ResearchBenchmarksPeg-in-hole insertion on Triangular Prism peg-in-hole 0.1 mm clearancePeg-in-hole insertion on Triangular Prism peg-in-hole 0.1 mm clearanceFollow23Success Rate (2 mm Tolerance)SI-Diff12.615.31820.7May 12, 2026Evaluation resultsMethodMethodLinksSuccess Rate (2 mm Tolerance)Success Rate (3 mm Tolerance)Success Rate (4 mm Tolerance)Success Rate (5 mm Tolerance)Success Rate (%)Average Time (All Trials) (s)Average Time (Successful Trials) (s)SI-Diff2026.052323212090.62.562.2Teacher-Rsearch_stage=Algorithm...search_stage=Algorithm 1, parameters=randomly sampled2026.052120191881.33.222.58Teacher-Dsearch_stage=Algorithm...search_stage=Algorithm 1, parameters=fixed2026.052020181879.23.292.42TacDiff2026.0515630254.761.02FORGE2026.0513119741.74.622.71