TABLE II:

Cost comparison for bin packing for (top) Test-1 (230 episodes) and (bottom) Test-2 (200 episodes).

	No Cost	Step Cost	GQ	MC	MC + GQ	CU	SP
Place Execution Success	0.651 ± 0.013	0.725 ± 0.012	0.748 ± 0.012	0.756 ± 0.012	0.787 ± 0.011	0.712 ± 0.013	0.779 ± 0.012
Grasp Antipodal	0.737 ± 0.011	0.751 ± 0.012	0.794 ± 0.011	0.811 ± 0.011	0.830 ± 0.010	0.743 ± 0.012	0.823 ± 0.010
Temporary Place Stable	0.784 ± 0.024	0.857 ± 0.097	0.845 ± 0.030	0.904 ± 0.028	0.883 ± 0.031	0.848 ± 0.054	0.959 ± 0.018
Plan Length	2.665 ± 0.031	2.038 ± 0.008	2.293 ± 0.021	2.222 ± 0.019	2.201 ± 0.018	2.105 ± 0.013	2.233 ± 0.019
Regrasp planning time (s)	4.904 ± 0.230	7.201 ± 0.393	84.56 ± 0.827	90.10 ± 0.892	126.5 ± 1.029	72.00 ± 0.835	86.61 ± 1.040
Place Execution Success	0.412 ± 0.017	0.417 ± 0.017	0.395 ± 0.017	0.458 ± 0.017	0.422 ± 0.017	0.429 ± 0.017	0.465 ± 0.017
Grasp Antipodal	0.484 ± 0.017	0.449 ± 0.017	0.450 ± 0.017	0.504 ± 0.017	0.472 ± 0.017	0.457 ± 0.017	0.518 ± 0.017
Temporary Place Stable	0.704 ± 0.051	0.714 ± 0.125	0.533 ± 0.075	0.750 ± 0.083	0.800 ± 0.082	0.778 ± 0.101	0.686 ± 0.080
Plan Length	2.514 ± 0.036	2.094 ± 0.015	2.247 ± 0.024	2.167 ± 0.020	2.150 ± 0.019	2.118 ± 0.017	2.193 ± 0.022
Regrasp planning time (s)	6.030 ± 0.237	8.484 ± 0.408	51.61 ± 1.113	58.56 ± 1.064	71.38 ± 1.333	50.92 ± 1.177	53.35 ± 1.159