ResearchBenchmarksPeg-in-Hole on Peg-in-Hole (test)Peg-in-Hole on Peg-in-Hole (test)Follow25Insertion Depth (mm)Sim Force-Aware20.8421.922324.08Feb 15, 2026Evaluation resultsMethodMethodLinksInsertion Depth (mm)Sim Force-AwareStiffness Level=AdaptiveStiffness Level=Adaptive2026.0225E2VLAStiffness Level=M-AStiffness Level=M-A2026.0223.6π0Stiffness Level=H-AStiffness Level=H-A2026.0222.8E2VLAStiffness Level=L-AStiffness Level=L-A2026.0221.9π0Stiffness Level=L-AStiffness Level=L-A2026.0221.5π0Stiffness Level=M-AStiffness Level=M-A2026.0221.3E2VLAStiffness Level=H-AStiffness Level=H-A2026.0221