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+                146.4788732394366
+            ]
+        ]
+    },
+    {
+        "id": 6861,
+        "image_path": "rtx_frames_success_54/18_dlr_edan_shared_control_converted_externally_to_rlds#episode_86/frame_0.png",
+        "meta_data": {
+            "original_dataset": "dlr_edan_shared_control_converted_externally_to_rlds",
+            "original_width": 640,
+            "original_height": 360
+        },
+        "instruction": "reach for the mug",
+        "trajectory": [
+            [
+                304.22535211267603,
+                67.6056338028169
+            ],
+            [
+                286.19718309859155,
+                94.64788732394366
+            ],
+            [
+                290.7042253521127,
+                132.95774647887325
+            ],
+            [
+                308.7323943661972,
+                153.23943661971828
+            ]
+        ]
+    },
+    {
+        "id": 6862,
+        "image_path": "rtx_frames_success_54/62_robo_set#episode_999/frame_0.png",
+        "meta_data": {
+            "original_dataset": "robo_set",
+            "original_width": 424,
+            "original_height": 240
+        },
+        "instruction": "reach for the ketchup bottle",
+        "trajectory": [
+            [
+                153.77464788732394,
+                110.47887323943664
+            ],
+            [
+                167.2112676056338,
+                137.35211267605632
+            ],
+            [
+                195.57746478873239,
+                146.30985915492957
+            ],
+            [
+                247.83098591549296,
+                138.8450704225352
+            ]
+        ]
+    },
+    {
+        "id": 6863,
+        "image_path": "rtx_frames_success_54/62_robo_set#episode_9982/frame_0.png",
+        "meta_data": {
+            "original_dataset": "robo_set",
+            "original_width": 424,
+            "original_height": 240
+        },
+        "instruction": "reach for the mug",
+        "trajectory": [
+            [
+                144.8169014084507,
+                119.43661971830984
+            ],
+            [
+                147.80281690140845,
+                140.33802816901408
+            ],
+            [
+                159.74647887323943,
+                149.29577464788733
+            ],
+            [
+                189.6056338028169,
+                149.29577464788733
+            ]
+        ]
+    },
+    {
+        "id": 6864,
+        "image_path": "rtx_frames_success_54/62_robo_set#episode_9982/frame_15.png",
+        "meta_data": {
+            "original_dataset": "robo_set",
+            "original_width": 424,
+            "original_height": 240
+        },
+        "instruction": "move the mug to the right",
+        "trajectory": [
+            [
+                203.04225352112672,
+                140.33802816901408
+            ],
+            [
+                226.9295774647887,
+                129.88732394366195
+            ],
+            [
+                255.2957746478873,
+                131.38028169014083
+            ],
+            [
+                279.1830985915493,
+                143.32394366197184
+            ]
+        ]
+    },
+    {
+        "id": 6865,
+        "image_path": "rtx_frames_success_54/62_robo_set#episode_9983/frame_0.png",
+        "meta_data": {
+            "original_dataset": "robo_set",
+            "original_width": 424,
+            "original_height": 240
+        },
+        "instruction": "reach for the mug",
+        "trajectory": [
+            [
+                153.77464788732394,
+                110.47887323943664
+            ],
+            [
+                183.6338028169014,
+                89.5774647887324
+            ],
+            [
+                204.53521126760563,
+                71.66197183098592
+            ],
+            [
+                264.2535211267605,
+                61.2112676056338
+            ]
+        ]
+    },
+    {
+        "id": 6866,
+        "image_path": "rtx_frames_success_54/62_robo_set#episode_9985/frame_0.png",
+        "meta_data": {
+            "original_dataset": "robo_set",
+            "original_width": 424,
+            "original_height": 240
+        },
+        "instruction": "reach for the ketchup bottle",
+        "trajectory": [
+            [
+                153.77464788732394,
+                113.46478873239437
+            ],
+            [
+                174.67605633802816,
+                134.36619718309862
+            ],
+            [
+                207.5211267605634,
+                143.32394366197184
+            ],
+            [
+                249.32394366197184,
+                140.33802816901408
+            ]
+        ]
+    },
+    {
+        "id": 6867,
+        "image_path": "rtx_frames_success_54/62_robo_set#episode_9994/frame_0.png",
+        "meta_data": {
+            "original_dataset": "robo_set",
+            "original_width": 424,
+            "original_height": 240
+        },
+        "instruction": "reach for the mug",
+        "trajectory": [
+            [
+                149.29577464788733,
+                113.46478873239437
+            ],
+            [
+                161.23943661971828,
+                138.8450704225352
+            ],
+            [
+                183.6338028169014,
+                149.29577464788733
+            ],
+            [
+                204.53521126760563,
+                150.78873239436618
+            ]
+        ]
+    },
+    {
+        "id": 6868,
+        "image_path": "rtx_frames_success_54/62_robo_set#episode_9995/frame_0.png",
+        "meta_data": {
+            "original_dataset": "robo_set",
+            "original_width": 424,
+            "original_height": 240
+        },
+        "instruction": "reach for the banana",
+        "trajectory": [
+            [
+                150.7887323943662,
+                113.46478873239437
+            ],
+            [
+                168.7042253521127,
+                138.8450704225352
+            ],
+            [
+                195.57746478873239,
+                146.30985915492957
+            ],
+            [
+                244.8450704225352,
+                137.35211267605632
+            ]
+        ]
+    },
+    {
+        "id": 6869,
+        "image_path": "rtx_frames_success_54/62_robo_set#episode_9998/frame_0.png",
+        "meta_data": {
+            "original_dataset": "robo_set",
+            "original_width": 424,
+            "original_height": 240
+        },
+        "instruction": "reach for the banana",
+        "trajectory": [
+            [
+                149.29577464788733,
+                114.95774647887323
+            ],
+            [
+                164.22535211267603,
+                138.8450704225352
+            ],
+            [
+                195.57746478873239,
+                144.8169014084507
+            ],
+            [
+                255.2957746478873,
+                140.33802816901408
+            ]
+        ]
+    }
+]
\ No newline at end of file
diff --git a/trajectory/visualize_images.py b/trajectory/visualize_images.py
new file mode 100644
index 0000000000000000000000000000000000000000..e84542aa3d8e06a612901b4a920355a0cdb9545a
--- /dev/null
+++ b/trajectory/visualize_images.py
@@ -0,0 +1,45 @@
+import json
+import os
+from PIL import Image, ImageDraw
+
+trajectory_final = './trajectory.json'
+output_img_dir = './visualized_images'
+img_dir = './images'
+
+with open(trajectory_final, 'r') as f:
+    data = json.load(f)
+    for item in data:
+        filepath = os.path.join(img_dir, item['image_path'])
+        points = item['trajectory']
+
+        image = Image.open(filepath).convert("RGB")  # 确保图像是 RGB 模式
+        draw = ImageDraw.Draw(image)  # 创建绘图对象
+        # 定义颜色和线宽
+        color = (255, 0, 0)  # 红色 (RGB 格式)
+        thickness = 2
+
+
+        scaled_points = [
+                (point[0], point[1])
+                for point in points
+            ]
+        # 按照顺序连接相邻的点
+        for i in range(len(scaled_points) - 1):
+            draw.line([scaled_points[i], scaled_points[i + 1]], fill=color, width=thickness)
+
+        # 获取相对路径并拼接目标路径
+        relative_path = os.path.relpath(filepath, img_dir)
+        output_img_path = os.path.join(output_img_dir, relative_path)
+
+        # 创建目标文件夹
+        output_directory = os.path.dirname(output_img_path)
+        if not os.path.exists(output_directory):
+            os.makedirs(output_directory)
+
+        # 打印调试信息
+        print(f"Input filepath: {filepath}")
+        print(f"Output image path: {output_img_path}")
+        print(f"Output directory: {output_directory}")
+
+        # 保存图像
+        image.save(output_img_path)
\ No newline at end of file