Appendix A Implementation Details

We are also committed to releasing the code. Implementation details for Stage 2. Our implementation strictly follows the previous work that also In this section, we briefly introduce our tasks. Mean of 3 seeds with seed number 0, 1, 2. Shaded area indicates 95% CIs. It requires the robot hand to open the door on the table. It requires the robot hand to orient the pen to the target orientation. It requires the robot hand to place the object on the table into the mug.