This folder contains five videos showcasing the performance of our method on a real-world robotic system. All videos are captured in single, continuous, unedited takes and played at 4× speed.

# Task Descriptions and Results

1. CloseDrawer (CloseDrawer.mp4)
   - **Description**: (Non-prehensile) The robotic arm pushes a partially open drawer closed.

2. PressButton (PressButton.mp4)
   - **Description**: (Non-prehensile) The robotic arm presses a button on an electrical socket .
  
3. PushBlock (PushBlock.mp4)
   - **Description**: (Non-prehensile) The robotic arm pushes a block across a tabletop to a target location using non-prehensile contact.
  
4. OpenMicrowave (OpenMicrowave.mp4)
   - **Description**: The robotic arm pulls open the door of a microwave by grasping its handle.

5. RotateBottleLid (RotateBottleLid.mp4)
   - **Description**: The robotic arm rotates the lid of a bottle and then lift it.

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

- Environment: Tasks were performed in realistic settings on tabletop.