Share your thoughts, 1 month free Claude Pro on usSee more

Peg-in-hole insertion on Triangular Prism peg-in-hole 0.2 mm clearance

0.9583Success Rate (2 mm Tolerance)

SI-Diff

Updated 2mo ago

Evaluation Results

Method	Links
SI-Diff 2026.05		0.9583	0.9167	0.875	0.875	90.6	2.43	2.06
Teacher-R 2026.05		0.9167	0.875	0.8333	0.7917	85.4	2.96	2.44
Teacher-D 2026.05		0.875	0.875	0.7917	0.7917	83.3	2.91	2.3
TacDiff 2026.05		0.7083	0.2917	0.125	0	28.1	4.57	0.93
FORGE 2026.05		0.5417	0.4583	0.5	0.3333	45.8	4.48	2.69