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Benchmarks
Peg-in-hole insertion on Hexagonal Prism 0.1 mm Clearance
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24
Success Rate (2 mm Tolerance)
SI-Diff
14.64
17.07
19.5
21.93
May 12, 2026
Success Rate (2 mm Tolerance)
Success Rate (3 mm Tolerance)
Success Rate (4 mm Tolerance)
Success Rate (5 mm Tolerance)
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 Tolerance)
Success Rate (3 mm Tolerance)
Success Rate (4 mm Tolerance)
Success Rate (5 mm Tolerance)
Overall Success Rate
Average Time (All Trials) (s)
Average Time (Successful Trials) (s)
SI-Diff
2026.05
24
23
21
22
93.7
2.65
2.43
Teacher-D
search_stage=Algorithm...
2026.05
20
20
19
17
79.2
3.19
2.45
Teacher-R
search_stage=Algorithm...
2026.05
20
20
20
18
81.3
3.2
2.55
FORGE
2026.05
20
18
13
11
64.6
3.75
2.51
TacDiff
2026.05
15
7
3
0
26
4.55
0.92
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