "bbox": [
+            105,
+            204,
+            171,
+            253
+          ],
+          "phrase": "plate"
+        },
+        {
+          "bbox": [
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+            100,
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+          ],
+          "phrase": "chocolate pudding"
+        },
+        {
+          "bbox": [
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+            164,
+            213
+          ],
+          "phrase": "white mug"
+        },
+        {
+          "bbox": [
+            61,
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+            172,
+            170
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps260_agentview_rgb_frame161.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the white mug on the plate and put the chocolate pudding to the right of the plate",
+      "regions": [
+        {
+          "bbox": [
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+            171,
+            253
+          ],
+          "phrase": "plate"
+        },
+        {
+          "bbox": [
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+            100,
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+          ],
+          "phrase": "chocolate pudding"
+        },
+        {
+          "bbox": [
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+          ],
+          "phrase": "white mug"
+        },
+        {
+          "bbox": [
+            32,
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+            149,
+            158
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps260_eye_in_hand_rgb_frame123.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the white mug on the plate and put the chocolate pudding to the right of the plate",
+      "regions": [
+        {
+          "bbox": [
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+          ],
+          "phrase": "plate"
+        },
+        {
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+          ],
+          "phrase": "white mug"
+        },
+        {
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+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps260_eye_in_hand_rgb_frame201.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the white mug on the plate and put the chocolate pudding to the right of the plate",
+      "regions": [
+        {
+          "bbox": [
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+            188,
+            213
+          ],
+          "phrase": "chocolate pudding"
+        },
+        {
+          "bbox": [
+            0,
+            195,
+            255,
+            255
+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps261_agentview_rgb_frame266.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "put the white mug on the plate and put the chocolate pudding to the right of the plate",
+      "regions": [
+        {
+          "bbox": [
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+            201,
+            151,
+            244
+          ],
+          "phrase": "plate"
+        },
+        {
+          "bbox": [
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+            77,
+            227
+          ],
+          "phrase": "chocolate pudding"
+        },
+        {
+          "bbox": [
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+            141,
+            230
+          ],
+          "phrase": "white mug"
+        },
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+  },
+  {
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+    "grounding": {
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+  },
+  {
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+  },
+  {
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+  {
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+  },
+  {
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+  },
+  {
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+  },
+  {
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+  },
+  {
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+  },
+  {
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+  },
+  {
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+  },
+  {
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+  },
+  {
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+  },
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+  },
+  {
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+  },
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+  },
+  {
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+      ]
+    }
+  },
+  {
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+    "grounding": {
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+    }
+  },
+  {
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+  },
+  {
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+    }
+  },
+  {
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+      ]
+    }
+  },
+  {
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+    "grounding": {
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+  },
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+  },
+  {
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+    }
+  },
+  {
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+      ]
+    }
+  },
+  {
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+    "grounding": {
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+  },
+  {
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+    "grounding": {
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+  },
+  {
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+    "grounding": {
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+    }
+  },
+  {
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+    "grounding": {
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+      ]
+    }
+  },
+  {
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+    "grounding": {
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+      ]
+    }
+  },
+  {
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+  {
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+  {
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+  },
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+  },
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+  {
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+  {
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+  },
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+  },
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+  {
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+  },
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+  },
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+  },
+  {
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+  {
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+      ]
+    }
+  },
+  {
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+  },
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+  },
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+  {
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+      ]
+    }
+  },
+  {
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+  },
+  {
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+  },
+  {
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+  },
+  {
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+  },
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+  },
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+  {
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+  {
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+  },
+  {
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+  },
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+  },
+  {
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+  {
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+  },
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+  },
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+  },
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+  },
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+  },
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+  {
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+  {
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+  },
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+    }
+  },
+  {
+    "filename": "eps1135_agentview_rgb_frame33.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl next to the plate and place it on the plate",
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+  },
+  {
+    "filename": "eps1135_eye_in_hand_rgb_frame101.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl next to the plate and place it on the plate",
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+  },
+  {
+    "filename": "eps1135_eye_in_hand_rgb_frame7.png",
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+    "grounding": {
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+    }
+  },
+  {
+    "filename": "eps1136_agentview_rgb_frame0.png",
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+    "grounding": {
+      "caption": "pick up the black bowl next to the plate and place it on the plate",
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+  },
+  {
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+    "grounding": {
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+  },
+  {
+    "filename": "eps1136_eye_in_hand_rgb_frame36.png",
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+    "grounding": {
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+    }
+  },
+  {
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+      ]
+    }
+  },
+  {
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+    "grounding": {
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+    }
+  },
+  {
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+    "grounding": {
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+  },
+  {
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+  },
+  {
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+      ]
+    }
+  },
+  {
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+    "grounding": {
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+  },
+  {
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+    "grounding": {
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+  },
+  {
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+    "grounding": {
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+    }
+  },
+  {
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+    "grounding": {
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+      ]
+    }
+  },
+  {
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+    "grounding": {
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+      ]
+    }
+  },
+  {
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+    "grounding": {
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+    }
+  },
+  {
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+      ]
+    }
+  },
+  {
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+    "grounding": {
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+      ]
+    }
+  },
+  {
+    "filename": "eps1140_agentview_rgb_frame21.png",
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+    "grounding": {
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+      ]
+    }
+  },
+  {
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+    "grounding": {
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+  },
+  {
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+    }
+  },
+  {
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+    "grounding": {
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+      ]
+    }
+  },
+  {
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+    "grounding": {
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+      ]
+    }
+  },
+  {
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+    "grounding": {
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+    }
+  },
+  {
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+    "grounding": {
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+    }
+  },
+  {
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+    "grounding": {
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+      ]
+    }
+  },
+  {
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+    "grounding": {
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+    }
+  },
+  {
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+    "grounding": {
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+    }
+  },
+  {
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+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl next to the plate and place it on the plate",
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+  },
+  {
+    "filename": "eps1142_eye_in_hand_rgb_frame34.png",
+    "height": 256,
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+    "grounding": {
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+  },
+  {
+    "filename": "eps1143_agentview_rgb_frame2.png",
+    "height": 256,
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+    "grounding": {
+      "caption": "pick up the black bowl next to the plate and place it on the plate",
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+  },
+  {
+    "filename": "eps1143_agentview_rgb_frame24.png",
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+    "grounding": {
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+  },
+  {
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+  },
+  {
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+  },
+  {
+    "filename": "eps1144_agentview_rgb_frame50.png",
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+    "grounding": {
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+  },
+  {
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+  {
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+  {
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+  },
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+  },
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+  },
+  {
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+    "grounding": {
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+  },
+  {
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+  },
+  {
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+  },
+  {
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+  {
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+  },
+  {
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+  },
+  {
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+  },
+  {
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+  },
+  {
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+  },
+  {
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+    }
+  },
+  {
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+  },
+  {
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+  },
+  {
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+  {
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+  },
+  {
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+  },
+  {
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+  },
+  {
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+  },
+  {
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+    }
+  },
+  {
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+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl next to the plate and place it on the plate",
+      "regions": [
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+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1150_agentview_rgb_frame58.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl next to the plate and place it on the plate",
+      "regions": [
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+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1150_eye_in_hand_rgb_frame132.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl next to the plate and place it on the plate",
+      "regions": [
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+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1150_eye_in_hand_rgb_frame88.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl next to the plate and place it on the plate",
+      "regions": [
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+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1151_agentview_rgb_frame98.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl next to the plate and place it on the plate",
+      "regions": [
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+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1151_agentview_rgb_frame100.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl next to the plate and place it on the plate",
+      "regions": [
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+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1151_eye_in_hand_rgb_frame3.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl next to the plate and place it on the plate",
+      "regions": [
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+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1151_eye_in_hand_rgb_frame38.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl next to the plate and place it on the plate",
+      "regions": [
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+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1152_agentview_rgb_frame122.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl next to the plate and place it on the plate",
+      "regions": [
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+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1152_agentview_rgb_frame67.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl next to the plate and place it on the plate",
+      "regions": [
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+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1152_eye_in_hand_rgb_frame30.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl next to the plate and place it on the plate",
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+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1152_eye_in_hand_rgb_frame69.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl next to the plate and place it on the plate",
+      "regions": [
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1153_agentview_rgb_frame37.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
+      "regions": [
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1153_agentview_rgb_frame47.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
+      "regions": [
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1153_eye_in_hand_rgb_frame5.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1153_eye_in_hand_rgb_frame27.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1154_agentview_rgb_frame61.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1154_agentview_rgb_frame36.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1154_eye_in_hand_rgb_frame81.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1154_eye_in_hand_rgb_frame47.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1155_agentview_rgb_frame80.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1155_agentview_rgb_frame41.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
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+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1155_eye_in_hand_rgb_frame84.png",
+    "height": 256,
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+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
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+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1155_eye_in_hand_rgb_frame12.png",
+    "height": 256,
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+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
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+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1156_agentview_rgb_frame20.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
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+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1156_agentview_rgb_frame28.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
+      "regions": [
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+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1156_eye_in_hand_rgb_frame104.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1156_eye_in_hand_rgb_frame60.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1157_agentview_rgb_frame81.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
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+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1157_agentview_rgb_frame9.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
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+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1157_eye_in_hand_rgb_frame48.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
+      "regions": [
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1157_eye_in_hand_rgb_frame74.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
+      "regions": [
+        {
+          "bbox": [
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1158_agentview_rgb_frame11.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
+      "regions": [
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1158_agentview_rgb_frame83.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
+      "regions": [
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1158_eye_in_hand_rgb_frame84.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
+      "regions": [
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1158_eye_in_hand_rgb_frame39.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
+      "regions": [
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1159_agentview_rgb_frame61.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
+      "regions": [
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1159_agentview_rgb_frame9.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
+      "regions": [
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1159_eye_in_hand_rgb_frame7.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1159_eye_in_hand_rgb_frame67.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1160_agentview_rgb_frame65.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1160_agentview_rgb_frame69.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1160_eye_in_hand_rgb_frame15.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1160_eye_in_hand_rgb_frame66.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1161_agentview_rgb_frame48.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1161_agentview_rgb_frame65.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1161_eye_in_hand_rgb_frame60.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1161_eye_in_hand_rgb_frame64.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1162_agentview_rgb_frame23.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1162_agentview_rgb_frame17.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
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+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1162_eye_in_hand_rgb_frame10.png",
+    "height": 256,
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+    "grounding": {
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1162_eye_in_hand_rgb_frame52.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1163_agentview_rgb_frame63.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1163_agentview_rgb_frame30.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
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+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1163_eye_in_hand_rgb_frame1.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
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+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1163_eye_in_hand_rgb_frame87.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
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+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1164_agentview_rgb_frame48.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
+      "regions": [
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1164_agentview_rgb_frame35.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
+      "regions": [
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+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1164_eye_in_hand_rgb_frame31.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
+      "regions": [
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+          ],
+          "phrase": "gripper"
+        }
+      ]
+    }
+  },
+  {
+    "filename": "eps1164_eye_in_hand_rgb_frame77.png",
+    "height": 256,
+    "width": 256,
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+    }
+  },
+  {
+    "filename": "eps1165_agentview_rgb_frame8.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
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+    }
+  },
+  {
+    "filename": "eps1165_agentview_rgb_frame60.png",
+    "height": 256,
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+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
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+      ]
+    }
+  },
+  {
+    "filename": "eps1165_eye_in_hand_rgb_frame16.png",
+    "height": 256,
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+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
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+    }
+  },
+  {
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+    "height": 256,
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+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
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+      ]
+    }
+  },
+  {
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+    "grounding": {
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+    }
+  },
+  {
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+    "grounding": {
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+    }
+  },
+  {
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+    "grounding": {
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+      ]
+    }
+  },
+  {
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+    "grounding": {
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+      ]
+    }
+  },
+  {
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+    }
+  },
+  {
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+    }
+  },
+  {
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+    "grounding": {
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+    }
+  },
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+  },
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+    "grounding": {
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+    }
+  },
+  {
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+    "grounding": {
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+    }
+  },
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+      ]
+    }
+  },
+  {
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+      ]
+    }
+  },
+  {
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+    }
+  },
+  {
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+    }
+  },
+  {
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+  },
+  {
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+    }
+  },
+  {
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+  },
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+  },
+  {
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+  },
+  {
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+  },
+  {
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+    "grounding": {
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+  },
+  {
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+  },
+  {
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+  },
+  {
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+    "grounding": {
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+    }
+  },
+  {
+    "filename": "eps1172_agentview_rgb_frame81.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
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+    }
+  },
+  {
+    "filename": "eps1172_agentview_rgb_frame35.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
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+    }
+  },
+  {
+    "filename": "eps1172_eye_in_hand_rgb_frame49.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
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+    }
+  },
+  {
+    "filename": "eps1172_eye_in_hand_rgb_frame85.png",
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+    "grounding": {
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+  },
+  {
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+    "grounding": {
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+    }
+  },
+  {
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+    }
+  },
+  {
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+    "grounding": {
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+    }
+  },
+  {
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+    "grounding": {
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+      ]
+    }
+  },
+  {
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+    "grounding": {
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+    }
+  },
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+    "grounding": {
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+    }
+  },
+  {
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+    "grounding": {
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+    }
+  },
+  {
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+    "grounding": {
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+  },
+  {
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+    "grounding": {
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+  },
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+    "grounding": {
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+    }
+  },
+  {
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+    "grounding": {
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+    }
+  },
+  {
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+    }
+  },
+  {
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+    "grounding": {
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+      ]
+    }
+  },
+  {
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+      ]
+    }
+  },
+  {
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+    }
+  },
+  {
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+    "grounding": {
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+    }
+  },
+  {
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+      ]
+    }
+  },
+  {
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+  },
+  {
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+  },
+  {
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+    "grounding": {
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+  },
+  {
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+  },
+  {
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+    "grounding": {
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+  },
+  {
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+    "grounding": {
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+  },
+  {
+    "filename": "eps1178_eye_in_hand_rgb_frame73.png",
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+    "grounding": {
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+  },
+  {
+    "filename": "eps1179_agentview_rgb_frame14.png",
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+    "width": 256,
+    "grounding": {
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+          "phrase": "gripper"
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+      ]
+    }
+  },
+  {
+    "filename": "eps1179_agentview_rgb_frame76.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
+      "regions": [
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+          "phrase": "gripper"
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+    }
+  },
+  {
+    "filename": "eps1179_eye_in_hand_rgb_frame71.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
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+    }
+  },
+  {
+    "filename": "eps1179_eye_in_hand_rgb_frame79.png",
+    "height": 256,
+    "width": 256,
+    "grounding": {
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+      ]
+    }
+  },
+  {
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+    "height": 256,
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+    "grounding": {
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+    }
+  },
+  {
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+  },
+  {
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+    "grounding": {
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+  },
+  {
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+    "grounding": {
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+  },
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+  },
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+  },
+  {
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+  },
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+    }
+  },
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+    }
+  },
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+    }
+  },
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+  },
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+  },
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+  },
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+    }
+  },
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+  },
+  {
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+    }
+  },
+  {
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+  },
+  {
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+  },
+  {
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+  },
+  {
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+  },
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+  },
+  {
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+  },
+  {
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+  },
+  {
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+  },
+  {
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+  },
+  {
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+  },
+  {
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+  },
+  {
+    "filename": "eps1186_eye_in_hand_rgb_frame38.png",
+    "height": 256,
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+    "grounding": {
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+    }
+  },
+  {
+    "filename": "eps1187_agentview_rgb_frame13.png",
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+    "grounding": {
+      "caption": "pick up the black bowl between the plate and the ramekin and place it on the plate",
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+    }
+  },
+  {
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+  },
+  {
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+  },
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+  },
+  {
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+    }
+  },
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+  },
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+  },
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+  },
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+  },
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+  },
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+  },
+  {
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+      ]
+    }
+  },
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+    }
+  },
+  {
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+  },
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+  },
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+    }
+  },
+  {
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+    }
+  },
+  {
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+  },
+  {
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+  },
+  {
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+  },
+  {
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+    "grounding": {
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+  },
+  {
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+  {
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+  {
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+  },
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+  },
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+  },
+  {
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+  },
+  {
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+    "grounding": {
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+      ]
+    }
+  },
+  {
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+    }
+  }
+]
\ No newline at end of file
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diff --git a/val/label_map.json b/val/label_map.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b201126540c24a232a4f5bfb75535edd144266e
--- /dev/null
+++ b/val/label_map.json
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+{
+  "0": "alphabet soup",
+  "1": "basket",
+  "2": "bbq sauce",
+  "3": "black bowl",
+  "4": "book",
+  "5": "butter",
+  "6": "cabinet",
+  "7": "caddy",
+  "8": "chocolate pudding",
+  "9": "cream cheese",
+  "10": "gripper",
+  "11": "ketchup",
+  "12": "left moka pot",
+  "13": "left plate",
+  "14": "microwave",
+  "15": "milk",
+  "16": "moka pot",
+  "17": "orange juice",
+  "18": "plate",
+  "19": "right moka pot",
+  "20": "right plate",
+  "21": "salad dressing",
+  "22": "stove",
+  "23": "tomato sauce",
+  "24": "white mug",
+  "25": "wine bottle",
+  "26": "wine rack",
+  "27": "yellow and white mug"
+}
\ No newline at end of file
diff --git a/val/libero_coco_format.json b/val/libero_coco_format.json
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--- /dev/null
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+{
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+      "supercategory": "libero"
+    },
+    {
+      "id": 20,
+      "name": "chocolate pudding",
+      "supercategory": "libero"
+    },
+    {
+      "id": 21,
+      "name": "butter",
+      "supercategory": "libero"
+    },
+    {
+      "id": 22,
+      "name": "wine bottle",
+      "supercategory": "libero"
+    },
+    {
+      "id": 23,
+      "name": "wine rack",
+      "supercategory": "libero"
+    },
+    {
+      "id": 24,
+      "name": "ketchup",
+      "supercategory": "libero"
+    },
+    {
+      "id": 25,
+      "name": "milk",
+      "supercategory": "libero"
+    },
+    {
+      "id": 26,
+      "name": "orange juice",
+      "supercategory": "libero"
+    },
+    {
+      "id": 27,
+      "name": "salad dressing",
+      "supercategory": "libero"
+    },
+    {
+      "id": 28,
+      "name": "bbq sauce",
+      "supercategory": "libero"
+    }
+  ]
+}
\ No newline at end of file