Before revision:  We evaluate our proposed approach in both simulation and in the real-world, showing an increase in success rate from 91.6\% to 98\% in simulation and from 10\% to 80\% success rate in the real-world as compared with naive baselines. 
After revision:  We evaluate our proposed approach in both simulation and in the real-world, showing an increase in success rate from 91.6\% to 98\% in simulation and from 10\% to 80\% success rate in the real-world as compared with naive baselines. For experiment videos including both real-world and simulation, see: URL