One failure from placing, the other case fails from the picking.
Showcasing the necessity of the compliant control - compliant control is a decision factor between success and failure for contact-rich tasks.
No matter how far and close the new hole location is, the CompACT fails due to a lack of equivariance, where our CompACT success in huge translational/rotational transformations
Without data augmentation, the G-CompACT module is weak to the visual distractor.
To show the feasibility of the EquiContact to other Contact-rich Tasks
Background white papers were added to further satisfy Assumption 2.
Current EquiContact cannot erase the drawing with a loop: it is not in the training dataset.