Before revision:  The approach is validated in a needle threading experiment, with a 150 \mu m thread and a 300 \mu m needle  hole, and a USB insertion task using two 7-axis Panda robots.
After revision:  The approach is validated in a needle threading experiment, with a 150 \mu m thread and a 300 \mu m needle m hole, and a USB insertion task using two 7-axis Panda robots.