Insertion

Benchmarks

Dataset Name	SOTA Method	Metric
Simulation	ViTaS	Insertion Success Rate98.2	19	1mo ago
Real-World	WorldSample	Success Rate95	16	22d ago
Simulation Noisy	ViTaS	Success Rate0.892	7	5mo ago
RealMan plug (perturbed)	UniTacVLA	Success Rate48	6	24d ago
RealMan plug (clean)	UniTacVLA	Success Rate54	6	24d ago
RealMan usb perturbed	UniTacVLA	Success Rate58	6	24d ago
RealMan usb clean	UniTacVLA	Success Rate62	6	24d ago
Real-world (test)	RLDC	Success Rate16	6	1mo ago
RLBench InsertSquarePeg Oracle models v1.0	NFTC	Success Rate (%)100	4	4mo ago
H2R Unseen-by-both objects	TactAlign	Success Rate67	4	5mo ago
H2R Human-only objects	TactAlign	Success Rate6,500	4	5mo ago
H2R Seen-by-both objects	TactAlign	Success Rate100	4	5mo ago
DexSim2Real Six-Task Benchmark	DexSim2Real	Success Rate (Sim)87.5	3	2mo ago
ALOHA simulator Insertion	Adaptor	Success Rate67.25	3	3mo ago
Insertion Hard Positions	FlowCorrect	ID Hard Position 1 Success Rate100	3	4mo ago
Real-robot Manipulation Galaxea A1X 6-DoF arm	PACT	Success Rate90	2	1mo ago
NIST Assembly Task Board 1 SSD connector (Unimodal)	TAX-DPD	Success Rate85	2	3mo ago
NIST Assembly Task Board 1 DSUB-25 connector Unimodal	TAX-Pose	Success Rate80	2	3mo ago
NIST Assembly Task Board 1 Waterproof connector Unimodal	TAX-DPD	Success Rate100	2	3mo ago
NIST Assembly Task Board 1 - Waterproof connector (Multimodal)	TAX-DPD	Success Rate90	1	3mo ago
OBJECT	3DIT	Geometric Consistency (3DIT)70	1	5mo ago

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