ResearchBenchmarksPeg-in-hole insertion on Pentagonal Prism peg-in-hole 0.2 mm clearancePeg-in-hole insertion on Pentagonal Prism peg-in-hole 0.2 mm clearanceFollow24Success Rate (2 mm)SI-Diff16.7218.6120.522.39May 12, 2026Evaluation resultsMethodMethodLinksSuccess Rate (2 mm)Success Rate (3 mm)Success Rate (4 mm)Success Rate (5 mm)Success RateAverage Time (All Trials)Average Time (Success)SI-Diff2026.052423222294.82.212Teacher-Rsearch_stage=Algorithm...search_stage=Algorithm 1, parameters=randomly sampled2026.052222202087.52.862.41Teacher-Dsearch_stage=Algorithm...search_stage=Algorithm 1, parameters=fixed2026.052121202085.42.772.27FORGE2026.052012121056.34.082.59TacDiff2026.051782129.14.490.83