Dear CoRL Reviewers,

These supplemental materials consist of two parts:
- The paper appendices in "scale-corl-supplemental.pdf"
- A video summary in "scale-corl-video.mp4".

We originally used a video for the peg insertion experiment, but it did not play correctly after exporting the slides to video. Therefore, we are including two videos ("franka-peg-insert-2x.mp4" and "franka-peg-insert-2x.wmv") separately in this zip file so that this experiment video can be viewed. The videos are the same; they use different encodings to ensure at least one can be viewed properly. The peg insertion videos show a successful insertion using skill 2, which localizes against wall/fixture 4.

Thank you!
