ResearchBenchmarksPeg Insertion on PegInsert Simulation Isaac Lab (test)Peg Insertion on PegInsert Simulation Isaac Lab (test)Follow79Success RateFORGE46.7655.1363.571.87May 21, 2026Evaluation resultsMethodMethodLinksSuccess RateFORGEEvaluation Mode=Baseli...Evaluation Mode=Baseline, Online Adapter Prediction=False, Privileged Information=None (Removed), Hardware Interface=Marvin2026.0579CoRMAEvaluation Mode=Studen...Evaluation Mode=Student mode, Online Adapter Prediction=True, Privileged Information=None, Hardware Interface=Marvin2026.0548