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Context: We can use the predicted grasp success p(\ell=1) produced by the network to inform a heuristic for raising and lowering the gripper, as well as to choose when to stop moving and attempt a grasp. We use two heuristics in particular: first, we close the gripper whenever the network predicts that (\mathbf{I}_{t},\emptyset), where \emptyset corresponds to no motion, will succeed with a probability that is at least 90\% of the best inferred motion \mathbf{v}_{t}^{\star}. The rationale behind this is to stop the grasp early if closing the gripper is nearly as likely to produce a successful grasp as moving it. The second heuristic is to raise the gripper off the table when (\mathbf{I}_{t},\emptyset) has a probability of success that is less than 50\% of \mathbf{v}_{t}^{\star}. The rationale behind this choice is that, if closing the gripper now is substantially worse than moving it, the gripper is most likely not positioned in a good configuration, and a large motion will be required. Therefore, raising the gripper off the table minimizes the chance of hitting other objects that are in the way. While these heuristics are somewhat ad-hoc, we found that they were effective for successfully grasping a wide range of objects in highly cluttered situations, as discussed in Section 6. Pseudocode for the servoing mechanism f(\mathbf{I}_{t}) is presented in Algorithm 1. Further details on the servoing mechanism are presented in Appendix A.

Question: How were the probability percentages chosen for the two heuristics of the continuous serving algorithm?
We use two heuristics in particular: first, we close the gripper whenever the network predicts that (\mathbf{I}_{t},\emptyset), where \emptyset corresponds to no motion, will succeed with a probability that is at least 90\% of the best inferred motion \mathbf{v}_{t}^{\star}. The rationale behind this is to stop the grasp early if closing the gripper is nearly as likely to produce a successful grasp as moving it. The second heuristic is to raise the gripper off the table when (\mathbf{I}_{t},\emptyset) has a probability of success that is less than 50\% of \mathbf{v}_{t}^{\star}. The rationale behind this choice is that, if closing the gripper now is substantially worse than moving it, the gripper is most likely not positioned in a good configuration, and a large motion will be required. Therefore, raising the gripper off the table minimizes the chance of hitting other objects that are in the way.