Peg-in-hole Insertion

Benchmarks

Dataset Name	SOTA Method	Metric
Peg-in-hole Simulation Unseen shapes 1mm Tolerance (test)	Multi-frame	Success Rate94.8	8	1mo ago
Peg-in-hole Simulation Seen shapes 1mm Tolerance (test)	E2E vision-RL	Success Rate100	8	1mo ago
USB-A peg-in-hole		Success Rate (2 mm Clearance)22	5	2mo ago
Cylinder peg-in-hole 0.1 mm clearance	SI-Diff	Success Rate (2 mm Clearance)1	5	2mo ago
Triangular Prism peg-in-hole 0.2 mm clearance	SI-Diff	Success Rate (2 mm Tolerance)0.9583	5	2mo ago
Triangular Prism peg-in-hole 0.1 mm clearance	SI-Diff	Success Rate (2 mm Tolerance)23	5	2mo ago
Pentagonal Prism peg-in-hole 0.2 mm clearance	SI-Diff	Success Rate (2 mm)24	5	2mo ago
Pentagonal Prism peg-in-hole 0.1 mm clearance	SI-Diff	Success Count (2mm Tolerance)24	5	2mo ago
Hexagonal Prism peg-in-hole 0.2 mm clearance	SI-Diff	Success Rate (2 mm Clearance)100	5	2mo ago
Hexagonal Prism peg-in-hole 0.1 mm clearance	SI-Diff	Success Rate (2 mm Tolerance)24	5	2mo ago
Cuboid peg-in-hole 0.1 mm clearance	SI-Diff	Success Rate (2mm Clearance)1	5	2mo ago
ManipulationNet peg-in-hole board	VR Controller	Intuitiveness Score2.67	3	4mo ago
Star Peg	Diffusion-Based Impedance Learning	Success Rate100	2	4mo ago
Square Peg	Diffusion-Based Impedance Learning	Success Rate100	2	4mo ago
Cylindrical Peg		Success Rate100	2	4mo ago

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