Before revision:  The policy also transfers well to the real world for grasping unseen objects in both a tabletop setting and a human-robot handover setting in our experiments. Our video can be found at URL .
After revision:  The policy also transfers well to the real world for grasping unseen objects in both a tabletop setting and a human-robot handover system to improve the grasping performance of unseen objects. Our videos and code can be found at URL .