Insertion on RLBench InsertSquarePeg Oracle models v1.0
100Success Rate (%)NFTC
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| NFTCModel=Oracle, K=10, Strategy=Naive Full-Tree Caching2026.03 | 100 | 280.4 | 10.8 | 2.5 | |
| SPOModel=Oracle, Strategy=Speculative Policy Orchestration2026.03 | 100 | 291.4 | 11 | 2.7 | |
| BlockingModel=Oracle, K=0, Strategy=Synchronous Remote Inference2026.03 | 0 | 600 | 17.3 | 10.7 | |
| T1-SCModel=Oracle, K=1, Strategy=Top-1 Speculative Caching2026.03 | 0 | 600 | 17.3 | 9.7 |