Table 4.

Robotic grasp experiment results.

Object	Single-Object Scenes		Multi-Object Scenes
	Prediction	Grasping	Prediction	Grasping
Knife	8/10	8/10	7/10	7/10
Bananas	10/10	10/10	10/10	10/10
Toothbrush	10/10	9/10	10/10	8/10
Toothpaste	10/10	10/10	10/10	10/10
Wrenches	10/10	10/10	10/10	9/10
Wrist developer	10/10	10/10	8/10	7/10
Screwdrivers	10/10	8/10	10/10	10/10
Apples	10/10	10/10	10/10	9/10
Pliers	10/10	9/10	9/10	7/10
Tape	10/10	10/10	10/10	10/10
Accuracy (%)	98	94	94	87