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+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10377#frame_19",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, move a spatula onto a cloth?",
+    "gt_answer": "C",
+    "image_urls": [
+      "49_bridge#episode_10377#frame_19.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10232#frame_15",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, open the cabinet door?",
+    "gt_answer": "D",
+    "image_urls": [
+      "49_bridge#episode_10232#frame_15.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/57_fmb#episode_4#image_wrist_1#image_1",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, insert the cylinder block into its corresponding slot?",
+    "gt_answer": "D",
+    "image_urls": [
+      "57_fmb#episode_4#image_wrist_1#image_1.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10390#frame_17",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the corn into a pan?",
+    "gt_answer": "C",
+    "image_urls": [
+      "49_bridge#episode_10390#frame_17.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/71_bridge_data_msr#episode_39#frame_22",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the milk next to the faucet?",
+    "gt_answer": "A",
+    "image_urls": [
+      "71_bridge_data_msr#episode_39#frame_22.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10381#frame_20",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the fork on the green cloth?",
+    "gt_answer": "D",
+    "image_urls": [
+      "49_bridge#episode_10381#frame_20.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10567#frame_7",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, close the top cabinet door?",
+    "gt_answer": "B",
+    "image_urls": [
+      "49_bridge#episode_10567#frame_7.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_1003#frame_19",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the pan on the cloth?",
+    "gt_answer": "C",
+    "image_urls": [
+      "49_bridge#episode_1003#frame_19.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10250#frame_10",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, close the cabinet door?",
+    "gt_answer": "C",
+    "image_urls": [
+      "49_bridge#episode_10250#frame_10.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/57_fmb#episode_2#image_wrist_2#image_0",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, insert the star-shaped block into its corresponding slot?",
+    "gt_answer": "D",
+    "image_urls": [
+      "57_fmb#episode_2#image_wrist_2#image_0.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10314#frame_11",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, close the cabinet door?",
+    "gt_answer": "D",
+    "image_urls": [
+      "49_bridge#episode_10314#frame_11.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_1#frame_20",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the pan on a towel?",
+    "gt_answer": "C",
+    "image_urls": [
+      "49_bridge#episode_1#frame_20.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10003#frame_17",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the corn in a pan?",
+    "gt_answer": "A",
+    "image_urls": [
+      "49_bridge#episode_10003#frame_17.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/68_bridge_data_v2#episode_3090#frame_14",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, fold the orange cloth?",
+    "gt_answer": "C",
+    "image_urls": [
+      "68_bridge_data_v2#episode_3090#frame_14.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_11270#frame_11",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, open the cabinet door?",
+    "gt_answer": "C",
+    "image_urls": [
+      "49_bridge#episode_11270#frame_11.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10183#frame_17",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the broccoli in a pot?",
+    "gt_answer": "D",
+    "image_urls": [
+      "49_bridge#episode_10183#frame_17.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10259#frame_21",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, drag the towel to the middle of a pan and a spoon?",
+    "gt_answer": "C",
+    "image_urls": [
+      "49_bridge#episode_10259#frame_21.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10499#frame_17",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the brush on the left stove?",
+    "gt_answer": "B",
+    "image_urls": [
+      "49_bridge#episode_10499#frame_17.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10171#frame_17",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the carrot on a green plate?",
+    "gt_answer": "C",
+    "image_urls": [
+      "49_bridge#episode_10171#frame_17.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10188#frame_18",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the green pepper in a pan?",
+    "gt_answer": "D",
+    "image_urls": [
+      "49_bridge#episode_10188#frame_18.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_101#frame_20",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the carrot in a pan?",
+    "gt_answer": "D",
+    "image_urls": [
+      "49_bridge#episode_101#frame_20.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10221#frame_17",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the knife to the left of the strawberry?",
+    "gt_answer": "C",
+    "image_urls": [
+      "49_bridge#episode_10221#frame_17.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/57_fmb#episode_23#image_wrist_2#image_0",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, insert a three-pronged block into its matching slot?",
+    "gt_answer": "B",
+    "image_urls": [
+      "57_fmb#episode_23#image_wrist_2#image_0.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/57_fmb#episode_28#image_wrist_2#image_0",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, insert the block into its matching slot?",
+    "gt_answer": "B",
+    "image_urls": [
+      "57_fmb#episode_28#image_wrist_2#image_0.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/68_bridge_data_v2#episode_339#frame_13",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, open the cabinet door?",
+    "gt_answer": "B",
+    "image_urls": [
+      "68_bridge_data_v2#episode_339#frame_13.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/86_fanuc_manipulation_v2#episode_199#frame_19",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, close the laptop?",
+    "gt_answer": "C",
+    "image_urls": [
+      "86_fanuc_manipulation_v2#episode_199#frame_19.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10442#frame_20",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the carrot into a pot?",
+    "gt_answer": "D",
+    "image_urls": [
+      "49_bridge#episode_10442#frame_20.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_11200#frame_13",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, open the cabinet door?",
+    "gt_answer": "A",
+    "image_urls": [
+      "49_bridge#episode_11200#frame_13.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10036#frame_16",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, close the cabinet door?",
+    "gt_answer": "D",
+    "image_urls": [
+      "49_bridge#episode_10036#frame_16.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10431#frame_17",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the eggplante on a can?",
+    "gt_answer": "B",
+    "image_urls": [
+      "49_bridge#episode_10431#frame_17.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/57_fmb#episode_11#image_wrist_2#image_0",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, insert the block into its corresponding slot?",
+    "gt_answer": "C",
+    "image_urls": [
+      "57_fmb#episode_11#image_wrist_2#image_0.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10083#frame_21",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the carrot into a pan?",
+    "gt_answer": "C",
+    "image_urls": [
+      "49_bridge#episode_10083#frame_21.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10220#frame_7",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, close the cabinet door?",
+    "gt_answer": "B",
+    "image_urls": [
+      "49_bridge#episode_10220#frame_7.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_1219#frame_7",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, open the cabinet door?",
+    "gt_answer": "D",
+    "image_urls": [
+      "49_bridge#episode_1219#frame_7.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/71_bridge_data_msr#episode_33#frame_15",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the banana into a sink?",
+    "gt_answer": "C",
+    "image_urls": [
+      "71_bridge_data_msr#episode_33#frame_15.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/68_bridge_data_v2#episode_329#frame_15",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, unfold the cloth?",
+    "gt_answer": "C",
+    "image_urls": [
+      "68_bridge_data_v2#episode_329#frame_15.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/71_bridge_data_msr#episode_46#frame_17",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the bowl on a plate?",
+    "gt_answer": "D",
+    "image_urls": [
+      "71_bridge_data_msr#episode_46#frame_17.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10004#frame_13",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, close the cabinet door?",
+    "gt_answer": "C",
+    "image_urls": [
+      "49_bridge#episode_10004#frame_13.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10468#frame_21",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the potato on the cutting board?",
+    "gt_answer": "D",
+    "image_urls": [
+      "49_bridge#episode_10468#frame_21.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10051#frame_20",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the fork next to the spoon?",
+    "gt_answer": "C",
+    "image_urls": [
+      "49_bridge#episode_10051#frame_20.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/57_fmb#episode_32#image_wrist_2#image_0",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, insert the block into its corresponding slot?",
+    "gt_answer": "D",
+    "image_urls": [
+      "57_fmb#episode_32#image_wrist_2#image_0.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_1063#frame_20",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, drag the yellow cloth to the left of the table?",
+    "gt_answer": "C",
+    "image_urls": [
+      "49_bridge#episode_1063#frame_20.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10312#frame_11",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, open the cabinet door?",
+    "gt_answer": "B",
+    "image_urls": [
+      "49_bridge#episode_10312#frame_11.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10472#frame_16",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, stand the jar upright?",
+    "gt_answer": "C",
+    "image_urls": [
+      "49_bridge#episode_10472#frame_16.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10152#frame_19",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, drag the cloth to the middle of a spoon and a mushroom?",
+    "gt_answer": "B",
+    "image_urls": [
+      "49_bridge#episode_10152#frame_19.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10174#frame_19",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the stuffed toy on a towel?",
+    "gt_answer": "C",
+    "image_urls": [
+      "49_bridge#episode_10174#frame_19.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10069#frame_17",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the spoon behind the pot?",
+    "gt_answer": "D",
+    "image_urls": [
+      "49_bridge#episode_10069#frame_17.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10215#frame_20",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the potato on a plate?",
+    "gt_answer": "A",
+    "image_urls": [
+      "49_bridge#episode_10215#frame_20.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_11313#frame_16",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, close the door?",
+    "gt_answer": "D",
+    "image_urls": [
+      "49_bridge#episode_11313#frame_16.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10226#frame_17",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the pan on a cloth?",
+    "gt_answer": "B",
+    "image_urls": [
+      "49_bridge#episode_10226#frame_17.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10538#frame_15",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the cup on a plate?",
+    "gt_answer": "C",
+    "image_urls": [
+      "49_bridge#episode_10538#frame_15.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10224#frame_17",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the spoon on the towel?",
+    "gt_answer": "B",
+    "image_urls": [
+      "49_bridge#episode_10224#frame_17.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10113#frame_21",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the drumstick into a pan?",
+    "gt_answer": "D",
+    "image_urls": [
+      "49_bridge#episode_10113#frame_21.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_1015#frame_16",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the pan on the right stove?",
+    "gt_answer": "C",
+    "image_urls": [
+      "49_bridge#episode_1015#frame_16.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/57_fmb#episode_12#image_wrist_2#image_0",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, insert the block into its matching slot?",
+    "gt_answer": "D",
+    "image_urls": [
+      "57_fmb#episode_12#image_wrist_2#image_0.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_1011#frame_15",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, close the door?",
+    "gt_answer": "C",
+    "image_urls": [
+      "49_bridge#episode_1011#frame_15.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10217#frame_12",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, close the cabinet door?",
+    "gt_answer": "A",
+    "image_urls": [
+      "49_bridge#episode_10217#frame_12.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_11416#frame_14",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, close the cabinet door?",
+    "gt_answer": "C",
+    "image_urls": [
+      "49_bridge#episode_11416#frame_14.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/68_bridge_data_v2#episode_33#frame_11",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the spoon into a red bucket?",
+    "gt_answer": "A",
+    "image_urls": [
+      "68_bridge_data_v2#episode_33#frame_11.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10540#frame_20",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the strawberry into a pan?",
+    "gt_answer": "C",
+    "image_urls": [
+      "49_bridge#episode_10540#frame_20.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10298#frame_20",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, drag a green towel to the right of a toy?",
+    "gt_answer": "D",
+    "image_urls": [
+      "49_bridge#episode_10298#frame_20.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10334#frame_13",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, plate the corn in a pan?",
+    "gt_answer": "D",
+    "image_urls": [
+      "49_bridge#episode_10334#frame_13.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10413#frame_21",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the carrot to the right of the pan?",
+    "gt_answer": "D",
+    "image_urls": [
+      "49_bridge#episode_10413#frame_21.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/57_fmb#episode_5#image_wrist_2#image_0",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, insert the cylinder into its matching slot?",
+    "gt_answer": "A",
+    "image_urls": [
+      "57_fmb#episode_5#image_wrist_2#image_0.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10336#frame_22",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the cucumber to the middle of the cup and corn?",
+    "gt_answer": "B",
+    "image_urls": [
+      "49_bridge#episode_10336#frame_22.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10335#frame_17",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the chicker wing on the middle of the table?",
+    "gt_answer": "D",
+    "image_urls": [
+      "49_bridge#episode_10335#frame_17.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10426#frame_16",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, drag the purple towel to the right of the pan?",
+    "gt_answer": "D",
+    "image_urls": [
+      "49_bridge#episode_10426#frame_16.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_1018#frame_21",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the pot to the middle of the table?",
+    "gt_answer": "C",
+    "image_urls": [
+      "49_bridge#episode_1018#frame_21.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/68_bridge_data_v2#episode_305#frame_11",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, open the cabinet door?",
+    "gt_answer": "B",
+    "image_urls": [
+      "68_bridge_data_v2#episode_305#frame_11.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10032#frame_17",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the carrot into a blud bowl?",
+    "gt_answer": "A",
+    "image_urls": [
+      "49_bridge#episode_10032#frame_17.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/57_fmb#episode_13#image_wrist_2#image_0",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, insert the block into its matching slot?",
+    "gt_answer": "D",
+    "image_urls": [
+      "57_fmb#episode_13#image_wrist_2#image_0.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10480#frame_23",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the scissors in the left drawer?",
+    "gt_answer": "B",
+    "image_urls": [
+      "49_bridge#episode_10480#frame_23.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10345#frame_19",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the strawberry into a bowl?",
+    "gt_answer": "D",
+    "image_urls": [
+      "49_bridge#episode_10345#frame_19.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_108#frame_12",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, open the cabinet door?",
+    "gt_answer": "B",
+    "image_urls": [
+      "49_bridge#episode_108#frame_12.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10163#frame_17",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the spoon to the right of the fork?",
+    "gt_answer": "C",
+    "image_urls": [
+      "49_bridge#episode_10163#frame_17.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10323#frame_17",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, cover the pot with its lid?",
+    "gt_answer": "D",
+    "image_urls": [
+      "49_bridge#episode_10323#frame_17.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_1079#frame_14",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, open the cabinet door?",
+    "gt_answer": "C",
+    "image_urls": [
+      "49_bridge#episode_1079#frame_14.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_1047#frame_19",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put  the cucumber into a pot?",
+    "gt_answer": "C",
+    "image_urls": [
+      "49_bridge#episode_1047#frame_19.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10961#frame_11",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, open the cabinet door?",
+    "gt_answer": "B",
+    "image_urls": [
+      "49_bridge#episode_10961#frame_11.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10407#frame_10",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, close the door?",
+    "gt_answer": "D",
+    "image_urls": [
+      "49_bridge#episode_10407#frame_10.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10634#frame_16",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, close the cabinet door?",
+    "gt_answer": "D",
+    "image_urls": [
+      "49_bridge#episode_10634#frame_16.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10790#frame_17",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, close the cabinet door?",
+    "gt_answer": "C",
+    "image_urls": [
+      "49_bridge#episode_10790#frame_17.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_11418#frame_15",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, open the cabinet door?",
+    "gt_answer": "C",
+    "image_urls": [
+      "49_bridge#episode_11418#frame_15.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10109#frame_24",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the strawberry on a plate?",
+    "gt_answer": "C",
+    "image_urls": [
+      "49_bridge#episode_10109#frame_24.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10310#frame_21",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the red pepper on a can?",
+    "gt_answer": "C",
+    "image_urls": [
+      "49_bridge#episode_10310#frame_21.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10946#frame_14",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, open the cabinet door?",
+    "gt_answer": "C",
+    "image_urls": [
+      "49_bridge#episode_10946#frame_14.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_11007#frame_12",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, open the door?",
+    "gt_answer": "A",
+    "image_urls": [
+      "49_bridge#episode_11007#frame_12.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10296#frame_14",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, open the microwave door?",
+    "gt_answer": "D",
+    "image_urls": [
+      "49_bridge#episode_10296#frame_14.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/49_bridge#episode_10110#frame_21",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the potato into a sink?",
+    "gt_answer": "C",
+    "image_urls": [
+      "49_bridge#episode_10110#frame_21.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/RDT-FT#pour_water_4#episode_0#frame_4",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, pour water into the cup?",
+    "gt_answer": "C",
+    "image_urls": [
+      "RDT-FT#pour_water_4#episode_0#frame_4.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/RDT-FT#insert_cube_slot#episode_1#frame_9",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, insert the cube into its corresponding slot?",
+    "gt_answer": "D",
+    "image_urls": [
+      "RDT-FT#insert_cube_slot#episode_1#frame_9.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/bridge#episode_134#frame_13",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, move the pot on the yellow cloth?",
+    "gt_answer": "A",
+    "image_urls": [
+      "bridge#episode_134#frame_13.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/bridge#episode_12665#frame_15",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, pour the almonds into the pot?",
+    "gt_answer": "B",
+    "image_urls": [
+      "bridge#episode_12665#frame_15.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/RDT-FT#cocktail_sunset_lemon#episode_0#frame_20",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place a lemon slice into the drink?",
+    "gt_answer": "D",
+    "image_urls": [
+      "RDT-FT#cocktail_sunset_lemon#episode_0#frame_20.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/bridge#episode_13100#frame_13",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the carrot on a green plate?",
+    "gt_answer": "C",
+    "image_urls": [
+      "bridge#episode_13100#frame_13.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/RDT-FT#put_snack_into_microwave#episode_0#frame_5",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, open the microwave?",
+    "gt_answer": "A",
+    "image_urls": [
+      "RDT-FT#put_snack_into_microwave#episode_0#frame_5.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/RDT-FT#draw_rectangle#episode_0#frame_47",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, draw a rectangle?",
+    "gt_answer": "C",
+    "image_urls": [
+      "RDT-FT#draw_rectangle#episode_0#frame_47.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/RDT-FT#draw_line#episode_0#frame_20",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, draw a line?",
+    "gt_answer": "D",
+    "image_urls": [
+      "RDT-FT#draw_line#episode_0#frame_20.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/bridge#episode_13117#frame_14",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put a spoon on the purple cloth?",
+    "gt_answer": "C",
+    "image_urls": [
+      "bridge#episode_13117#frame_14.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/RDT-FT#unplug_charger#episode_0#frame_6",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, unplug charger?",
+    "gt_answer": "D",
+    "image_urls": [
+      "RDT-FT#unplug_charger#episode_0#frame_6.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/RDT-FT#draw_check_mark#episode_0#frame_20",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, draw a check mark?",
+    "gt_answer": "B",
+    "image_urls": [
+      "RDT-FT#draw_check_mark#episode_0#frame_20.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/RDT-FT#draw_triangle#episode_0#frame_22",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, draw a triangle?",
+    "gt_answer": "B",
+    "image_urls": [
+      "RDT-FT#draw_triangle#episode_0#frame_22.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/bridge#episode_13096#frame_8",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, close the cabinet door?",
+    "gt_answer": "C",
+    "image_urls": [
+      "bridge#episode_13096#frame_8.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/RDT-FT#water_plant_1#episode_0#frame_0",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, water plant?",
+    "gt_answer": "D",
+    "image_urls": [
+      "RDT-FT#water_plant_1#episode_0#frame_0.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/RDT-FT#draw_char_Z#episode_0#frame_30",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, draw char 'Z'?",
+    "gt_answer": "C",
+    "image_urls": [
+      "RDT-FT#draw_char_Z#episode_0#frame_30.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/RDT-FT#put_badminton_in_order#episode_0#frame_25",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the badminton in order?",
+    "gt_answer": "C",
+    "image_urls": [
+      "RDT-FT#put_badminton_in_order#episode_0#frame_25.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/RDT-FT#get_cold_water#episode_0#frame_4",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, get cold water?",
+    "gt_answer": "D",
+    "image_urls": [
+      "RDT-FT#get_cold_water#episode_0#frame_4.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/bridge#episode_2#frame_16",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, move the cloth to the front of a spoon?",
+    "gt_answer": "D",
+    "image_urls": [
+      "bridge#episode_2#frame_16.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/bridge#episode_13104#frame_3",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, open the right cabinet door?",
+    "gt_answer": "D",
+    "image_urls": [
+      "bridge#episode_13104#frame_3.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/bridge#episode_124#frame_9",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, close the cabinet door?",
+    "gt_answer": "B",
+    "image_urls": [
+      "bridge#episode_124#frame_9.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/benchmark1_h5_franka_3rgb_place_in_purple_block_in_plate_train_1011_152140_image_70",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the purple cube on a plate?",
+    "gt_answer": "B",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_place_in_purple_block_in_plate_train_1011_152140_image_70.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/benchmark1_h5_franka_3rgb_place_in_take_bread_and_put_in_plate_train_1011_114747_image_123",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the bread into the plate?",
+    "gt_answer": "C",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_place_in_take_bread_and_put_in_plate_train_1011_114747_image_123.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/benchmark1_h5_franka_3rgb_piled_on_yellow_block_on_purple_block_train_1011_152152_image_164",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, piled the yellow cube up on the purple cube?",
+    "gt_answer": "D",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_piled_on_yellow_block_on_purple_block_train_1011_152152_image_164.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/benchmark1_h5_franka_3rgb_place_in_block_tennis_ball_train_0923_183159_image_287",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the tennis on the purple plate?",
+    "gt_answer": "B",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_place_in_block_tennis_ball_train_0923_183159_image_287.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/benchmark1_h5_franka_3rgb_place_in_bread_in_basket_1016_134602_image_60",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the bread in the wooden basket?",
+    "gt_answer": "C",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_place_in_bread_in_basket_1016_134602_image_60.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/benchmark1_h5_franka_3rgb_place_in_fruit_in_fruit_basket_train_1011_152544_image_118",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the apple on the pink plate?",
+    "gt_answer": "C",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_place_in_fruit_in_fruit_basket_train_1011_152544_image_118.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/benchmark1_h5_franka_3rgb_place_in_pick_up_and_throw_away_1_train_1014_101209_image_60",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, throw the paper garbage into the trash can?",
+    "gt_answer": "D",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_place_in_pick_up_and_throw_away_1_train_1014_101209_image_60.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/benchmark1_h5_ur_1rgb_bread_in_basket_1_train_1014_140258_image_160",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the bread on  the laptop?",
+    "gt_answer": "A",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_bread_in_basket_1_train_1014_140258_image_160.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/benchmark1_h5_ur_1rgb_bread_in_basket_1_train_1014_141054_image_123",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the bread in the basket?",
+    "gt_answer": "D",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_bread_in_basket_1_train_1014_141054_image_123.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/benchmark1_h5_ur_1rgb_close_top_drawer_1017_174436_image_150",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, close the top drawer?",
+    "gt_answer": "B",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_close_top_drawer_1017_174436_image_150.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/benchmark1_h5_ur_1rgb_open_pot_lid_1016_141017_image_0",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, cover the pot with its lid?",
+    "gt_answer": "B",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_open_pot_lid_1016_141017_image_0.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/benchmark1_h5_ur_1rgb_open_top_drawer_1017_163827_image_280",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, open the top drawer?",
+    "gt_answer": "C",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_open_top_drawer_1017_163827_image_280.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/benchmark1_h5_ur_1rgb_open_top_white_drawer_1018_101523_image_164",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, open the top white drawer?",
+    "gt_answer": "D",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_open_top_white_drawer_1018_101523_image_164.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/benchmark1_h5_ur_1rgb_put_banana_in_top_drawer_val_1017_165018_image_0",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the bananas in the top drawer?",
+    "gt_answer": "D",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_banana_in_top_drawer_val_1017_165018_image_0.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/benchmark1_h5_ur_1rgb_put_bread_in_pot_val_1016_135930_image_0",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the bread in the pan?",
+    "gt_answer": "A",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_bread_in_pot_val_1016_135930_image_0.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/benchmark1_h5_ur_1rgb_put_bread_slice_in_pot_val_1017_103428_image_0",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put a piece of bread in the pot?",
+    "gt_answer": "C",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_bread_slice_in_pot_val_1017_103428_image_0.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/benchmark1_h5_ur_1rgb_put_can_in_trash_can_val_1022_141124_image_0",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, throw the can in the trash can?",
+    "gt_answer": "A",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_can_in_trash_can_val_1022_141124_image_0.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/benchmark1_h5_ur_1rgb_put_donut_in_top_white_drawer_val_1021_105908_image_0",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the donut in the upper white drawer?",
+    "gt_answer": "D",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_donut_in_top_white_drawer_val_1021_105908_image_0.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/benchmark1_h5_ur_1rgb_put_yellow_pepper_in_pot_val_1016_142419_image_0",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the yellow pepper in the pot?",
+    "gt_answer": "B",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_yellow_pepper_in_pot_val_1016_142419_image_0.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/benchmark2_h5_franka_3rgb_put_the_cucumber_on_the_left_side_of_the_bowl_val_1111_104706_image_70",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the cucumber in the middle of a plate and a bowl?",
+    "gt_answer": "C",
+    "image_urls": [
+      "benchmark2_h5_franka_3rgb_put_the_cucumber_on_the_left_side_of_the_bowl_val_1111_104706_image_70.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/benchmark2_h5_franka_3rgb_put_the_red_apple_in_the_bowl_val_1111_104524_image_60",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the apple in a gray bowl?",
+    "gt_answer": "B",
+    "image_urls": [
+      "benchmark2_h5_franka_3rgb_put_the_red_apple_in_the_bowl_val_1111_104524_image_60.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/benchmark2_h5_franka_3rgb_side_pull_drawer_val_1106_152021_image_54",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, close the cabinet door?",
+    "gt_answer": "D",
+    "image_urls": [
+      "benchmark2_h5_franka_3rgb_side_pull_drawer_val_1106_152021_image_54.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/benchmark2_h5_franka_3rgb_yellow_bananas_placed_on_a_plastic_tray_val_1111_111942_image_70",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the banana on the plate?",
+    "gt_answer": "C",
+    "image_urls": [
+      "benchmark2_h5_franka_3rgb_yellow_bananas_placed_on_a_plastic_tray_val_1111_111942_image_70.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/benchmark2_h5_ur_1rgb_insert_the_flowers_from_the_vase_1025_val_1025_140243_image_0",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, insert the flowers into the vase?",
+    "gt_answer": "C",
+    "image_urls": [
+      "benchmark2_h5_ur_1rgb_insert_the_flowers_from_the_vase_1025_val_1025_140243_image_0.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/benchmark2_h5_ur_1rgb_green_pepper_on_plate_train_1216_104408_image_0",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the pepper on the plate?",
+    "gt_answer": "C",
+    "image_urls": [
+      "benchmark2_h5_ur_1rgb_green_pepper_on_plate_train_1216_104408_image_0.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/benchmark1_h5_franka_3rgb_241023_place_pear_in_bowl_2_val_1023_165324_image_40",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the pear in the pink bowl?",
+    "gt_answer": "C",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_241023_place_pear_in_bowl_2_val_1023_165324_image_40.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/benchmark1_h5_franka_3rgb_piled_on_yellow_block_on_purple_block_val_1011_153729_image_70",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, pile the yellow cube up on the purple cube?",
+    "gt_answer": "C",
+    "image_urls": [
+      "benchmark1_h5_franka_3rgb_piled_on_yellow_block_on_purple_block_val_1011_153729_image_70.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/benchmark1_h5_ur_1rgb_put_egg_in_top_white_drawer_val_1022_104430_image_0",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the egg in the upper white drawer?",
+    "gt_answer": "B",
+    "image_urls": [
+      "benchmark1_h5_ur_1rgb_put_egg_in_top_white_drawer_val_1022_104430_image_0.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/dynamic_affordance/images/benchmark2_h5_ur_1rgb_put_the_cucumber_in_the_basket_1125_val_1125_144006_image_0",
+    "task_type": [
+      "4_affordance_reasoning",
+      "dynamic_affordance"
+    ],
+    "input_type": "image",
+    "question": "Which trajectory in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the cucumber in the basket?",
+    "gt_answer": "B",
+    "image_urls": [
+      "benchmark2_h5_ur_1rgb_put_the_cucumber_in_the_basket_1125_val_1125_144006_image_0.png"
+    ],
+    "options": [
+      "T1",
+      "T2",
+      "T3",
+      "T4"
+    ]
+  }
+]
\ No newline at end of file
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+      "P2 (0.3867, 0.9264)",
+      "P3 (0.8400, 0.7348)",
+      "P4 (0.2000, 0.9007)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/arkitscenes_frames_45260928_frame_4",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the chair?",
+    "gt_answer": "A",
+    "image_urls": [
+      "arkitscenes_frames_45260928_frame_4.png"
+    ],
+    "options": [
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+      "P2 (0.6195, 0.7386)",
+      "P3 (0.8746, 0.8299)",
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+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/arkitscenes_frames_45261121_frame_8",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to TV?",
+    "gt_answer": "A",
+    "image_urls": [
+      "arkitscenes_frames_45261121_frame_8.png"
+    ],
+    "options": [
+      "P1 (0.5709, 0.6242)",
+      "P2 (0.3347, 0.6510)",
+      "P3 (0.7338, 0.8671)",
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+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/arkitscenes_frames_45261142_frame_3",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the left side of the carpet?",
+    "gt_answer": "A",
+    "image_urls": [
+      "arkitscenes_frames_45261142_frame_3.png"
+    ],
+    "options": [
+      "P1 (0.3060, 0.2872)",
+      "P2 (0.2076, 0.5383)",
+      "P3 (0.1396, 0.8671)",
+      "P4 (0.9074, 0.1960)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/arkitscenes_frames_45261150_frame_16",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to radiator?",
+    "gt_answer": "A",
+    "image_urls": [
+      "arkitscenes_frames_45261150_frame_16.png"
+    ],
+    "options": [
+      "P1 (0.6025, 0.4637)",
+      "P2 (0.4800, 0.5941)",
+      "P3 (0.7447, 0.7763)",
+      "P4 (0.1738, 0.7600)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/arkitscenes_frames_45662924_frame_26",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the open door?",
+    "gt_answer": "A",
+    "image_urls": [
+      "arkitscenes_frames_45662924_frame_26.png"
+    ],
+    "options": [
+      "P1 (0.2470, 0.6752)",
+      "P2 (0.4761, 0.6980)",
+      "P3 (0.2416, 0.5691)",
+      "P4 (0.8107, 0.8886)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/arkitscenes_frames_45662970_frame_2",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the clothes hanger?",
+    "gt_answer": "A",
+    "image_urls": [
+      "arkitscenes_frames_45662970_frame_2.png"
+    ],
+    "options": [
+      "P1 (0.2055, 0.7094)",
+      "P2 (0.4810, 0.5850)",
+      "P3 (0.5743, 0.8844)",
+      "P4 (0.4111, 0.5481)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/arkitscenes_frames_45662987_frame_19",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the cabinet?",
+    "gt_answer": "A",
+    "image_urls": [
+      "arkitscenes_frames_45662987_frame_19.png"
+    ],
+    "options": [
+      "P1 (0.1496, 0.7881)",
+      "P2 (0.5674, 0.7072)",
+      "P3 (0.8563, 0.6360)",
+      "P4 (0.9170, 0.5195)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/arkitscenes_frames_45663105_frame_18",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the clock?",
+    "gt_answer": "A",
+    "image_urls": [
+      "arkitscenes_frames_45663105_frame_18.png"
+    ],
+    "options": [
+      "P1 (0.3601, 0.6511)",
+      "P2 (0.7201, 0.6842)",
+      "P3 (0.2143, 0.7677)",
+      "P4 (0.9052, 0.6803)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/arkitscenes_frames_45663114_frame_19",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the sink?",
+    "gt_answer": "A",
+    "image_urls": [
+      "arkitscenes_frames_45663114_frame_19.png"
+    ],
+    "options": [
+      "P1 (0.7274, 0.7930)",
+      "P2 (0.6501, 0.6414)",
+      "P3 (0.5802, 0.4276)",
+      "P4 (0.4300, 0.3887)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/arkitscenes_frames_45663114_frame_6",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the toilet?",
+    "gt_answer": "A",
+    "image_urls": [
+      "arkitscenes_frames_45663114_frame_6.png"
+    ],
+    "options": [
+      "P1 (0.4133, 0.4701)",
+      "P2 (0.2726, 0.7605)",
+      "P3 (0.6741, 0.6953)",
+      "P4 (0.2281, 0.9620)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/arkitscenes_frames_45663164_frame_0",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the door?",
+    "gt_answer": "A",
+    "image_urls": [
+      "arkitscenes_frames_45663164_frame_0.png"
+    ],
+    "options": [
+      "P1 (0.4815, 0.1877)",
+      "P2 (0.5304, 0.9106)",
+      "P3 (0.4370, 0.4425)",
+      "P4 (0.6459, 0.5847)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/arkitscenes_frames_47115525_frame_10",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the table?",
+    "gt_answer": "A",
+    "image_urls": [
+      "arkitscenes_frames_47115525_frame_10.png"
+    ],
+    "options": [
+      "P1 (0.5788, 0.9141)",
+      "P2 (0.7072, 0.5319)",
+      "P3 (0.0988, 0.5274)",
+      "P4 (0.4938, 0.5200)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/arkitscenes_frames_47115543_frame_8",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the window edge?",
+    "gt_answer": "A",
+    "image_urls": [
+      "arkitscenes_frames_47115543_frame_8.png"
+    ],
+    "options": [
+      "P1 (0.6568, 0.5235)",
+      "P2 (0.4510, 0.8161)",
+      "P3 (0.8233, 0.9315)",
+      "P4 (0.5530, 0.5718)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/arkitscenes_frames_47204552_frame_1",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the sofa?",
+    "gt_answer": "A",
+    "image_urls": [
+      "arkitscenes_frames_47204552_frame_1.png"
+    ],
+    "options": [
+      "P1 (0.7551, 0.8552)",
+      "P2 (0.6108, 0.5559)",
+      "P3 (0.3411, 0.3440)",
+      "P4 (0.5087, 0.4121)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/arkitscenes_frames_47204552_frame_28",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the door?",
+    "gt_answer": "A",
+    "image_urls": [
+      "arkitscenes_frames_47204552_frame_28.png"
+    ],
+    "options": [
+      "P1 (0.7507, 0.4101)",
+      "P2 (0.5160, 0.7230)",
+      "P3 (0.4534, 0.8533)",
+      "P4 (0.3703, 0.9660)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/arkitscenes_frames_47204566_frame_2",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the chair?",
+    "gt_answer": "A",
+    "image_urls": [
+      "arkitscenes_frames_47204566_frame_2.png"
+    ],
+    "options": [
+      "P1 (0.2563, 0.6400)",
+      "P2 (0.4533, 0.4128)",
+      "P3 (0.6341, 0.4543)",
+      "P4 (0.1793, 0.8494)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/arkitscenes_frames_47331319_frame_19",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the mirror?",
+    "gt_answer": "A",
+    "image_urls": [
+      "arkitscenes_frames_47331319_frame_19.png"
+    ],
+    "options": [
+      "P1 (0.6785, 0.9462)",
+      "P2 (0.8148, 0.7743)",
+      "P3 (0.9526, 0.9758)",
+      "P4 (0.9274, 0.7486)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/arkitscenes_frames_47331644_frame_22",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the black speaker?",
+    "gt_answer": "B",
+    "image_urls": [
+      "arkitscenes_frames_47331644_frame_22.png"
+    ],
+    "options": [
+      "P1 (0.0959, 0.5564)",
+      "P2 (0.3006, 0.7266)",
+      "P3 (0.4349, 0.9185)",
+      "P4 (0.1279, 0.8969)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/arkitscenes_frames_47331970_frame_11",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the potted plant?",
+    "gt_answer": "C",
+    "image_urls": [
+      "arkitscenes_frames_47331970_frame_11.png"
+    ],
+    "options": [
+      "P1 (0.5549, 0.6486)",
+      "P2 (0.3725, 0.8581)",
+      "P3 (0.6639, 0.4561)",
+      "P4 (0.9071, 0.8986)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/arkitscenes_frames_47331972_frame_2",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the chair on the left?",
+    "gt_answer": "D",
+    "image_urls": [
+      "arkitscenes_frames_47331972_frame_2.png"
+    ],
+    "options": [
+      "P1 (0.2622, 0.4508)",
+      "P2 (0.4700, 0.3669)",
+      "P3 (0.7066, 0.6163)",
+      "P4 (0.3453, 0.2854)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/arkitscenes_frames_47332886_frame_17",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the slipper?",
+    "gt_answer": "B",
+    "image_urls": [
+      "arkitscenes_frames_47332886_frame_17.png"
+    ],
+    "options": [
+      "P1 (0.1115, 0.8243)",
+      "P2 (0.3775, 0.5811)",
+      "P3 (0.5828, 0.3818)",
+      "P4 (0.7247, 0.8851)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/arkitscenes_frames_47332899_frame_25",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the clothes drying rack?",
+    "gt_answer": "D",
+    "image_urls": [
+      "arkitscenes_frames_47332899_frame_25.png"
+    ],
+    "options": [
+      "P1 (0.2356, 0.5439)",
+      "P2 (0.9324, 0.7703)",
+      "P3 (0.7779, 0.5946)",
+      "P4 (0.6157, 0.2466)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/arkitscenes_frames_47333918_frame_3",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the window side?",
+    "gt_answer": "D",
+    "image_urls": [
+      "arkitscenes_frames_47333918_frame_3.png"
+    ],
+    "options": [
+      "P1 (0.6030, 0.9291)",
+      "P2 (0.6562, 0.7973)",
+      "P3 (0.3699, 0.8953)",
+      "P4 (0.4282, 0.5000)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/arkitscenes_frames_47333940_frame_3",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the radiator?",
+    "gt_answer": "D",
+    "image_urls": [
+      "arkitscenes_frames_47333940_frame_3.png"
+    ],
+    "options": [
+      "P1 (0.1663, 0.9448)",
+      "P2 (0.8505, 0.9065)",
+      "P3 (0.6651, 0.9736)",
+      "P4 (0.5212, 0.8777)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannet_frames_scene0077_01_frame_20",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the trash can?",
+    "gt_answer": "A",
+    "image_urls": [
+      "scannet_frames_scene0077_01_frame_20.png"
+    ],
+    "options": [
+      "P1 (0.1622, 0.5946)",
+      "P2 (0.4155, 0.1824)",
+      "P3 (0.5422, 0.5068)",
+      "P4 (0.5828, 0.8851)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannet_frames_scene0086_02_frame_27",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the sink on the right?",
+    "gt_answer": "C",
+    "image_urls": [
+      "scannet_frames_scene0086_02_frame_27.png"
+    ],
+    "options": [
+      "P1 (0.0861, 0.9020)",
+      "P2 (0.7627, 0.8851)",
+      "P3 (0.4383, 0.8851)",
+      "P4 (0.9654, 0.8682)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannet_frames_scene0144_00_frame_4",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the bedside table?",
+    "gt_answer": "B",
+    "image_urls": [
+      "scannet_frames_scene0144_00_frame_4.png"
+    ],
+    "options": [
+      "P1 (0.0861, 0.9459)",
+      "P2 (0.5118, 0.9054)",
+      "P3 (0.7145, 0.9527)",
+      "P4 (0.3750, 0.9764)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannet_frames_scene0169_01_frame_16",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the red chair?",
+    "gt_answer": "C",
+    "image_urls": [
+      "scannet_frames_scene0169_01_frame_16.png"
+    ],
+    "options": [
+      "P1 (0.3573, 0.9493)",
+      "P2 (0.6765, 0.8547)",
+      "P3 (0.3699, 0.4223)",
+      "P4 (0.6284, 0.6959)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannet_frames_scene0207_02_frame_17",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the toilet?",
+    "gt_answer": "D",
+    "image_urls": [
+      "scannet_frames_scene0207_02_frame_17.png"
+    ],
+    "options": [
+      "P1 (0.2736, 0.8818)",
+      "P2 (0.6486, 0.9324)",
+      "P3 (0.2863, 0.4189)",
+      "P4 (0.5422, 0.4459)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannet_frames_scene0221_01_frame_25",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the green woven bag?",
+    "gt_answer": "B",
+    "image_urls": [
+      "scannet_frames_scene0221_01_frame_25.png"
+    ],
+    "options": [
+      "P1 (0.8691, 0.4189)",
+      "P2 (0.5853, 0.9426)",
+      "P3 (0.7475, 0.2297)",
+      "P4 (0.6081, 0.3176)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannet_frames_scene0231_00_frame_0",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the window side?",
+    "gt_answer": "B",
+    "image_urls": [
+      "scannet_frames_scene0231_00_frame_0.png"
+    ],
+    "options": [
+      "P1 (0.1520, 0.5946)",
+      "P2 (0.9451, 0.5980)",
+      "P3 (0.9603, 0.8074)",
+      "P4 (0.2407, 0.5878)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannet_frames_scene0246_00_frame_0",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the dressing table?",
+    "gt_answer": "A",
+    "image_urls": [
+      "scannet_frames_scene0246_00_frame_0.png"
+    ],
+    "options": [
+      "P1 (0.5498, 0.8243)",
+      "P2 (0.5904, 0.9527)",
+      "P3 (0.4054, 0.9764)",
+      "P4 (0.5169, 0.9595)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannet_frames_scene0251_00_frame_15",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the chair on the left?",
+    "gt_answer": "D",
+    "image_urls": [
+      "scannet_frames_scene0251_00_frame_15.png"
+    ],
+    "options": [
+      "P1 (0.3395, 0.5439)",
+      "P2 (0.7373, 0.6588)",
+      "P3 (0.8488, 0.8547)",
+      "P4 (0.1014, 0.3378)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannet_frames_scene0307_02_frame_0",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the washing machine?",
+    "gt_answer": "A",
+    "image_urls": [
+      "scannet_frames_scene0307_02_frame_0.png"
+    ],
+    "options": [
+      "P1 (0.4003, 0.9865)",
+      "P2 (0.5625, 0.8007)",
+      "P3 (0.7956, 0.6284)",
+      "P4 (0.8944, 0.9324)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannet_frames_scene0328_00_frame_0",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the microwave oven?",
+    "gt_answer": "C",
+    "image_urls": [
+      "scannet_frames_scene0328_00_frame_0.png"
+    ],
+    "options": [
+      "P1 (0.2154, 0.8953)",
+      "P2 (0.8412, 0.8514)",
+      "P3 (0.5270, 0.6216)",
+      "P4 (0.4155, 0.7297)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannet_frames_scene0338_00_frame_0",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the left side of the box?",
+    "gt_answer": "D",
+    "image_urls": [
+      "scannet_frames_scene0338_00_frame_0.png"
+    ],
+    "options": [
+      "P1 (0.5726, 0.5338)",
+      "P2 (0.6562, 0.3919)",
+      "P3 (0.4611, 0.6926)",
+      "P4 (0.1824, 0.5270)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannet_frames_scene0378_01_frame_12",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the shoes?",
+    "gt_answer": "D",
+    "image_urls": [
+      "scannet_frames_scene0378_01_frame_12.png"
+    ],
+    "options": [
+      "P1 (0.3471, 0.7736)",
+      "P2 (0.5017, 0.9696)",
+      "P3 (0.8209, 0.9189)",
+      "P4 (0.5473, 0.8412)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannet_frames_scene0378_01_frame_16",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the bookshelf?",
+    "gt_answer": "C",
+    "image_urls": [
+      "scannet_frames_scene0378_01_frame_16.png"
+    ],
+    "options": [
+      "P1 (0.2204, 0.7635)",
+      "P2 (0.4054, 0.9223)",
+      "P3 (0.4535, 0.5608)",
+      "P4 (0.5422, 0.7770)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannet_frames_scene0412_00_frame_17",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the door?",
+    "gt_answer": "C",
+    "image_urls": [
+      "scannet_frames_scene0412_00_frame_17.png"
+    ],
+    "options": [
+      "P1 (0.2559, 0.7770)",
+      "P2 (0.8843, 0.7264)",
+      "P3 (0.7855, 0.2568)",
+      "P4 (0.4738, 0.5473)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannet_frames_scene0435_02_frame_22",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the white shoes?",
+    "gt_answer": "B",
+    "image_urls": [
+      "scannet_frames_scene0435_02_frame_22.png"
+    ],
+    "options": [
+      "P1 (0.4789, 0.1081)",
+      "P2 (0.5752, 0.2838)",
+      "P3 (0.4206, 0.8581)",
+      "P4 (0.8716, 0.8311)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannet_frames_scene0435_02_frame_6",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the luggage compartment?",
+    "gt_answer": "A",
+    "image_urls": [
+      "scannet_frames_scene0435_02_frame_6.png"
+    ],
+    "options": [
+      "P1 (0.4764, 0.7365)",
+      "P2 (0.7247, 0.5270)",
+      "P3 (0.8159, 0.8277)",
+      "P4 (0.3319, 0.9324)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannet_frames_scene0461_00_frame_0",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the single sofa on the left?",
+    "gt_answer": "C",
+    "image_urls": [
+      "scannet_frames_scene0461_00_frame_0.png"
+    ],
+    "options": [
+      "P1 (0.5473, 0.4358)",
+      "P2 (0.8539, 0.5236)",
+      "P3 (0.3446, 0.4358)",
+      "P4 (0.7424, 0.9155)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannet_frames_scene0488_01_frame_0",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the edge of the pool?",
+    "gt_answer": "A",
+    "image_urls": [
+      "scannet_frames_scene0488_01_frame_0.png"
+    ],
+    "options": [
+      "P1 (0.5296, 0.8243)",
+      "P2 (0.8057, 0.7331)",
+      "P3 (0.7095, 0.9054)",
+      "P4 (0.8666, 0.8750)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannet_frames_scene0496_00_frame_22",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the blue trash can?",
+    "gt_answer": "B",
+    "image_urls": [
+      "scannet_frames_scene0496_00_frame_22.png"
+    ],
+    "options": [
+      "P1 (0.5068, 0.8378)",
+      "P2 (0.1976, 0.3818)",
+      "P3 (0.7779, 0.8682)",
+      "P4 (0.4535, 0.4392)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannet_frames_scene0496_00_frame_8",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the window side?",
+    "gt_answer": "C",
+    "image_urls": [
+      "scannet_frames_scene0496_00_frame_8.png"
+    ],
+    "options": [
+      "P1 (0.0811, 0.8851)",
+      "P2 (0.4662, 0.8581)",
+      "P3 (0.2306, 0.2736)",
+      "P4 (0.6486, 0.3277)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannet_frames_scene0500_00_frame_27",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the door?",
+    "gt_answer": "C",
+    "image_urls": [
+      "scannet_frames_scene0500_00_frame_27.png"
+    ],
+    "options": [
+      "P1 (0.8285, 0.2939)",
+      "P2 (0.2584, 0.9459)",
+      "P3 (0.6461, 0.4932)",
+      "P4 (0.4992, 0.9088)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannet_frames_scene0518_00_frame_0",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the yellow schoolbag?",
+    "gt_answer": "A",
+    "image_urls": [
+      "scannet_frames_scene0518_00_frame_0.png"
+    ],
+    "options": [
+      "P1 (0.8970, 0.7770)",
+      "P2 (0.4459, 0.7703)",
+      "P3 (0.3598, 0.9088)",
+      "P4 (0.9730, 0.9595)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannet_frames_scene0565_00_frame_0",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the white storage rack?",
+    "gt_answer": "B",
+    "image_urls": [
+      "scannet_frames_scene0565_00_frame_0.png"
+    ],
+    "options": [
+      "P1 (0.0557, 0.7432)",
+      "P2 (0.4611, 0.6351)",
+      "P3 (0.7247, 0.7973)",
+      "P4 (0.1774, 0.4223)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannet_frames_scene0565_00_frame_29",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the door?",
+    "gt_answer": "A",
+    "image_urls": [
+      "scannet_frames_scene0565_00_frame_29.png"
+    ],
+    "options": [
+      "P1 (0.7804, 0.4257)",
+      "P2 (0.4586, 0.7905)",
+      "P3 (0.9476, 0.6081)",
+      "P4 (0.5676, 0.4899)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannet_frames_scene0568_02_frame_5",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the red box?",
+    "gt_answer": "B",
+    "image_urls": [
+      "scannet_frames_scene0568_02_frame_5.png"
+    ],
+    "options": [
+      "P1 (0.9122, 0.8446)",
+      "P2 (0.8716, 0.4730)",
+      "P3 (0.4003, 0.6149)",
+      "P4 (0.0887, 0.7973)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannet_frames_scene0591_01_frame_14",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the trash can?",
+    "gt_answer": "C",
+    "image_urls": [
+      "scannet_frames_scene0591_01_frame_14.png"
+    ],
+    "options": [
+      "P1 (0.6689, 0.8412)",
+      "P2 (0.9198, 0.6419)",
+      "P3 (0.4738, 0.7703)",
+      "P4 (0.7272, 0.6149)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannet_frames_scene0593_00_frame_8",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the fan\n?",
+    "gt_answer": "A",
+    "image_urls": [
+      "scannet_frames_scene0593_00_frame_8.png"
+    ],
+    "options": [
+      "P1 (0.2787, 0.9797)",
+      "P2 (0.5397, 0.7196)",
+      "P3 (0.6410, 0.5743)",
+      "P4 (0.7576, 0.3716)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannet_frames_scene0621_00_frame_3",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the chair on the right side of the wall?",
+    "gt_answer": "B",
+    "image_urls": [
+      "scannet_frames_scene0621_00_frame_3.png"
+    ],
+    "options": [
+      "P1 (0.2686, 0.3986)",
+      "P2 (0.5144, 0.5135)",
+      "P3 (0.3117, 0.9324)",
+      "P4 (0.7247, 0.9493)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannet_frames_scene0633_00_frame_0",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the single sofa\n?",
+    "gt_answer": "A",
+    "image_urls": [
+      "scannet_frames_scene0633_00_frame_0.png"
+    ],
+    "options": [
+      "P1 (0.6943, 0.6554)",
+      "P2 (0.4206, 0.8007)",
+      "P3 (0.2610, 0.9493)",
+      "P4 (0.9628, 0.7061)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannet_frames_scene0645_00_frame_27",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the toilet\n?",
+    "gt_answer": "D",
+    "image_urls": [
+      "scannet_frames_scene0645_00_frame_27.png"
+    ],
+    "options": [
+      "P1 (0.3649, 0.6655)",
+      "P2 (0.6562, 0.8953)",
+      "P3 (0.5346, 0.6250)",
+      "P4 (0.4586, 0.3547)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannet_frames_scene0647_00_frame_7",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the chair on the left?",
+    "gt_answer": "D",
+    "image_urls": [
+      "scannet_frames_scene0647_00_frame_7.png"
+    ],
+    "options": [
+      "P1 (0.2002, 0.9122)",
+      "P2 (0.6081, 0.3311)",
+      "P3 (0.5625, 0.9088)",
+      "P4 (0.3598, 0.4932)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannet_frames_scene0653_00_frame_28",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the power strip\n?",
+    "gt_answer": "D",
+    "image_urls": [
+      "scannet_frames_scene0653_00_frame_28.png"
+    ],
+    "options": [
+      "P1 (0.3877, 0.9223)",
+      "P2 (0.8590, 0.8885)",
+      "P3 (0.7652, 0.6182)",
+      "P4 (0.3598, 0.4358)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannet_frames_scene0658_00_frame_26",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the back of the door?",
+    "gt_answer": "C",
+    "image_urls": [
+      "scannet_frames_scene0658_00_frame_26.png"
+    ],
+    "options": [
+      "P1 (0.4890, 0.7534)",
+      "P2 (0.1799, 0.9493)",
+      "P3 (0.5321, 0.5845)",
+      "P4 (0.4358, 0.9696)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannet_frames_scene0664_02_frame_8",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the toilet?",
+    "gt_answer": "A",
+    "image_urls": [
+      "scannet_frames_scene0664_02_frame_8.png"
+    ],
+    "options": [
+      "P1 (0.6968, 0.9291)",
+      "P2 (0.2230, 0.9797)",
+      "P3 (0.3801, 0.5439)",
+      "P4 (0.9603, 0.7872)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannet_frames_scene0671_01_frame_2",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the white chair?",
+    "gt_answer": "D",
+    "image_urls": [
+      "scannet_frames_scene0671_01_frame_2.png"
+    ],
+    "options": [
+      "P1 (0.9274, 0.4865)",
+      "P2 (0.0684, 0.7905)",
+      "P3 (0.2584, 0.7703)",
+      "P4 (0.7424, 0.9324)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannet_frames_scene0695_00_frame_29",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the cardboard box?",
+    "gt_answer": "C",
+    "image_urls": [
+      "scannet_frames_scene0695_00_frame_29.png"
+    ],
+    "options": [
+      "P1 (0.4105, 0.9561)",
+      "P2 (0.4992, 0.7770)",
+      "P3 (0.6639, 0.5811)",
+      "P4 (0.7855, 0.9291)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannet_frames_scene0696_01_frame_18",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the cabinet?",
+    "gt_answer": "B",
+    "image_urls": [
+      "scannet_frames_scene0696_01_frame_18.png"
+    ],
+    "options": [
+      "P1 (0.6157, 0.7736)",
+      "P2 (0.4510, 0.9189)",
+      "P3 (0.6562, 0.9493)",
+      "P4 (0.7323, 0.7804)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannet_frames_scene0701_00_frame_29",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the red schoolbag?",
+    "gt_answer": "A",
+    "image_urls": [
+      "scannet_frames_scene0701_00_frame_29.png"
+    ],
+    "options": [
+      "P1 (0.2914, 0.3277)",
+      "P2 (0.1875, 0.9054)",
+      "P3 (0.7576, 0.8615)",
+      "P4 (0.9299, 0.4426)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannetpp_images_09c1414f1b_image_0",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the curtain on the left?",
+    "gt_answer": "D",
+    "image_urls": [
+      "scannetpp_images_09c1414f1b_image_0.png"
+    ],
+    "options": [
+      "P1 (0.8260, 0.9122)",
+      "P2 (0.5194, 0.9122)",
+      "P3 (0.7500, 0.6520)",
+      "P4 (0.2939, 0.7264)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannetpp_images_0d2ee665be_image_0",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the first pair of shoes on the left?",
+    "gt_answer": "B",
+    "image_urls": [
+      "scannetpp_images_0d2ee665be_image_0.png"
+    ],
+    "options": [
+      "P1 (0.6639, 0.8953)",
+      "P2 (0.3699, 0.6465)",
+      "P3 (0.4236, 0.7467)",
+      "P4 (0.0811, 0.2838)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannetpp_images_27dd4da69e_image_0",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the washing machine on the left\n?",
+    "gt_answer": "C",
+    "image_urls": [
+      "scannetpp_images_27dd4da69e_image_0.png"
+    ],
+    "options": [
+      "P1 (0.8877, 0.8594)",
+      "P2 (0.8218, 0.6055)",
+      "P3 (0.6621, 0.7070)",
+      "P4 (0.2900, 0.9121)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannetpp_images_38d58a7a31_image_0",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the trash can?",
+    "gt_answer": "B",
+    "image_urls": [
+      "scannetpp_images_38d58a7a31_image_0.png"
+    ],
+    "options": [
+      "P1 (0.7119, 0.3398)",
+      "P2 (0.3237, 0.4551)",
+      "P3 (0.7324, 0.6953)",
+      "P4 (0.0586, 0.7715)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannetpp_images_3f15a9266d_image_0",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the office table ?",
+    "gt_answer": "D",
+    "image_urls": [
+      "scannetpp_images_3f15a9266d_image_0.png"
+    ],
+    "options": [
+      "P1 (0.2054, 0.4425)",
+      "P2 (0.5327, 0.7401)",
+      "P3 (0.7366, 0.9484)",
+      "P4 (0.7827, 0.7262)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannetpp_images_7831862f02_image_0",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the single sofa?",
+    "gt_answer": "B",
+    "image_urls": [
+      "scannetpp_images_7831862f02_image_0.png"
+    ],
+    "options": [
+      "P1 (0.9082, 0.5938)",
+      "P2 (0.6445, 0.2383)",
+      "P3 (0.5127, 0.9531)",
+      "P4 (0.9419, 0.1914)"
+    ]
+  },
+  {
+    "unique_id": "4_affordance_reasoning/navigation_visual_prompt/images/scannetpp_images_7b6477cb95_image_0",
+    "task_type": [
+      "4_affordance_reasoning",
+      "navigation_visual_prompt"
+    ],
+    "input_type": "image",
+    "question": "Which point is the right point when navigating to the white trash can?",
+    "gt_answer": "C",
+    "image_urls": [
+      "scannetpp_images_7b6477cb95_image_0.png"
+    ],
+    "options": [
+      "P1 (0.4570, 0.9219)",
+      "P2 (0.3955, 0.6621)",
+      "P3 (0.2109, 0.8340)",
+      "P4 (0.0366, 0.9219)"
+    ]
+  }
+]
\ No newline at end of file
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+[
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/49_bridge#episode_1655#frame_1",
+        "task_type": [
+            "4_affordance_reasoning",
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+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place a piece of sushi in the pot?",
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+        "image_urls": [
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+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, pick up a pear and place it on a plate?",
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+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, pick up a spoon and place it in a pot?",
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+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, pick up a knife and use it to cut a vegetable?",
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+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, transfer a strawberry to a blue towel?",
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+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, pick up a potato and place it on a towel?",
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+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, pour the tomato sauce into the pan?",
+        "gt_answer": "C",
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+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, stir the food in the pot with a spoon?",
+        "gt_answer": "C",
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+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, move a mushroom to a pot?",
+        "gt_answer": "D",
+        "image_urls": [
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+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place a pear on a cloth?",
+        "gt_answer": "C",
+        "image_urls": [
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+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place a carrot on a green plate?",
+        "gt_answer": "C",
+        "image_urls": [
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+        "task_type": [
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+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, open the right cabinet door?",
+        "gt_answer": "D",
+        "image_urls": [
+            "49_bridge#episode_206#frame_1.png"
+        ],
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+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, press the red button?",
+        "gt_answer": "D",
+        "image_urls": [
+            "ARIO-RH20T_series-1_task-3_episode-1_rgbd-1_frame_0.png"
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+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, pull out the plug?",
+        "gt_answer": "D",
+        "image_urls": [
+            "DSL_unplug_charger_episode_0_frame_6.png"
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+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, pour water from a bottle into a cup?",
+        "gt_answer": "B",
+        "image_urls": [
+            "RDT-FT_clean_pour_water_episode_0_frame_0.png"
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+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_cocktail_sunset_lemon_episode_0_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, add a slice of lemon to the juice?",
+        "gt_answer": "C",
+        "image_urls": [
+            "RDT-FT_cocktail_sunset_lemon_episode_0_frame_0.png"
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+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, hang the paper bag onto the hook?",
+        "gt_answer": "C",
+        "image_urls": [
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+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, hang the keys onto the hook?",
+        "gt_answer": "C",
+        "image_urls": [
+            "RDT-FT_hook_keys_episode_0_frame_0.png"
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+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, Place the orange on the Rubik's Cube?",
+        "gt_answer": "B",
+        "image_urls": [
+            "RDT-FT_math_cube_with_fruit_jsh_episode_0_frame_0.png"
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+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_pick_badminton_episode_0_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place a badminton into a cup?",
+        "gt_answer": "C",
+        "image_urls": [
+            "RDT-FT_pick_badminton_episode_0_frame_0.png"
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+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_pick_up_the_pen_episode_0_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the pen into the pen holder?",
+        "gt_answer": "D",
+        "image_urls": [
+            "RDT-FT_pick_up_the_pen_episode_0_frame_0.png"
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+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place octopus upright?",
+        "gt_answer": "B",
+        "image_urls": [
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+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, pour clips into a paper box?",
+        "gt_answer": "D",
+        "image_urls": [
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+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_put_orange_into_microwave_episode_0_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, turn on the microwave to heat the food?",
+        "gt_answer": "B",
+        "image_urls": [
+            "RDT-FT_put_orange_into_microwave_episode_0_frame_0.png"
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+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_unplug_charger_episode_0_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, pull out the plug?",
+        "gt_answer": "C",
+        "image_urls": [
+            "RDT-FT_unplug_charger_episode_0_frame_0.png"
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+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/49_bridge#episode_1654#frame_1",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the fork on a yellow cloth?",
+        "gt_answer": "D",
+        "image_urls": [
+            "49_bridge#episode_1654#frame_1.png"
+        ],
+        "options": [
+            "P1 (0.6293, 0.7031)",
+            "P2 (0.375, 0.318)",
+            "P3 (0.2155, 0.4828)",
+            "P4 (0.5122, 0.6396)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/49_bridge#episode_1687#frame_1",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place a strawberry on the plate?",
+        "gt_answer": "C",
+        "image_urls": [
+            "49_bridge#episode_1687#frame_1.png"
+        ],
+        "options": [
+            "P1 (0.4799, 0.6513)",
+            "P2 (0.8333, 0.5038)",
+            "P3 (0.4405, 0.347)",
+            "P4 (0.5244, 0.4808)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/49_bridge#episode_17#frame_1",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place a spoon on the towel?",
+        "gt_answer": "B",
+        "image_urls": [
+            "49_bridge#episode_17#frame_1.png"
+        ],
+        "options": [
+            "P1 (0.5991, 0.3946)",
+            "P2 (0.4325, 0.3755)",
+            "P3 (0.6566, 0.5747)",
+            "P4 (0.5029, 0.6571)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/49_bridge#episode_175#frame_1",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place a yellow pepper in a pot?",
+        "gt_answer": "B",
+        "image_urls": [
+            "49_bridge#episode_175#frame_1.png"
+        ],
+        "options": [
+            "P1 (0.5144, 0.4674)",
+            "P2 (0.4835, 0.2972)",
+            "P3 (0.3305, 0.4023)",
+            "P4 (0.6624, 0.4234)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/49_bridge#episode_177#frame_1",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place a piece of sushi in a pot?",
+        "gt_answer": "A",
+        "image_urls": [
+            "49_bridge#episode_177#frame_1.png"
+        ],
+        "options": [
+            "P1 (0.7418, 0.412)",
+            "P2 (0.5029, 0.4004)",
+            "P3 (0.5733, 0.4885)",
+            "P4 (0.4698, 0.6648)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/49_bridge#episode_178#frame_1",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, open the left cabinet door?",
+        "gt_answer": "A",
+        "image_urls": [
+            "49_bridge#episode_178#frame_1.png"
+        ],
+        "options": [
+            "P1 (0.1105, 0.1499)",
+            "P2 (0.1796, 0.318)",
+            "P3 (0.4511, 0.4272)",
+            "P4 (0.6853, 0.433)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/49_bridge#episode_219#frame_2",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the brush in the sink?",
+        "gt_answer": "D",
+        "image_urls": [
+            "49_bridge#episode_219#frame_2.png"
+        ],
+        "options": [
+            "P1 (0.4899, 0.5383)",
+            "P2 (0.4282, 0.569)",
+            "P3 (0.3563, 0.2912)",
+            "P4 (0.4405, 0.3565)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/ARIO-RH20T_series-1_task-2_episode-1_rgbd-1_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, pull out a tissue?",
+        "gt_answer": "C",
+        "image_urls": [
+            "ARIO-RH20T_series-1_task-2_episode-1_rgbd-1_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.409, 0.5128)",
+            "P2 (0.4908, 0.7245)",
+            "P3 (0.4476, 0.5561)",
+            "P4 (0.3932, 0.5995)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/ARIO-Songling-pick_water_episode-1_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the cup under the water dispenser?",
+        "gt_answer": "B",
+        "image_urls": [
+            "ARIO-Songling-pick_water_episode-1_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.4138, 0.3391)",
+            "P2 (0.4247, 0.6243)",
+            "P3 (0.3463, 0.5057)",
+            "P4 (0.4598, 0.4502)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_airpods_on_third_layer_episode_0_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, open the middle drawer?",
+        "gt_answer": "C",
+        "image_urls": [
+            "RDT-FT_airpods_on_third_layer_episode_0_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.5273, 0.1609)",
+            "P2 (0.4756, 0.4425)",
+            "P3 (0.4799, 0.3008)",
+            "P4 (0.5417, 0.3238)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_coffee_cup_left_PC_episode_0_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, open the laptop?",
+        "gt_answer": "C",
+        "image_urls": [
+            "RDT-FT_coffee_cup_left_PC_episode_0_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.3678, 0.6801)",
+            "P2 (0.6595, 0.659)",
+            "P3 (0.421, 0.7989)",
+            "P4 (0.4109, 0.5192)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_collect_earphone_episode_0_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, close the drawer?",
+        "gt_answer": "A",
+        "image_urls": [
+            "RDT-FT_collect_earphone_episode_0_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.5201, 0.5364)",
+            "P2 (0.4727, 0.4157)",
+            "P3 (0.5718, 0.613)",
+            "P4 (0.5891, 0.3659)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_flip_calendar_page_episode_0_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, flip the calendar?",
+        "gt_answer": "C",
+        "image_urls": [
+            "RDT-FT_flip_calendar_page_episode_0_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.6681, 0.4004)",
+            "P2 (0.7701, 0.4598)",
+            "P3 (0.5681, 0.6301)",
+            "P4 (0.6796, 0.5402)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_headphone_left_phone_episode_0_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the headphones into the pen holder?",
+        "gt_answer": "C",
+        "image_urls": [
+            "RDT-FT_headphone_left_phone_episode_0_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.5302, 0.6724)",
+            "P2 (0.5187, 0.567)",
+            "P3 (0.7299, 0.6801)",
+            "P4 (0.5244, 0.7452)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_insert_book_shelf_episode_0_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the book on the bookshelf?",
+        "gt_answer": "B",
+        "image_urls": [
+            "RDT-FT_insert_book_shelf_episode_0_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.3793, 0.4444)",
+            "P2 (0.4921, 0.8443)",
+            "P3 (0.4899, 0.6609)",
+            "P4 (0.3506, 0.5383)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_math_cube_with_rag_jsh_episode_0_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, hang the orange towel onto the hook?",
+        "gt_answer": "D",
+        "image_urls": [
+            "RDT-FT_math_cube_with_rag_jsh_episode_0_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.5704, 0.2759)",
+            "P2 (0.2213, 0.6839)",
+            "P3 (0.8046, 0.6418)",
+            "P4 (0.3491, 0.569)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_pick_power_bank_episode_0_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the slippers in the plastic bag?",
+        "gt_answer": "D",
+        "image_urls": [
+            "RDT-FT_pick_power_bank_episode_0_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.9152, 0.5709)",
+            "P2 (0.4943, 0.5364)",
+            "P3 (0.6853, 0.5594)",
+            "P4 (0.796, 0.5211)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_pick_the_different_dice_episode_1_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the rightmost dice into the cup?",
+        "gt_answer": "A",
+        "image_urls": [
+            "RDT-FT_pick_the_different_dice_episode_1_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.462, 0.6645)",
+            "P2 (0.3376, 0.6992)",
+            "P3 (0.648, 0.567)",
+            "P4 (0.2514, 0.6743)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_pour_water_4_episode_0_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, pour water from a bottle into a cup?",
+        "gt_answer": "D",
+        "image_urls": [
+            "RDT-FT_pour_water_4_episode_0_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.6911, 0.2433)",
+            "P2 (0.7126, 0.659)",
+            "P3 (0.6839, 0.6169)",
+            "P4 (0.681, 0.431)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_pour_water_bottle2cup_clean_episode_0_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, pour water from a thermos into the cup?",
+        "gt_answer": "B",
+        "image_urls": [
+            "RDT-FT_pour_water_bottle2cup_clean_episode_0_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.806, 0.2184)",
+            "P2 (0.6954, 0.4004)",
+            "P3 (0.4023, 0.5326)",
+            "P4 (0.306, 0.6188)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_pour_water_g2k_episode_0_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, pour water from a cup into a kettle?",
+        "gt_answer": "D",
+        "image_urls": [
+            "RDT-FT_pour_water_g2k_episode_0_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.6437, 0.4962)",
+            "P2 (0.6853, 0.5862)",
+            "P3 (0.2414, 0.3659)",
+            "P4 (0.7716, 0.5594)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_press_stapler_episode_0_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, press the stapler?",
+        "gt_answer": "B",
+        "image_urls": [
+            "RDT-FT_press_stapler_episode_0_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.3103, 0.6207)",
+            "P2 (0.4569, 0.567)",
+            "P3 (0.5287, 0.5077)",
+            "P4 (0.4799, 0.6533)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_put_object_into_cabinet_episode_0_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, open the bottom right door?",
+        "gt_answer": "B",
+        "image_urls": [
+            "RDT-FT_put_object_into_cabinet_episode_0_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.5661, 0.2203)",
+            "P2 (0.7418, 0.4962)",
+            "P3 (0.6379, 0.567)",
+            "P4 (0.4713, 0.7356)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_water_plant_1_episode_0_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, water plant?",
+        "gt_answer": "A",
+        "image_urls": [
+            "RDT-FT_water_plant_1_episode_0_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.9468, 0.3946)",
+            "P2 (0.6106, 0.2184)",
+            "P3 (0.7874, 0.4674)",
+            "P4 (0.3032, 0.5057)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/49_bridge#episode_1658#frame_1",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the broccoli into a pan?",
+        "gt_answer": "A",
+        "image_urls": [
+            "49_bridge#episode_1658#frame_1.png"
+        ],
+        "options": [
+            "P1 (0.208, 0.3871)",
+            "P2 (0.5216, 0.3199)",
+            "P3 (0.523, 0.4253)",
+            "P4 (0.7026, 0.5632)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/49_bridge#episode_1666#frame_1",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place a pig toy into a pot?",
+        "gt_answer": "B",
+        "image_urls": [
+            "49_bridge#episode_1666#frame_1.png"
+        ],
+        "options": [
+            "P1 (0.5101, 0.5575)",
+            "P2 (0.2888, 0.4157)",
+            "P3 (0.4626, 0.251)",
+            "P4 (0.5948, 0.2126)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/49_bridge#episode_1669#frame_1",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place an eggplant into the sink?",
+        "gt_answer": "A",
+        "image_urls": [
+            "49_bridge#episode_1669#frame_1.png"
+        ],
+        "options": [
+            "P1 (0.4605, 0.303)",
+            "P2 (0.1422, 0.5613)",
+            "P3 (0.4382, 0.751)",
+            "P4 (0.5618, 0.6839)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/49_bridge#episode_1670#frame_1",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place a gray cube on a towel?",
+        "gt_answer": "B",
+        "image_urls": [
+            "49_bridge#episode_1670#frame_1.png"
+        ],
+        "options": [
+            "P1 (0.3463, 0.3812)",
+            "P2 (0.6753, 0.6475)",
+            "P3 (0.4195, 0.6973)",
+            "P4 (0.2026, 0.477)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/49_bridge#episode_1684#frame_1",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the pot on a cloth?",
+        "gt_answer": "A",
+        "image_urls": [
+            "49_bridge#episode_1684#frame_1.png"
+        ],
+        "options": [
+            "P1 (0.5718, 0.3352)",
+            "P2 (0.6609, 0.3563)",
+            "P3 (0.5014, 0.3716)",
+            "P4 (0.2486, 0.5326)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/49_bridge#episode_171#frame_1",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, open the top cabinet door?",
+        "gt_answer": "B",
+        "image_urls": [
+            "49_bridge#episode_171#frame_1.png"
+        ],
+        "options": [
+            "P1 (0.5201, 0.5)",
+            "P2 (0.6911, 0.433)",
+            "P3 (0.6264, 0.8831)",
+            "P4 (0.8822, 0.4042)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/49_bridge#episode_17584#frame_1",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, cut a potato with a knife?",
+        "gt_answer": "C",
+        "image_urls": [
+            "49_bridge#episode_17584#frame_1.png"
+        ],
+        "options": [
+            "P1 (0.3319, 0.3103)",
+            "P2 (0.4253, 0.4962)",
+            "P3 (0.3831, 0.6052)",
+            "P4 (0.4871, 0.4981)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/49_bridge#episode_17586#frame_1",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the corn into a pan?",
+        "gt_answer": "C",
+        "image_urls": [
+            "49_bridge#episode_17586#frame_1.png"
+        ],
+        "options": [
+            "P1 (0.533, 0.2989)",
+            "P2 (0.4871, 0.4808)",
+            "P3 (0.6882, 0.3946)",
+            "P4 (0.569, 0.6015)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/49_bridge#episode_17587#frame_1",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, move a green plate into the top cabinet?",
+        "gt_answer": "B",
+        "image_urls": [
+            "49_bridge#episode_17587#frame_1.png"
+        ],
+        "options": [
+            "P1 (0.4239, 0.8985)",
+            "P2 (0.4261, 0.8042)",
+            "P3 (0.2328, 0.6801)",
+            "P4 (0.7098, 0.3774)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/49_bridge#episode_194#frame_2",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put a red cup on a blue cloth?",
+        "gt_answer": "C",
+        "image_urls": [
+            "49_bridge#episode_194#frame_2.png"
+        ],
+        "options": [
+            "P1 (0.3851, 0.5077)",
+            "P2 (0.7227, 0.4713)",
+            "P3 (0.6987, 0.3776)",
+            "P4 (0.6724, 0.5939)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/49_bridge#episode_200#frame_1",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place a pot into the sink?",
+        "gt_answer": "C",
+        "image_urls": [
+            "49_bridge#episode_200#frame_1.png"
+        ],
+        "options": [
+            "P1 (0.6379, 0.477)",
+            "P2 (0.6049, 0.4138)",
+            "P3 (0.5374, 0.5421)",
+            "P4 (0.4411, 0.3716)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/ARIO-Songling_pick_U_driver_episode-1_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, pull out an usb device?",
+        "gt_answer": "C",
+        "image_urls": [
+            "ARIO-Songling_pick_U_driver_episode-1_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.296, 0.751)",
+            "P2 (0.1034, 0.7893)",
+            "P3 (0.6585, 0.653)",
+            "P4 (0.6724, 0.7146)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/ARIO-Swawave_series-1_task-1_episode-1_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, pick up a can?",
+        "gt_answer": "C",
+        "image_urls": [
+            "ARIO-Swawave_series-1_task-1_episode-1_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.704, 0.4406)",
+            "P2 (0.6638, 0.59)",
+            "P3 (0.4856, 0.7529)",
+            "P4 (0.4799, 0.6705)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_choose_toy_by_color_episode_0_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the duck toy into a box?",
+        "gt_answer": "C",
+        "image_urls": [
+            "RDT-FT_choose_toy_by_color_episode_0_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.7457, 0.6839)",
+            "P2 (0.6681, 0.6437)",
+            "P3 (0.8693, 0.7011)",
+            "P4 (0.4167, 0.4598)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_close_laptop_episode_0_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, close the laptop?",
+        "gt_answer": "D",
+        "image_urls": [
+            "RDT-FT_close_laptop_episode_0_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.5704, 0.3525)",
+            "P2 (0.5618, 0.4885)",
+            "P3 (0.5072, 0.592)",
+            "P4 (0.5948, 0.1264)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_close_the_book_episode_0_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, close the book?",
+        "gt_answer": "C",
+        "image_urls": [
+            "RDT-FT_close_the_book_episode_0_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.6466, 0.7567)",
+            "P2 (0.5647, 0.6973)",
+            "P3 (0.2884, 0.7219)",
+            "P4 (0.4583, 0.6284)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_coffee_cup_on_PC_episode_0_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, open the laptop?",
+        "gt_answer": "D",
+        "image_urls": [
+            "RDT-FT_coffee_cup_on_PC_episode_0_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.796, 0.6762)",
+            "P2 (0.4612, 0.6494)",
+            "P3 (0.2083, 0.6379)",
+            "P4 (0.283, 0.7107)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_flip_bottle_episode_0_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, flip the bottle over?",
+        "gt_answer": "D",
+        "image_urls": [
+            "RDT-FT_flip_bottle_episode_0_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.5661, 0.2644)",
+            "P2 (0.3362, 0.6015)",
+            "P3 (0.569, 0.364)",
+            "P4 (0.5761, 0.5824)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_insert_cube_slot_episode_0_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, insert a star-shaped block into its corresponding slot?",
+        "gt_answer": "C",
+        "image_urls": [
+            "RDT-FT_insert_cube_slot_episode_0_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.3348, 0.7816)",
+            "P2 (0.4799, 0.7069)",
+            "P3 (0.5733, 0.7337)",
+            "P4 (0.9296, 0.7548)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_insert_cube_slot_episode_1_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, insert a cross-shaped block into its corresponding slot?",
+        "gt_answer": "C",
+        "image_urls": [
+            "RDT-FT_insert_cube_slot_episode_1_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.6293, 0.5977)",
+            "P2 (0.352, 0.728)",
+            "P3 (0.4727, 0.6801)",
+            "P4 (0.5761, 0.7031)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_insert_pen_container_episode_0_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, pick up a pen and place it into a pen holder?",
+        "gt_answer": "C",
+        "image_urls": [
+            "RDT-FT_insert_pen_container_episode_0_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.6121, 0.4943)",
+            "P2 (0.4253, 0.7031)",
+            "P3 (0.5618, 0.4215)",
+            "P4 (0.5876, 0.454)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_pick_backpack_from_chair_to_desk_episode_0_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, pick up a bag and place it on table?",
+        "gt_answer": "B",
+        "image_urls": [
+            "RDT-FT_pick_backpack_from_chair_to_desk_episode_0_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.6106, 0.8065)",
+            "P2 (0.5388, 0.295)",
+            "P3 (0.3477, 0.7778)",
+            "P4 (0.5201, 0.3889)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_pick_larger_value_episode_0_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the coin with larger value into a cup?",
+        "gt_answer": "C",
+        "image_urls": [
+            "RDT-FT_pick_larger_value_episode_0_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.3391, 0.6533)",
+            "P2 (0.342, 0.5709)",
+            "P3 (0.2874, 0.6494)",
+            "P4 (0.1997, 0.6533)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_pick_magiccube_into_bag_episode_0_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the green apple into a bag?",
+        "gt_answer": "D",
+        "image_urls": [
+            "RDT-FT_pick_magiccube_into_bag_episode_0_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.5388, 0.6207)",
+            "P2 (0.6221, 0.5287)",
+            "P3 (0.3247, 0.1418)",
+            "P4 (0.5595, 0.5402)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_pick_pen_on_notebook_episode_0_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place a pen on the notebook?",
+        "gt_answer": "D",
+        "image_urls": [
+            "RDT-FT_pick_pen_on_notebook_episode_0_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.2945, 0.8314)",
+            "P2 (0.3736, 0.933)",
+            "P3 (0.2371, 0.9502)",
+            "P4 (0.8592, 0.9042)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_pick_tomato_to_desk_episode_0_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, pick up the top can?",
+        "gt_answer": "A",
+        "image_urls": [
+            "RDT-FT_pick_tomato_to_desk_episode_0_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.5876, 0.295)",
+            "P2 (0.5805, 0.4061)",
+            "P3 (0.5876, 0.5211)",
+            "P4 (0.5948, 0.6609)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_place_marker_episode_0_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, pick up the blue pen?",
+        "gt_answer": "D",
+        "image_urls": [
+            "RDT-FT_place_marker_episode_0_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.3664, 0.7011)",
+            "P2 (0.5431, 0.6686)",
+            "P3 (0.5704, 0.6456)",
+            "P4 (0.4454, 0.6475)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_pour_water_jigger2cup_episode_0_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, pour water from a jigger into a cup?",
+        "gt_answer": "D",
+        "image_urls": [
+            "RDT-FT_pour_water_jigger2cup_episode_0_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.3592, 0.4483)",
+            "P2 (0.5733, 0.4272)",
+            "P3 (0.3707, 0.6073)",
+            "P4 (0.5761, 0.5057)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_press_socket_button_episode_0_cam_left_wrist_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, press socket button?",
+        "gt_answer": "C",
+        "image_urls": [
+            "RDT-FT_press_socket_button_episode_0_cam_left_wrist_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.7859, 0.6054)",
+            "P2 (0.5445, 0.387)",
+            "P3 (0.8822, 0.7241)",
+            "P4 (0.9598, 0.818)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_prop_bottle_episode_0_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, stand the bottle upright on the table?",
+        "gt_answer": "D",
+        "image_urls": [
+            "RDT-FT_prop_bottle_episode_0_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.6509, 0.6533)",
+            "P2 (0.7141, 0.5709)",
+            "P3 (0.6882, 0.6303)",
+            "P4 (0.5839, 0.565)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_pull_chair_episode_0_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, pull chair?",
+        "gt_answer": "C",
+        "image_urls": [
+            "RDT-FT_pull_chair_episode_0_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.7055, 0.5728)",
+            "P2 (0.7543, 0.3736)",
+            "P3 (0.6872, 0.1614)",
+            "P4 (0.5057, 0.4521)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_put_cup_right_laptop_episode_1_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, pick up the cup and get water?",
+        "gt_answer": "D",
+        "image_urls": [
+            "RDT-FT_put_cup_right_laptop_episode_1_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.4095, 0.6648)",
+            "P2 (0.3721, 0.4904)",
+            "P3 (0.5431, 0.6398)",
+            "P4 (0.4864, 0.5555)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_put_glasses_into_box_episode_0_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the glasses in the glasses case?",
+        "gt_answer": "C",
+        "image_urls": [
+            "RDT-FT_put_glasses_into_box_episode_0_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.1681, 0.6015)",
+            "P2 (0.2112, 0.7165)",
+            "P3 (0.5409, 0.6645)",
+            "P4 (0.4986, 0.6456)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_wash_cup_1_episode_0_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, tuen on the faucet?",
+        "gt_answer": "D",
+        "image_urls": [
+            "RDT-FT_wash_cup_1_episode_0_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.5201, 0.2261)",
+            "P2 (0.5144, 0.4215)",
+            "P3 (0.8635, 0.4406)",
+            "P4 (0.4648, 0.3489)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/RDT-FT_wipe_whitboard_wdy_episode_1_frame_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, wipe the whiteboard?",
+        "gt_answer": "B",
+        "image_urls": [
+            "RDT-FT_wipe_whitboard_wdy_episode_1_frame_0.png"
+        ],
+        "options": [
+            "P1 (0.2989, 0.2567)",
+            "P2 (0.8838, 0.2322)",
+            "P3 (0.5259, 0.2701)",
+            "P4 (0.3922, 0.251)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/slide_open_drawer_1_train_1018_102117_image_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, open the drawer?",
+        "gt_answer": "C",
+        "image_urls": [
+            "slide_open_drawer_1_train_1018_102117_image_0.png"
+        ],
+        "options": [
+            "P1 (0.7108, 0.4576)",
+            "P2 (0.6511, 0.4970)",
+            "P3 (0.6648, 0.3606)",
+            "P4 (0.7347, 0.2788)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/place_in_toy_val_1012_150636_image_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, close the drawer?",
+        "gt_answer": "D",
+        "image_urls": [
+            "place_in_toy_val_1012_150636_image_0.png"
+        ],
+        "options": [
+            "P1 (0.2932, 0.6091)",
+            "P2 (0.3784, 0.6576)",
+            "P3 (0.2966, 0.3939)",
+            "P4 (0.3597, 0.4000)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/place_in_toy_val_1014_171630_image_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the panda toy in the drawer?",
+        "gt_answer": "D",
+        "image_urls": [
+            "place_in_toy_val_1014_171630_image_0.png"
+        ],
+        "options": [
+            "P1 (0.4108, 0.3818)",
+            "P2 (0.2523, 0.4576)",
+            "P3 (0.2983, 0.3909)",
+            "P4 (0.3767, 0.3061)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/close_cap_tool_box_train_0923_153405_image_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, close tool case?",
+        "gt_answer": "A",
+        "image_urls": [
+            "close_cap_tool_box_train_0923_153405_image_0.png"
+        ],
+        "options": [
+            "P1 (0.3639, 0.5397)",
+            "P2 (0.4218, 0.6825)",
+            "P3 (0.6786, 0.5011)",
+            "P4 (0.3639, 0.7347)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/close_cap_tool_box_train_0923_153425_image_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, pick up a tool from a tool box?",
+        "gt_answer": "D",
+        "image_urls": [
+            "close_cap_tool_box_train_0923_153425_image_0.png"
+        ],
+        "options": [
+            "P1 (0.3895, 0.5193)",
+            "P2 (0.6497, 0.6508)",
+            "P3 (0.6241, 0.3628)",
+            "P4 (0.6395, 0.4830)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/piled_on_yellow_block_on_purple_block_train_1011_161250_image_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, pile the yellow cube up on the purple cube?",
+        "gt_answer": "A",
+        "image_urls": [
+            "piled_on_yellow_block_on_purple_block_train_1011_161250_image_0.png"
+        ],
+        "options": [
+            "P1 (0.4023, 0.3121)",
+            "P2 (0.2011, 0.2061)",
+            "P3 (0.5045, 0.4121)",
+            "P4 (0.2625, 0.2424)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/piled_on_yellow_block_on_purple_block_train_1011_161141_image_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, pick up the bread outside the basket?",
+        "gt_answer": "D",
+        "image_urls": [
+            "piled_on_yellow_block_on_purple_block_train_1011_161141_image_0.png"
+        ],
+        "options": [
+            "P1 (0.6631, 0.2091)",
+            "P2 (0.6358, 0.4273)",
+            "P3 (0.7415, 0.2030)",
+            "P4 (0.5080, 0.4182)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/place_in_pick_up_and_throw_away_1_train_1014_105005_image_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, close the trash can?",
+        "gt_answer": "B",
+        "image_urls": [
+            "place_in_pick_up_and_throw_away_1_train_1014_105005_image_0.png"
+        ],
+        "options": [
+            "P1 (0.3665, 0.5636)",
+            "P2 (0.3886, 0.6333)",
+            "P3 (0.4142, 0.7636)",
+            "P4 (0.4261, 0.4667)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/place_in_pick_up_and_throw_away_1_train_1014_104126_image_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, throw the paper garbage into a trash can?",
+        "gt_answer": "C",
+        "image_urls": [
+            "place_in_pick_up_and_throw_away_1_train_1014_104126_image_0.png"
+        ],
+        "options": [
+            "P1 (0.4432, 0.3485)",
+            "P2 (0.3494, 0.5455)",
+            "P3 (0.3290, 0.4000)",
+            "P4 (0.3716, 0.6333)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/place_in_block_tennis_ball_train_0923_184436_image_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the right tennis on the purple plate?",
+        "gt_answer": "C",
+        "image_urls": [
+            "place_in_block_tennis_ball_train_0923_184436_image_0.png"
+        ],
+        "options": [
+            "P1 (0.3793, 0.5510)",
+            "P2 (0.7670, 0.4649)",
+            "P3 (0.5561, 0.5714)",
+            "P4 (0.1276, 0.5306)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/place_in_block_tennis_ball_train_0923_194841_image_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, pick up a cube between a tennis and another cube?",
+        "gt_answer": "D",
+        "image_urls": [
+            "place_in_block_tennis_ball_train_0923_194841_image_0.png"
+        ],
+        "options": [
+            "P1 (0.4232, 0.6303)",
+            "P2 (0.3208, 0.3982)",
+            "P3 (0.5512, 0.3527)",
+            "P4 (0.4881, 0.4921)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/place_in_bread_in_plate_train_1014_114934_image_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, put the bread on a plate?",
+        "gt_answer": "C",
+        "image_urls": [
+            "place_in_bread_in_plate_train_1014_114934_image_0.png"
+        ],
+        "options": [
+            "P1 (0.2795, 0.3758)",
+            "P2 (0.4892, 0.3848)",
+            "P3 (0.7261, 0.2485)",
+            "P4 (0.3528, 0.3424)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/place_in_block_1_train_0923_181948_image_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the blue cube on the blue plate?",
+        "gt_answer": "A",
+        "image_urls": [
+            "place_in_block_1_train_0923_181948_image_0.png"
+        ],
+        "options": [
+            "P1 (0.3912, 0.4172)",
+            "P2 (0.1037, 0.5193)",
+            "P3 (0.5680, 0.3855)",
+            "P4 (0.7687, 0.4059)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/place_in_block_1_train_0923_180527_image_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, pick up the cube farthest from the purple plate?",
+        "gt_answer": "C",
+        "image_urls": [
+            "place_in_block_1_train_0923_180527_image_0.png"
+        ],
+        "options": [
+            "P1 (0.6241, 0.4036)",
+            "P2 (0.4405, 0.4195)",
+            "P3 (0.2602, 0.4626)",
+            "P4 (0.0799, 0.4558)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/place_in_bread_in_basket_train_1012_143454_image_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, tip the banana into a basket?",
+        "gt_answer": "A",
+        "image_urls": [
+            "place_in_bread_in_basket_train_1012_143454_image_0.png"
+        ],
+        "options": [
+            "P1 (0.0784, 0.2152)",
+            "P2 (0.1466, 0.2788)",
+            "P3 (0.5676, 0.5303)",
+            "P4 (0.6648, 0.5848)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/241023_pick_pear_from_bowl_1_train_1023_113633_image_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, remove the pear from the pink bowl and place it to the right of the bowl?",
+        "gt_answer": "B",
+        "image_urls": [
+            "241023_pick_pear_from_bowl_1_train_1023_113633_image_0.png"
+        ],
+        "options": [
+            "P1 (0.4269, 0.4470)",
+            "P2 (0.4151, 0.3517)",
+            "P3 (0.5088, 0.6688)",
+            "P4 (0.5283, 0.5753)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/241023_pick_pear_from_bowl_1_train_1023_143707_image_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the bowl containing a pear on the empty bowl?",
+        "gt_answer": "B",
+        "image_urls": [
+            "241023_pick_pear_from_bowl_1_train_1023_143707_image_0.png"
+        ],
+        "options": [
+            "P1 (0.5877, 0.3724)",
+            "P2 (0.5431, 0.3966)",
+            "P3 (0.4073, 0.3897)",
+            "P4 (0.4384, 0.3310)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/241022_side_pull_close_drawer_1_train_1022_102852_image_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, close the cabinet door?",
+        "gt_answer": "D",
+        "image_urls": [
+            "241022_side_pull_close_drawer_1_train_1022_102852_image_0.png"
+        ],
+        "options": [
+            "P1 (0.1926, 0.3242)",
+            "P2 (0.2625, 0.4242)",
+            "P3 (0.1705, 0.3909)",
+            "P4 (0.1415, 0.1333)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/241022_side_pull_close_drawer_1_train_1022_104444_image_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, close the cabinet door?",
+        "gt_answer": "B",
+        "image_urls": [
+            "241022_side_pull_close_drawer_1_train_1022_104444_image_0.png"
+        ],
+        "options": [
+            "P1 (0.6375, 0.5485)",
+            "P2 (0.3955, 0.4091)",
+            "P3 (0.6801, 0.3970)",
+            "P4 (0.6358, 0.4273)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/place_in_pick_up_and_throw_away_train_1012_114149_image_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, empty the trash can on the table?",
+        "gt_answer": "D",
+        "image_urls": [
+            "place_in_pick_up_and_throw_away_train_1012_114149_image_0.png"
+        ],
+        "options": [
+            "P1 (0.4108, 0.7303)",
+            "P2 (0.3563, 0.4242)",
+            "P3 (0.4466, 0.6758)",
+            "P4 (0.3699, 0.6303)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/place_in_cylinder_train_0924_165651_image_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, insert the red cylinder into its corresponding slot?",
+        "gt_answer": "C",
+        "image_urls": [
+            "place_in_cylinder_train_0924_165651_image_0.png"
+        ],
+        "options": [
+            "P1 (0.1769, 0.5986)",
+            "P2 (0.1361, 0.5397)",
+            "P3 (0.2891, 0.3900)",
+            "P4 (0.2976, 0.4580)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/place_in_fruit_bread_train_0923_163506_image_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place an apple in the pink plate?",
+        "gt_answer": "C",
+        "image_urls": [
+            "place_in_fruit_bread_train_0923_163506_image_0.png"
+        ],
+        "options": [
+            "P1 (0.6054, 0.6531)",
+            "P2 (0.5782, 0.3787)",
+            "P3 (0.4065, 0.3129)",
+            "P4 (0.8640, 0.4127)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/place_in_fruit_bread_train_0923_170844_image_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the orange in the basket?",
+        "gt_answer": "D",
+        "image_urls": [
+            "place_in_fruit_bread_train_0923_170844_image_0.png"
+        ],
+        "options": [
+            "P1 (0.7517, 0.4104)",
+            "P2 (0.4371, 0.4059)",
+            "P3 (0.5340, 0.3991)",
+            "P4 (0.3282, 0.4104)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/place_in_shape_train_0924_142419_image_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the solid with the same color as any plate into its matching plate?",
+        "gt_answer": "D",
+        "image_urls": [
+            "place_in_shape_train_0924_142419_image_0.png"
+        ],
+        "options": [
+            "P1 (0.6460, 0.4565)",
+            "P2 (0.1702, 0.5287)",
+            "P3 (0.4584, 0.5132)",
+            "P4 (0.3452, 0.4467)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/place_in_shape_train_0924_140159_image_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, pick up the smallest solid?",
+        "gt_answer": "C",
+        "image_urls": [
+            "place_in_shape_train_0924_140159_image_0.png"
+        ],
+        "options": [
+            "P1 (0.6548, 0.4830)",
+            "P2 (0.3759, 0.5828)",
+            "P3 (0.3793, 0.4308)",
+            "P4 (0.4881, 0.4308)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/close_cap_lid_train_1018_152731_image_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, cover the pot with its lid?",
+        "gt_answer": "D",
+        "image_urls": [
+            "close_cap_lid_train_1018_152731_image_0.png"
+        ],
+        "options": [
+            "P1 (0.2148, 0.2788)",
+            "P2 (0.2011, 0.5636)",
+            "P3 (0.4244, 0.4727)",
+            "P4 (0.4466, 0.3970)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/241023_place_pear_in_bowl_2_train_1023_174255_image_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, cover the pear with a pink bowl?",
+        "gt_answer": "A",
+        "image_urls": [
+            "241023_place_pear_in_bowl_2_train_1023_174255_image_0.png"
+        ],
+        "options": [
+            "P1 (0.4568, 0.4636)",
+            "P2 (0.6051, 0.4121)",
+            "P3 (0.4722, 0.5333)",
+            "P4 (0.2898, 0.5818)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/place_in_take_bread_and_put_in_plate_train_1011_144453_image_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place the bread from the toaster onto a plate?",
+        "gt_answer": "C",
+        "image_urls": [
+            "place_in_take_bread_and_put_in_plate_train_1011_144453_image_0.png"
+        ],
+        "options": [
+            "P1 (0.5131, 0.3940)",
+            "P2 (0.7636, 0.2455)",
+            "P3 (0.3784, 0.7061)",
+            "P4 (0.7705, 0.1545)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/place_plate_in_plate_rack_val_1017_143918_image_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, place plate in plate rack?",
+        "gt_answer": "D",
+        "image_urls": [
+            "place_plate_in_plate_rack_val_1017_143918_image_0.png"
+        ],
+        "options": [
+            "P1 (0.4193, 0.5545)",
+            "P2 (0.3205, 0.6485)",
+            "P3 (0.4619, 0.2758)",
+            "P4 (0.4142, 0.2333)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/pick_plate_from_plate_rack_train_1017_153007_image_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, pick plate from plate rack?",
+        "gt_answer": "A",
+        "image_urls": [
+            "pick_plate_from_plate_rack_train_1017_153007_image_0.png"
+        ],
+        "options": [
+            "P1 (0.5284, 0.5848)",
+            "P2 (0.4909, 0.7394)",
+            "P3 (0.6102, 0.5818)",
+            "P4 (0.5676, 0.6940)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/241022_lamp_off_1_val_1022_173013_image_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, turn off the lamp?",
+        "gt_answer": "D",
+        "image_urls": [
+            "241022_lamp_off_1_val_1022_173013_image_0.png"
+        ],
+        "options": [
+            "P1 (0.2761, 0.7606)",
+            "P2 (0.2045, 0.7091)",
+            "P3 (0.1705, 0.4758)",
+            "P4 (0.2676, 0.6303)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/place_in_trash_train_0924_153218_image_0",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, throw the paper garbage into the trash can?",
+        "gt_answer": "B",
+        "image_urls": [
+            "place_in_trash_train_0924_153218_image_0.png"
+        ],
+        "options": [
+            "P1 (0.6037, 0.5941)",
+            "P2 (0.4677, 0.4671)",
+            "P3 (0.6735, 0.7438)",
+            "P4 (0.6582, 0.6508)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/rt_frames_success_rtx_frames_success_48_62_robo_set#episode_4877_sf0_ef14",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, None?",
+        "gt_answer": "C",
+        "image_urls": [
+            "rt_frames_success_rtx_frames_success_48_62_robo_set#episode_4877_sf0_ef14.png"
+        ],
+        "options": [
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+            "P2 (0.6082, 0.6461)",
+            "P3 (0.5806, 0.5931)",
+            "P4 (0.5928, 0.5215)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/rt_frames_success_rtx_frames_success_16_49_bridge#episode_779_sf0_ef14",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, None?",
+        "gt_answer": "B",
+        "image_urls": [
+            "rt_frames_success_rtx_frames_success_16_49_bridge#episode_779_sf0_ef14.png"
+        ],
+        "options": [
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+            "P2 (0.4955, 0.737)",
+            "P3 (0.4505, 0.6596)",
+            "P4 (0.5225, 0.7075)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/rtx_frames__new_85_85_droid#episode_71119_sf4_ef10",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, None?",
+        "gt_answer": "B",
+        "image_urls": [
+            "rtx_frames__new_85_85_droid#episode_71119_sf4_ef10.png"
+        ],
+        "options": [
+            "P1 (0.6962, 0.6671)",
+            "P2 (0.7505, 0.7017)",
+            "P3 (0.7724, 0.7205)",
+            "P4 (0.7416, 0.6225)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_13410_sf6_ef13",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, None?",
+        "gt_answer": "C",
+        "image_urls": [
+            "rt_frames_success_rtx_frames_success_4_49_bridge#episode_13410_sf6_ef13.png"
+        ],
+        "options": [
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+            "P2 (0.3459, 0.3401)",
+            "P3 (0.2641, 0.2671)",
+            "P4 (0.5004, 0.35)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/rtx_frames__new_85_85_droid#episode_83301_sf11_ef14",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, None?",
+        "gt_answer": "B",
+        "image_urls": [
+            "rtx_frames__new_85_85_droid#episode_83301_sf11_ef14.png"
+        ],
+        "options": [
+            "P1 (0.4288, 0.683)",
+            "P2 (0.3939, 0.634)",
+            "P3 (0.4498, 0.7824)",
+            "P4 (0.5017, 0.6859)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/rt_frames_success_rtx_frames_success_18_49_bridge#episode_9523_sf10_ef13",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, None?",
+        "gt_answer": "A",
+        "image_urls": [
+            "rt_frames_success_rtx_frames_success_18_49_bridge#episode_9523_sf10_ef13.png"
+        ],
+        "options": [
+            "P1 (0.6729, 0.7315)",
+            "P2 (0.6247, 0.8155)",
+            "P3 (0.6051, 0.6149)",
+            "P4 (0.7318, 0.7043)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_51005_sf11_ef16",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, None?",
+        "gt_answer": "D",
+        "image_urls": [
+            "rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_51005_sf11_ef16.png"
+        ],
+        "options": [
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+            "P2 (0.3001, 0.5617)",
+            "P3 (0.3532, 0.4947)",
+            "P4 (0.2821, 0.4252)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/rt_frames_success_rtx_frames_success_56_68_bridge_data_v2#episode_17203_sf5_ef14",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, None?",
+        "gt_answer": "C",
+        "image_urls": [
+            "rt_frames_success_rtx_frames_success_56_68_bridge_data_v2#episode_17203_sf5_ef14.png"
+        ],
+        "options": [
+            "P1 (0.3475, 0.7702)",
+            "P2 (0.5887, 0.9256)",
+            "P3 (0.4857, 0.78)",
+            "P4 (0.6149, 0.6059)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_14962_sf4_ef5",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, None?",
+        "gt_answer": "A",
+        "image_urls": [
+            "rt_frames_success_rtx_frames_success_5_49_bridge#episode_14962_sf4_ef5.png"
+        ],
+        "options": [
+            "P1 (0.2502, 0.351)",
+            "P2 (0.3974, 0.2976)",
+            "P3 (0.1668, 0.3848)",
+            "P4 (0.4873, 0.2998)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/rtx_frames__new_85_85_droid#episode_57285_sf0_ef6",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, None?",
+        "gt_answer": "C",
+        "image_urls": [
+            "rtx_frames__new_85_85_droid#episode_57285_sf0_ef6.png"
+        ],
+        "options": [
+            "P1 (0.5552, 0.6888)",
+            "P2 (0.6573, 0.7248)",
+            "P3 (0.5965, 0.7478)",
+            "P4 (0.5747, 0.6571)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/rtx_frames__new_85_85_droid#episode_66842_sf15_ef24",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, None?",
+        "gt_answer": "D",
+        "image_urls": [
+            "rtx_frames__new_85_85_droid#episode_66842_sf15_ef24.png"
+        ],
+        "options": [
+            "P1 (0.7076, 0.2925)",
+            "P2 (0.646, 0.4035)",
+            "P3 (0.4985, 0.4265)",
+            "P4 (0.6184, 0.2219)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/rtx_frames__new_85_85_droid#episode_38044_sf14_ef16",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, None?",
+        "gt_answer": "C",
+        "image_urls": [
+            "rtx_frames__new_85_85_droid#episode_38044_sf14_ef16.png"
+        ],
+        "options": [
+            "P1 (0.5625, 0.6239)",
+            "P2 (0.6176, 0.7651)",
+            "P3 (0.6541, 0.6758)",
+            "P4 (0.5811, 0.5317)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/rtx_frames__new_85_85_droid#episode_68439_sf11_ef16",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, None?",
+        "gt_answer": "A",
+        "image_urls": [
+            "rtx_frames__new_85_85_droid#episode_68439_sf11_ef16.png"
+        ],
+        "options": [
+            "P1 (0.3972, 0.5908)",
+            "P2 (0.4896, 0.6945)",
+            "P3 (0.4417, 0.6167)",
+            "P4 (0.4004, 0.781)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_4181_sf5_ef14",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, None?",
+        "gt_answer": "D",
+        "image_urls": [
+            "rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_4181_sf5_ef14.png"
+        ],
+        "options": [
+            "P1 (0.5748, 0.2388)",
+            "P2 (0.435, 0.5773)",
+            "P3 (0.4767, 0.3688)",
+            "P4 (0.323, 0.2428)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/rt_frames_success_rtx_frames_success_7_49_bridge#episode_17524_sf5_ef14",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, None?",
+        "gt_answer": "C",
+        "image_urls": [
+            "rt_frames_success_rtx_frames_success_7_49_bridge#episode_17524_sf5_ef14.png"
+        ],
+        "options": [
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+            "P2 (0.4914, 0.278)",
+            "P3 (0.3328, 0.3369)",
+            "P4 (0.5397, 0.3914)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/rt_frames_success_rtx_frames_success_53_62_robo_set#episode_9815_sf10_ef14",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, None?",
+        "gt_answer": "C",
+        "image_urls": [
+            "rt_frames_success_rtx_frames_success_53_62_robo_set#episode_9815_sf10_ef14.png"
+        ],
+        "options": [
+            "P1 (0.729, 0.639)",
+            "P2 (0.7242, 0.4212)",
+            "P3 (0.6934, 0.5602)",
+            "P4 (0.6934, 0.4241)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/rtx_frames__new_85_85_droid#episode_44228_sf6_ef10",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, None?",
+        "gt_answer": "A",
+        "image_urls": [
+            "rtx_frames__new_85_85_droid#episode_44228_sf6_ef10.png"
+        ],
+        "options": [
+            "P1 (0.6525, 0.3256)",
+            "P2 (0.6646, 0.4813)",
+            "P3 (0.6549, 0.6383)",
+            "P4 (0.6816, 0.428)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/rtx_frames__new_85_85_droid#episode_37318_sf12_ef16",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, None?",
+        "gt_answer": "D",
+        "image_urls": [
+            "rtx_frames__new_85_85_droid#episode_37318_sf12_ef16.png"
+        ],
+        "options": [
+            "P1 (0.6273, 0.4741)",
+            "P2 (0.6768, 0.585)",
+            "P3 (0.6306, 0.5937)",
+            "P4 (0.6662, 0.5216)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/rt_frames_success_rtx_frames_success_11_49_bridge#episode_23188_sf10_ef15",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, None?",
+        "gt_answer": "B",
+        "image_urls": [
+            "rt_frames_success_rtx_frames_success_11_49_bridge#episode_23188_sf10_ef15.png"
+        ],
+        "options": [
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+            "P2 (0.2142, 0.3118)",
+            "P3 (0.1758, 0.5233)",
+            "P4 (0.2821, 0.2976)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_22922_sf10_ef29",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, None?",
+        "gt_answer": "B",
+        "image_urls": [
+            "rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_22922_sf10_ef29.png"
+        ],
+        "options": [
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+            "P2 (0.4881, 0.6615)",
+            "P3 (0.2764, 0.7236)",
+            "P4 (0.3639, 0.7531)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/rt_frames_success_rtx_frames_success_10_49_bridge#episode_20832_sf11_ef15",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, None?",
+        "gt_answer": "A",
+        "image_urls": [
+            "rt_frames_success_rtx_frames_success_10_49_bridge#episode_20832_sf11_ef15.png"
+        ],
+        "options": [
+            "P1 (0.7367, 0.4274)",
+            "P2 (0.7588, 0.4579)",
+            "P3 (0.7449, 0.58)",
+            "P4 (0.7073, 0.7392)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/rtx_frames__new_85_85_droid#episode_66230_sf6_ef11",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, None?",
+        "gt_answer": "D",
+        "image_urls": [
+            "rtx_frames__new_85_85_droid#episode_66230_sf6_ef11.png"
+        ],
+        "options": [
+            "P1 (0.4823, 0.8098)",
+            "P2 (0.462, 0.6052)",
+            "P3 (0.4693, 0.7205)",
+            "P4 (0.5163, 0.7507)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/rtx_frames__new_85_85_droid#episode_4788_sf0_ef6",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, None?",
+        "gt_answer": "C",
+        "image_urls": [
+            "rtx_frames__new_85_85_droid#episode_4788_sf0_ef6.png"
+        ],
+        "options": [
+            "P1 (0.505, 0.6369)",
+            "P2 (0.7052, 0.5432)",
+            "P3 (0.633, 0.4006)",
+            "P4 (0.6168, 0.6484)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/rt_frames_success_rtx_frames_success_37_62_robo_set#episode_11572_sf0_ef14",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, None?",
+        "gt_answer": "C",
+        "image_urls": [
+            "rt_frames_success_rtx_frames_success_37_62_robo_set#episode_11572_sf0_ef14.png"
+        ],
+        "options": [
+            "P1 (0.5466, 0.4327)",
+            "P2 (0.5717, 0.361)",
+            "P3 (0.5701, 0.5845)",
+            "P4 (0.5944, 0.6819)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/rt_frames_success_rtx_frames_success_16_49_bridge#episode_678_sf10_ef15",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, None?",
+        "gt_answer": "C",
+        "image_urls": [
+            "rt_frames_success_rtx_frames_success_16_49_bridge#episode_678_sf10_ef15.png"
+        ],
+        "options": [
+            "P1 (0.3205, 0.6345)",
+            "P2 (0.4031, 0.5756)",
+            "P3 (0.4072, 0.6247)",
+            "P4 (0.3442, 0.7043)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/rtx_frames__new_85_85_droid#episode_42459_sf13_ef16",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, None?",
+        "gt_answer": "B",
+        "image_urls": [
+            "rtx_frames__new_85_85_droid#episode_42459_sf13_ef16.png"
+        ],
+        "options": [
+            "P1 (0.7822, 0.5648)",
+            "P2 (0.7878, 0.4049)",
+            "P3 (0.6808, 0.2536)",
+            "P4 (0.7351, 0.4654)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/rtx_frames__new_85_85_droid#episode_23410_sf10_ef29",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, None?",
+        "gt_answer": "A",
+        "image_urls": [
+            "rtx_frames__new_85_85_droid#episode_23410_sf10_ef29.png"
+        ],
+        "options": [
+            "P1 (0.4109, 0.866)",
+            "P2 (0.3485, 0.7363)",
+            "P3 (0.3623, 0.8228)",
+            "P4 (0.4563, 0.7176)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/rt_frames_success_rtx_frames_success_38_62_robo_set#episode_12572_sf18_ef21",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, None?",
+        "gt_answer": "C",
+        "image_urls": [
+            "rt_frames_success_rtx_frames_success_38_62_robo_set#episode_12572_sf18_ef21.png"
+        ],
+        "options": [
+            "P1 (0.4071, 0.3524)",
+            "P2 (0.4403, 0.3181)",
+            "P3 (0.4403, 0.2464)",
+            "P4 (0.4598, 0.2149)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/rtx_frames__new_85_85_droid#episode_41374_sf10_ef14",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, None?",
+        "gt_answer": "C",
+        "image_urls": [
+            "rtx_frames__new_85_85_droid#episode_41374_sf10_ef14.png"
+        ],
+        "options": [
+            "P1 (0.4871, 0.4352)",
+            "P2 (0.3137, 0.245)",
+            "P3 (0.5066, 0.2493)",
+            "P4 (0.4547, 0.621)"
+        ]
+    },
+    {
+        "unique_id": "4_affordance_reasoning/static_affordance/images/rt_frames_success_rtx_frames_success_44_62_robo_set#episode_18030_sf15_ef20",
+        "task_type": [
+            "4_affordance_reasoning",
+            "static_affordance"
+        ],
+        "input_type": "image",
+        "question": "Which point in the image corresponds to the object affordance that should be manipulated to fulfill the instruction, None?",
+        "gt_answer": "C",
+        "image_urls": [
+            "rt_frames_success_rtx_frames_success_44_62_robo_set#episode_18030_sf15_ef20.png"
+        ],
+        "options": [
+            "P1 (0.1946, 0.4685)",
+            "P2 (0.3544, 0.6447)",
+            "P3 (0.3487, 0.5917)",
+            "P4 (0.283, 0.553)"
+        ]
+    }
+]
\ No newline at end of file