Industrial Connector Insertion on Harting HanDD Dataset (20 rollouts evaluation)
100Success Rate (%)SHaRe-RL
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| SHaRe-RLStructure=✓, Demos=✓, Interventions=✓2025.09 | 100 | 3.5 | |
| Human ExpertStructure=–, Demos=–, Interventions=–2025.09 | 100 | 4.5 | |
| SHaRe-BCStructure=✓, Demos=✓, Interventions=✓2025.09 | 80 | 7.4 | |
| HIL-SERLStructure=✗, Demos=✓, Interventions=✓2025.09 | 65 | 7.4 | |
| SHaRe-RLno-interventionsStructure=✓, Demos=✓, Interventions=✗2025.09 | 45 | 7.5 | |
| SHaRe-RLno-demosStructure=✓, Demos=✗, Interventions=✗2025.09 | 35 | 7.9 | |
| SHaRe-RLno-visionStructure=✓, Demos=✓, Interventions=✓2025.09 | 10 | 8.8 | |
| SACdenseStructure=✗, Demos=✗, Interventions=✗2025.09 | 5 | 8.7 | |
| SHaRe-RLPPOStructure=✓, Demos=✗, Interventions=✗2025.09 | 5 | 8.8 | |
| Random PolicyStructure=–, Demos=–, Interventions=–2025.09 | 5 | 8.9 |