Peg Insertion on Real-world
91.7Success RateTac2Real
Evaluation results
| Method | Links | |
|---|---|---|
| Tac2RealTacAlign level=1,2,3,4, Env.=real2026.03 | 91.7 | |
| DexSim2Realzero-shot=true, real_demonstrations=0, n_seeds=32026.05 | 78.4 | |
| Tac2RealTacAlign level=1,2,3, Env.=real2026.03 | 76.7 | |
| Act3Dzero-shot=false, real_demonstrations=100, n_seeds=32026.05 | 67.3 | |
| RVTzero-shot=false, real_demonstrations=100, n_seeds=32026.05 | 66.1 | |
| PerActzero-shot=false, real_demonstrations=100, n_seeds=32026.05 | 63.5 | |
| DrEurekazero-shot=true, real_demonstrations=0, n_seeds=32026.05 | 62.7 | |
| DeXtremezero-shot=true, real_demonstrations=0, n_seeds=32026.05 | 58.2 | |
| ADRzero-shot=true, real_demonstrations=0, n_seeds=32026.05 | 55.8 | |
| Tac2RealTacAlign level=2,3,4, Env.=real2026.03 | 53.3 | |
| RAPSzero-shot=true, real_demonstrations=0, n_seeds=32026.05 | 51.3 | |
| Vanilla DRzero-shot=true, real_demonstrations=0, n_seeds=32026.05 | 45.2 | |
| Tac2RealTacAlign level=1,2,4, Env.=real2026.03 | 25 | |
| TacSLTacAlign level=1,2,3,4, Env.=real2026.03 | 15 | |
| TacSLTacAlign level=1,2,4, Env.=real2026.03 | 15 | |
| TacSLTacAlign level=1,2,3, Env.=real2026.03 | 10 | |
| TacchiTacAlign level=1,2,3, Env.=real2026.03 | 10 | |
| TacchiTacAlign level=1,2,3,4, Env.=real2026.03 | 8.3 | |
| No TactileTacAlign level=1,2,3,4, Env.=real2026.03 | 6.7 | |
| No TactileTacAlign level=1,2,4, Env.=real2026.03 | 6.7 | |
| TacchiTacAlign level=2,3,4, Env.=real2026.03 | 5 | |
| TacSLTacAlign level=2,3,4, Env.=real2026.03 | 3.3 | |
| No TactileTacAlign level=2,3,4, Env.=real2026.03 | 1.7 | |
| No TactileTacAlign level=1,2,3, Env.=real2026.03 | 1.7 | |
| TacchiTacAlign level=1,2,4, Env.=real2026.03 | 1.6 |