Peg-in-hole insertion on Cylinder peg-in-hole 0.1 mm clearance
1Success Rate (2 mm Clearance)SI-Diff
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| SI-Diff2026.05 | 1 | 1 | 0.9583 | 0.9583 | 97.9 | 1.85 | 1.76 | |
| Teacher-Dsearch_stage=Algorithm 1, parameters=fixed2026.05 | 0.9167 | 0.8333 | 0.8333 | 0.7917 | 84.4 | 2.59 | 1.95 | |
| Teacher-Rsearch_stage=Algorithm 1, parameters=randomly sampled2026.05 | 0.9167 | 0.875 | — | 0.875 | 88.5 | 2.58 | 2.13 | |
| FORGE2026.05 | 0.9167 | 0.9583 | 0.8333 | 0.8333 | 88.5 | 2.55 | 2.1 | |
| TacDiff2026.05 | 0.6667 | 0.25 | 0.1667 | 0.0833 | 29.2 | 4.48 | 0.8 |