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ResearchFormerly WizWand

Peg-insertion on Real-world Peg-insertion Average (overall)

83.3Success Rate (SR)OmniVTLA
41.752.563.374.1Aug 12, 2025
Updated 4mo ago

Evaluation results

MethodLinks
OmniVTLATactile Enc. FS=No, Tactile Enc. Pre=Yes, Tactile Enc. SA=Yes2025.0883.3802
VTLA-PreTactile Enc. FS=No, Tactile Enc. Pre=Yes, Tactile Enc. SA=No2025.0870906
VTLA-SATactile Enc. FS=No, Tactile Enc. Pre=No, Tactile Enc. SA=Yes2025.0870678
VTLA-Pre-PreTactile Enc. FS=No, Tactile Enc. Pre=Yes, Tactile Enc. SA=No2025.0853.3799
VLA (π0)Tactile Enc. FS=No, Tactile Enc. Pre=No, Tactile Enc. SA=No2025.0850816
VTLA-FSTactile Enc. FS=Yes, Tactile Enc. Pre=No, Tactile Enc. SA=No2025.0846.7730
VTLA-Pre-TacTactile Enc. FS=No, Tactile Enc. Pre=Yes, Tactile Enc. SA=No2025.0843.3910