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Benchmarks
Peg-in-hole insertion on Triangular Prism peg-in-hole 0.1 mm clearance
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23
Success Rate (2 mm Tolerance)
SI-Diff
12.6
15.3
18
20.7
May 12, 2026
Success Rate (2 mm Tolerance)
Success Rate (3 mm Tolerance)
Success Rate (4 mm Tolerance)
Success Rate (5 mm Tolerance)
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)
Success Rate (%)
Average Time (All Trials) (s)
Average Time (Successful Trials) (s)
SI-Diff
2026.05
23
23
21
20
90.6
2.56
2.2
Teacher-R
search_stage=Algorithm...
2026.05
21
20
19
18
81.3
3.22
2.58
Teacher-D
search_stage=Algorithm...
2026.05
20
20
18
18
79.2
3.29
2.42
TacDiff
2026.05
15
6
3
0
25
4.76
1.02
FORGE
2026.05
13
11
9
7
41.7
4.62
2.71
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