TABLE 1.

Performance on the two real assembly tasks.

Task	Metrics	Start pose
		Pose 1	Pose 2	Pose 3	Pose 4
USB	Success rate	0.95	0.90	1.0	0.90
	Avg. steps	172.0	156.1	120.5	113.6
Plug	Success rate	1.0	1.0	0.90	0.90
	Avg. steps	89.3	176.7	131.2	317.8