Table 4.

Bowl and ball gripping test results.

Object and Model	Grasping Success Rate
5-Fin CNN Bowl	90.0%
5-Fin CNN Ball	80.0%
5-finger CNN Bottle	80.0%
2-Fin CNN Bowl	58.82%
2-Fin CNN Ball	52.94%
2-finger CNN Bottle	64.15%
Indoor [25]	85%
Outdoor [25]	80%