Fruit Weighing
Grasp the pear
Capsule Loading
Open the lid
Tea Pouring
Reach the teapot
Fruit Weighing
Regrasp the pear
Noise 1
Noise 2
Noise 3
Noise 4
Steering strength
γ
=
0.4
0
1
Trajectories
π
base
π
ref
π
task
π
PPS