Real-world

Real-world Human Intent Reference (test)

2

Real-world ArUco Reference (test)

2

Real-world

2

Real-world

2

Real-world

2

Real-world

2

Real-world (test)

2

Real-world 3 Blocks (test)

2

Real-world 1 Block (test)

2

Real-world 3 Cups (test)

2

Real-world 1 Cup (test)

2

Real-world 2 Bells (test)

2

Real-world 1 Bell (test)

2

Real world

2

Real world

2

Real world

2

Real-world

2

Real-world

2

Real-world challenge

2

Real-world 15 objects

2

Real-world

2

Real-world PIPER robotic arm

2

Real-world PIPER robotic arm, 15 trials

2

Real-World

2

Real-world Unseen Objects

2