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Benchmarks
Complex Manipulation on Peg Insert
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86.7
Success Rate
Oracle
28.876
43.888
58.9
73.912
Mar 26, 2026
Success Rate
Updated 3mo ago
Evaluation Results
Method
Method
Links
Success Rate
Oracle
Param (M)=2.98
2026.03
86.7
ENAP (Oracle)
Param (M)=2.66
2026.03
85.6
ENAP* (DINO)
Param (M)=22.94
2026.03
63.2
GMM
Param (M)=46.11
2026.03
53.1
Transformer
Param (M)=63.81
2026.03
51.8
pi0
Param (M)=3288.52
2026.03
51.6
OpenVLA
Param (M)=7652.10
2026.03
42.3
Diffusion Policy
Param (M)=114.39
2026.03
31.1
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