Peg-in-hole insertion on Triangular Prism peg-in-hole 0.2 mm clearance
0.9583Success Rate (2 mm Tolerance)SI-Diff
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| SI-Diff2026.05 | 0.9583 | 0.9167 | 0.875 | 0.875 | 90.6 | 2.43 | 2.06 | |
| Teacher-Rsearch_stage=Algorithm 1, parameters=randomly sampled2026.05 | 0.9167 | 0.875 | 0.8333 | 0.7917 | 85.4 | 2.96 | 2.44 | |
| Teacher-Dsearch_stage=Algorithm 1, parameters=fixed2026.05 | 0.875 | 0.875 | 0.7917 | 0.7917 | 83.3 | 2.91 | 2.3 | |
| TacDiff2026.05 | 0.7083 | 0.2917 | 0.125 | 0 | 28.1 | 4.57 | 0.93 | |
| FORGE2026.05 | 0.5417 | 0.4583 | 0.5 | 0.3333 | 45.8 | 4.48 | 2.69 |