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Benchmarks
Peg-in-hole insertion on Pentagonal Prism peg-in-hole 0.2 mm clearance
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24
Success Rate (2 mm)
SI-Diff
16.72
18.61
20.5
22.39
May 12, 2026
Success Rate (2 mm)
Success Rate (3 mm)
Success Rate (4 mm)
Success Rate (5 mm)
Success Rate
Average Time (All Trials)
Average Time (Success)
Updated 2mo ago
Evaluation Results
Method
Method
Links
Success Rate (2 mm)
Success Rate (3 mm)
Success Rate (4 mm)
Success Rate (5 mm)
Success Rate
Average Time (All Trials)
Average Time (Success)
SI-Diff
2026.05
24
23
22
22
94.8
2.21
2
Teacher-R
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2026.05
22
22
20
20
87.5
2.86
2.41
Teacher-D
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2026.05
21
21
20
20
85.4
2.77
2.27
FORGE
2026.05
20
12
12
10
56.3
4.08
2.59
TacDiff
2026.05
17
8
2
1
29.1
4.49
0.83
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