# Peg Insertion on IsaacSim Peg Insertion adapted from Nvidia Factory (test)

Source: [Peg Insertion on IsaacSim Peg Insertion adapted from Nvidia Factory (test)](<https://www.sota2.com/research/sota/peg-insertion-on-isaacsim-peg-insertion-adapted-from-nvidia-factory-test>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-04-14T10:41:38.255Z

Evaluation of the Peg Insertion task performance within the specific IsaacSim environment adapted from the Nvidia Factory dataset, measured on the test split.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Peg Insertion |
| Dataset (including any stated split) | IsaacSim Peg Insertion adapted from Nvidia Factory (test) |
| Metric | Success Rate |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 8 of 8 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [Success Rate](<https://www.sota2.com/research/sota/peg-insertion-on-isaacsim-peg-insertion-adapted-from-nvidia-factory-test.md?metric=Success%20Rate>): Higher is better; unit: PERCENT.

## Recorded results

| Method | Success Rate | Result date | Report paper |
| --- | --- | --- | --- |
| MDF | 86 | Not recorded | 691171842828b7cc6937d5f2 |
| DP3 | 84 | Not recorded | 691171842828b7cc6937d5f2 |
| MDF | 80 | Not recorded | 691171842828b7cc6937d5f2 |
| MDF | 78 | Not recorded | 691171842828b7cc6937d5f2 |
| DP3 | 76 | Not recorded | 691171842828b7cc6937d5f2 |
| MDF | 74 | Not recorded | 691171842828b7cc6937d5f2 |
| MDF | 70 | Not recorded | 691171842828b7cc6937d5f2 |
| UWM | 58 | Not recorded | 691171842828b7cc6937d5f2 |

### MDF

Success Rate: 86. Result ID: 69de19d947f34ce924c64565.

[Reporting paper](<https://www.sota2.com/research/paper/691171842828b7cc6937d5f2.md>)

[Method origin paper](<https://www.sota2.com/research/paper/691171842828b7cc6937d5f2.md>)

Recorded evaluation configuration: {"Sampling mode":"Policy","Observation noise":"Noisy PC"}. This record does not assert independent reproduction.

### DP3

Success Rate: 84. Result ID: 69de19d947f34ce924c64561.

[Reporting paper](<https://www.sota2.com/research/paper/691171842828b7cc6937d5f2.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa74f31e209131cea64c76.md>)

[Implementation](<https://github.com/YanjieZe/3D-Diffusion-Policy>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### MDF

Success Rate: 80. Result ID: 69de19d947f34ce924c64563.

[Reporting paper](<https://www.sota2.com/research/paper/691171842828b7cc6937d5f2.md>)

[Method origin paper](<https://www.sota2.com/research/paper/691171842828b7cc6937d5f2.md>)

Recorded evaluation configuration: {"Sampling mode":"Policy"}. This record does not assert independent reproduction.

### MDF

Success Rate: 78. Result ID: 69de19d947f34ce924c64564.

[Reporting paper](<https://www.sota2.com/research/paper/691171842828b7cc6937d5f2.md>)

[Method origin paper](<https://www.sota2.com/research/paper/691171842828b7cc6937d5f2.md>)

Recorded evaluation configuration: {"Sampling mode":"World Action (WA)"}. This record does not assert independent reproduction.

### DP3

Success Rate: 76. Result ID: 69de19d947f34ce924c64566.

[Reporting paper](<https://www.sota2.com/research/paper/691171842828b7cc6937d5f2.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa74f31e209131cea64c76.md>)

[Implementation](<https://github.com/YanjieZe/3D-Diffusion-Policy>)

Recorded evaluation configuration: {"Observation noise":"Noisy PC"}. This record does not assert independent reproduction.

### MDF

Success Rate: 74. Result ID: 69de19d947f34ce924c64567.

[Reporting paper](<https://www.sota2.com/research/paper/691171842828b7cc6937d5f2.md>)

[Method origin paper](<https://www.sota2.com/research/paper/691171842828b7cc6937d5f2.md>)

Recorded evaluation configuration: {"Sampling mode":"Policy","Input modalities":"No wrench"}. This record does not assert independent reproduction.

### MDF

Success Rate: 70. Result ID: 69de19d947f34ce924c64568.

[Reporting paper](<https://www.sota2.com/research/paper/691171842828b7cc6937d5f2.md>)

[Method origin paper](<https://www.sota2.com/research/paper/691171842828b7cc6937d5f2.md>)

Recorded evaluation configuration: {"Sampling mode":"Policy","State estimation history":"No state estimation"}. This record does not assert independent reproduction.

### UWM

Success Rate: 58. Result ID: 69de19d947f34ce924c64562.

[Reporting paper](<https://www.sota2.com/research/paper/691171842828b7cc6937d5f2.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa78b51e209131cea79e5c.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

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