During the last two months the consortium has been performing first real world experiments and further work on our simulation and learning methods has been performed.

1) After further preparations for the real world experiments in the SCAPE 2-finger setup were accomplished we performed a larger batch of real world experiment, with grasps generated from simulation. The video here visualizes the distribution of success (green) and failures (red) in this case.

2) Simulations of the Cranfield plate on a table using the SDH 3 finger hand have been modified and several million simulations have been executed. This video shows the success space. See here for simulation in progress.

3) To guarantees global consistency and avoids artifacts (steaming from the artificial segmenting of the data into cubicles) in our learning methods and condensation techniques we implemented a global probability estimate.