ResearchBenchmarksPeg Insertion on ManiFeel 44 (simulation)Peg Insertion on ManiFeel 44 (simulation)Follow48Success RateHTT(FF)19.9227.2134.541.79Jun 29, 2026Evaluation resultsMethodMethodLinksSuccess RateHTT(FF)Modality=Tactile Force...Modality=Tactile Force Field (TacFF)2026.0648HTT(RGB)Modality=Tactile RGBModality=Tactile RGB2026.0644SITR2026.0635T32026.0623tacRGBModality=Tactile RGB,...Modality=Tactile RGB, Encoder=GsMini2026.0621