ResearchBenchmarksPeg-in-hole insertion on Hexagonal Prism 0.1 mm ClearancePeg-in-hole insertion on Hexagonal Prism 0.1 mm ClearanceFollow24Success Rate (2 mm Tolerance)SI-Diff14.6417.0719.521.93May 12, 2026Evaluation resultsMethodMethodLinksSuccess Rate (2 mm Tolerance)Success Rate (3 mm Tolerance)Success Rate (4 mm Tolerance)Success Rate (5 mm Tolerance)Overall Success RateAverage Time (All Trials) (s)Average Time (Successful Trials) (s)SI-Diff2026.052423212293.72.652.43Teacher-Dsearch_stage=Algorithm...search_stage=Algorithm 1, parameters=fixed2026.052020191779.23.192.45Teacher-Rsearch_stage=Algorithm...search_stage=Algorithm 1, parameters=randomly sampled2026.052020201881.33.22.55FORGE2026.052018131164.63.752.51TacDiff2026.0515730264.550.92