ResearchBenchmarksIsaac-Factory-PegInsert-Direct-v0 on IsaacLabIsaac-Factory-PegInsert-Direct-v0 on IsaacLabFollow319AUC0:NTD333.936107.943181.95255.957Jun 7, 2026Evaluation resultsMethodMethodLinksAUC0:NTtauFinal ScoreGain AUCTD3Tuning=HARBORTuning=HARBOR2026.063191.83372610.1SACTuning=HARBORTuning=HARBOR2026.062772.75344470.4PPOTuning=HARBORTuning=HARBOR2026.062472.32280244PPOTuning=DefaultTuning=Default2026.0671.8—87.4—SACTuning=DefaultTuning=Default2026.0648.5—59.2—TD3Tuning=DefaultTuning=Default2026.0644.9—56.1—