Anonymous Supplementary Materials

Image Materials

Supplementary Figures and Illustrations

R1.1 Incomplete Task Execution

Trash

R1.2 Deadlock due to Orientation

upper_hand

R1.3 Object Drop Failure

drop

R4.1 Curvature Histogram

Curvature Histogram

R4.2 Trajectory Examples

Trajectory Examples

R4.3 Within Obs Panel

Figure R1 Within Obs Panel

R4.4 Tau by Success Failure

Tau by Success Failure

R4.5 Per Stage Violin

Per Stage Violin

Video Materials

Supplementary Video Results

Cook Hotdogs - Success

Cook Hotdogs - Failure

Picking Up Trash - Success

Picking Up Trash - Failure

Spraying Fruit Trees - Success

Spraying Fruit Trees - Failure

Turning on Radio - Success

Turning on Radio - Failure

Wash a Baseball Cap - Success

Wash a Baseball Cap - Failure