Peg-in-Hole on Real-world
95Success RateDreamTacVLA (HSA & Dream)
Evaluation results
| Method | Links | |
|---|---|---|
| DreamTacVLA (HSA & Dream)HSA=Enabled, Dreaming=Enabled2025.12 | 95 | |
| DreamTacVLA (No HSA, Dream-Only)HSA=Disabled, Dreaming=Enabled2025.12 | 75.4 | |
| DreamTacVLA (HSA-Only, No Dream)HSA=Enabled, Dreaming=Disabled2025.12 | 60.8 | |
| π02025.12 | 48.7 | |
| Diffusion Policy2025.12 | 35.5 | |
| ACT2025.12 | 35.2 |