ResearchBenchmarksPeg-in-hole assembly on NIST ATB M1 Level 1 (3 mm clearance)Follow0Miss Rate (Insertion)ReTac-ACT-2.816.13553.9Mar 10, 2026Evaluation ResultsMethodMethodLinksMiss Rate (Insertion)Grasp Success RateInsertion Success RateReTac-ACTvision-tactile=truevision-tactile=true2026.03010090ACTtype=CVAE-based transf...type=CVAE-based transformer2026.03406040pi05type=VLA modeltype=VLA model2026.03554520DPtype=Diffusion Policytype=Diffusion Policy2026.03703020