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Benchmarks
Peg-in-hole insertion on Cylinder peg-in-hole 0.1 mm clearance
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1
Success Rate (2 mm Clearance)
SI-Diff
0.653333
0.743333
0.833333
0.923333
May 12, 2026
Success Rate (2 mm Clearance)
Success Rate (3 mm Clearance)
Success Rate (4 mm Clearance)
Success Rate (5 mm Clearance)
Overall Success Rate (%)
Average Time (All Trials) (s)
Average Time (Successful Trials) (s)
Updated 2mo ago
Evaluation Results
Method
Method
Links
Success Rate (2 mm Clearance)
Success Rate (3 mm Clearance)
Success Rate (4 mm Clearance)
Success Rate (5 mm Clearance)
Overall Success Rate (%)
Average Time (All Trials) (s)
Average Time (Successful Trials) (s)
SI-Diff
2026.05
1
1
0.9583
0.9583
97.9
1.85
1.76
Teacher-D
search_stage=Algorithm...
2026.05
0.9167
0.8333
0.8333
0.7917
84.4
2.59
1.95
Teacher-R
search_stage=Algorithm...
2026.05
0.9167
0.875
-
0.875
88.5
2.58
2.13
FORGE
2026.05
0.9167
0.9583
0.8333
0.8333
88.5
2.55
2.1
TacDiff
2026.05
0.6667
0.25
0.1667
0.0833
29.2
4.48
0.8
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