Figure 4.

(A) Illustration of the experimental environment comprising a table where two marked areas, separated by a distance of 50 cm, defined the positions for grasping and dropping objects. (B) All 16 objects organized in four different cluttered scenes (A, B, C, and D). Six new objects were introduced in Phase II and no training was provided for them. The labels placed on each object were used as cues to indicate from where the object should be approached and they also provided the number regarding the grasping order.