ResearchBenchmarksPeg-in-hole insertion on Pentagonal Prism peg-in-hole 0.1 mm clearancePeg-in-hole insertion on Pentagonal Prism peg-in-hole 0.1 mm clearanceFollow24Success Count (2mm Tolerance)SI-Diff15.6817.842022.16May 12, 2026Evaluation resultsMethodMethodLinksSuccess Count (2mm Tolerance)Success Count (3mm Tolerance)Success Count (4mm Tolerance)Success Count (5mm Tolerance)Success Rate (%)Average Time (All Trials) (s)Average Time (Successful Trials) (s)SI-Diff2026.052422222293.72.392.15Teacher-Rsearch_stage=Algorithm...search_stage=Algorithm 1, parameters=randomly sampled2026.052121—1983.33.132.55Teacher-Dsearch_stage=Algorithm...search_stage=Algorithm 1, parameters=fixed2026.052020191981.33.062.38FORGE2026.0518109644.84.452.55TacDiff2026.051672127.14.620.91