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Benchmarks
Peg-in-hole insertion on Hexagonal Prism peg-in-hole 0.2 mm clearance
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100
Success Rate (2 mm Clearance)
SI-Diff
65.333333
74.333333
83.333333
92.333333
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 Attempts) (s)
Average Time (Successful Attempts) (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 Attempts) (s)
Average Time (Successful Attempts) (s)
SI-Diff
2026.05
100
100
91.6667
91.6667
95.8
2.51
2.36
FORGE
2026.05
91.6667
91.6667
62.5
54.1667
75
3.47
2.63
Teacher-D
search_stage=Algorithm...
2026.05
87.5
87.5
83.3333
75
83.3
2.93
2.31
Teacher-R
search_stage=Algorithm...
2026.05
87.5
87.5
87.5
79.1667
85.4
2.93
2.4
TacDiff
2026.05
66.6667
33.3333
12.5
0
28.1
4.51
0.85
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