This folder contains three videos showcasing the performance of our method on a real-world robotic system. **All videos are captured in single, continuous, unedited takes and are sped up to 4× for brevity**.

# Task Descriptions and Results

1. Bottle (bottle.mp4)
   - **Description**: **Bottle Opening Task.** The robotic arm lifts the lid of a bottle in a cluttered background environment.
   - **Success Rate**: 5/5

2. Pot (pot.mp4)
   - **Description**: **Cover Lifting Task.** The robotic arm lifts the cover of a pot by grasping its top handle in a cluttered background environment.
   - **Success Rate**: 5/5

3. Cabinet (cabinet.mp4)
   - **Description**: **Drawer Pulling Task.** The robotic arm pulls a cabinet drawer by grasping its small, circular handle and moving it outward.
   - **Success Rate**: 5/5
  

# Experimental Setup
- Robotic System: Flexiv Rizon 4 (7-DoF robotic arm) with Flexiv-GN01 gripper.

- Environment: Tasks were performed in realistic settings, with cluttered backgrounds specifically for the bottle and pot tasks to simulate challenging, real-world conditions.

- Object State: For each object, multiple configurations were evaluated, including various placement positions, orientations, or joint states (the drawer of cabinet), to assess the robustness of the method.