| 物体名称 | 木头 | 柠檬 | 苹果 | 盒子 | 柠檬 | 树枝 | 香蕉 | 水杯 | 水瓶 | 梨 | |
| 抓取次数 | 30 | 30 | 30 | 30 | 30 | 30 | 30 | 30 | 30 | 30 | |
| 模型1 (来自文献 [4] ) | 抓取成功次数 | 20 | 16 | 18 | 19 | 25 | 22 | 26 | 26 | 21 | 17 |
| 抓取成功率 | 66.67% | 53.33% | 60.00% | 63.33% | 83.33% | 73.33% | 86.67% | 86.67% | 70.00% | 56.67% | |
| 模型2 (本文方法) | 抓取成功次数 | 28 | 22 | 24 | 25 | 25 | 23 | 29 | 27 | 29 | 23 |
| 抓取成功率 | 93.33% | 73.33% | 80.00% | 83.33% | 83.33% | 76.67% | 96.67% | 90.00% | 96.67% | 76.67% | |