Simulation rollouts
LiftSpread
LiftSpread
PASTA (ours)/Flat 3D
Initial observation
Final target
GatherMove
GatherMove
PASTA (ours)/Flat 3D
Initial observation
Final target
CutRearrange
CutRearrange
PASTA (ours)
Flat 3D
Initial observation
Final target
CRS
CRS
PASTA (ours)
Flat 3D
Initial observation
Final target
CRS-Twice
CRS-Twice
PASTA (ours)
Flat 3D
Initial observation
Final target
CRS with distractors
CRS with distractors
PASTA (ours)
Initial observation
Final target