Video Result: Qualitative Results for each task

Below we show qualitative results for each of the task used in the paper, for instances of both train and test set.

Button Press

EE-space TAC (Manual) TAC (Keypoints) TAC (Keypoints+Axes)

Test set generalization

Block Tumble

EE-space TAC (Manual) TAC (Keypoints) TAC (Keypoints+Axes)

Test Set generalization for Block Tumble task to objects with different sizes (both larger and smaller) than train set.

EE-space TAC (Manual) TAC (Keypoints) TAC (Keypoints+Axes)

Door Open

Results on both Train and Test set

EE-space TAC (Manual) TAC (Keypoints) TAC (Keypoints+Axes)