TABLE III:
Cost comparison for canonical task for (top) Test-1 and (bottom) Test-2 over 2, 000 episodes.
| No Cost | Step Cost | GQ | MC | MC + GQ | CU | SP | |
|---|---|---|---|---|---|---|---|
| Place Execution Success | 0.727 ± 0.010 | 0.777 ± 0.009 | 0.856 ± 0.008 | 0.852 ± 0.008 | 0.861 ± 0.008 | 0.830 ± 0.008 | 0.913 ± 0.006 |
| Grasp Antipodal | 0.833 ± 0.007 | 0.824 ± 0.009 | 0.906 ± 0.006 | 0.902 ± 0.006 | 0.908 ± 0.006 | 0.857 ± 0.008 | 0.951 ± 0.005 |
| Temporary Place Stable | 0.785 ± 0.015 | 0.623 ± 0.067 | 0.700 ± 0.031 | 0.852 ± 0.022 | 0.784 ± 0.030 | 0.885 ± 0.029 | 0.967 ± 0.012 |
| Plan Length | 3.061 ± 0.029 | 2.079 ± 0.009 | 2.273 ± 0.016 | 2.286 ± 0.016 | 2.220 ± 0.014 | 2.157 ± 0.013 | 2.239 ± 0.015 |
| Regrasp planning time (s) | 2.462 ± 0.061 | 6.413 ± 0.353 | 62.19 ± 0.326 | 117.6 ± 0.724 | 121.1 ± 0.577 | 54.88 ± 0.366 | 61.54 ± 0.900 |
| Place Execution Success | 0.446 ± 0.011 | 0.535 ± 0.012 | 0.520 ± 0.012 | 0.543 ± 0.012 | 0.566 ± 0.012 | 0.533 ± 0.012 | 0.591 ± 0.011 |
| Grasp Antipodal | 0.585 ± 0.010 | 0.592 ± 0.011 | 0.612 ± 0.011 | 0.630 ± 0.011 | 0.650 ± 0.011 | 0.590 ± 0.011 | 0.674 ± 0.010 |
| Temporary Place Stable | 0.690 ± 0.021 | 0.555 ± 0.046 | 0.608 ± 0.030 | 0.717 ± 0.032 | 0.621 ± 0.034 | 0.671 ± 0.036 | 0.742 ± 0.027 |
| Plan Length | 3.265 ± 0.035 | 2.323 ± 0.018 | 2.686 ± 0.025 | 2.501 ± 0.022 | 2.474 ± 0.021 | 2.419 ± 0.020 | 2.518 ± 0.023 |
| Regrasp planning time (s) | 4.278 ± 0.156 | 14.84 ± 0.539 | 68.87 ± 0.657 | 99.36 ± 0.818 | 99.02 ± 0.819 | 60.05 ± 0.633 | 74.08 ± 0.732 |