Peg-insertion on Real-world Peg-insertion Average (overall)
83.3Success Rate (SR)OmniVTLA
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| OmniVTLATactile Enc. FS=No, Tactile Enc. Pre=Yes, Tactile Enc. SA=Yes2025.08 | 83.3 | 802 | |
| VTLA-PreTactile Enc. FS=No, Tactile Enc. Pre=Yes, Tactile Enc. SA=No2025.08 | 70 | 906 | |
| VTLA-SATactile Enc. FS=No, Tactile Enc. Pre=No, Tactile Enc. SA=Yes2025.08 | 70 | 678 | |
| VTLA-Pre-PreTactile Enc. FS=No, Tactile Enc. Pre=Yes, Tactile Enc. SA=No2025.08 | 53.3 | 799 | |
| VLA (π0)Tactile Enc. FS=No, Tactile Enc. Pre=No, Tactile Enc. SA=No2025.08 | 50 | 816 | |
| VTLA-FSTactile Enc. FS=Yes, Tactile Enc. Pre=No, Tactile Enc. SA=No2025.08 | 46.7 | 730 | |
| VTLA-Pre-TacTactile Enc. FS=No, Tactile Enc. Pre=Yes, Tactile Enc. SA=No2025.08 | 43.3 | 910 |