Contact-rich Robotic Manipulation on Real-world Tube Insertion
70Success RateHiL-SERL + UniIntervene
Evaluation results
| Method | Links | ||
|---|---|---|---|
| HiL-SERL + UniIntervene2026.06 | 70 | 15.8 | |
| HiL-SERL2026.06 | 60 | 30.2 | |
| HiL-SERL + FA-RL2026.06 | 60 | 22.1 | |
| π0.5 (SFT)Training Mode=Supervised Fine-Tuning (SFT)2026.06 | 30 | — |