Table 2.

Performance comparison among the methods using different loss mixing weights.

	Task	Pick-Up		Pick-and-Place		Stack
Loss Mixing		Success Rate	Time (min)	Success Rate	Time (min)	Success Rate	Time (min)
${\alpha }_i=0$		0.58	112	0.48	128	0.16	135
${\alpha }_i=0.3$		0.75	293	0.52	422	0.46	414
${\alpha }_i=0.6$		0.72	393	0.78	456	0.72	545
${\alpha }_i=1.0$		0.64	460	0.76	625	0.66	724
${\alpha }_i=d_{conv}$		0.75	119	0.84	156	0.78	181