Overhand

 

 Figure-eight

 

 Double overhand

 

 Square

 

 Clove hitch

 


Household tasks

Our experiments with household objects consisted of 11 different tasks (described in the paper). Below we show videos of the training and testing procedure for two representative tasks. Each of the two videos below shows the demonstration followed by three successful executions in a row.

 Scooping from bowl with spoon

 

 Unscrewing bottle