ResearchBenchmarksPeg-in-hole insertion on USB-A peg-in-holePeg-in-hole insertion on USB-A peg-in-holeFollow22Success Rate (2 mm Clearance)Teacher-R16.818.1519.520.85May 12, 2026Evaluation resultsMethodMethodLinksSuccess Rate (2 mm Clearance)Success Rate (3 mm Clearance)Success Rate (4 mm Clearance)Success Rate (5 mm Clearance)Success RateAverage Time (All Attempts) (s)Average Time (Successful) (s)Teacher-Rsearch_stage=Algorithm...search_stage=Algorithm 1, parameters=randomly sampled2026.052220—1883.33.392.94FORGE2026.052221212087.53.172.77SI-Diff2026.052222222190.62.942.74Teacher-Dsearch_stage=Algorithm...search_stage=Algorithm 1, parameters=fixed2026.052120191982.33.42.84TacDiff2026.051795234.34.381.3