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ResearchFormerly WizWand

Peg-insertion on Real-world Peg-insertion Round (unseen/OOD)

90Success Rate (SR)OmniVTLA
27.643.86076.2Aug 12, 2025
Updated 4mo ago

Evaluation results

MethodLinks
OmniVTLATactile Enc. FS=No, Tactile Enc. Pre=Yes, Tactile Enc. SA=Yes2025.08901,058
VTLA-PreTactile Enc. FS=No, Tactile Enc. Pre=Yes, Tactile Enc. SA=No2025.08801,294
VTLA-SATactile Enc. FS=No, Tactile Enc. Pre=No, Tactile Enc. SA=Yes2025.0880740
VTLA-Pre-PreTactile Enc. FS=No, Tactile Enc. Pre=Yes, Tactile Enc. SA=No2025.08701,081
VTLA-Pre-TacTactile Enc. FS=No, Tactile Enc. Pre=Yes, Tactile Enc. SA=No2025.08501,114
VTLA-FSTactile Enc. FS=Yes, Tactile Enc. Pre=No, Tactile Enc. SA=No2025.0840970
VLA (π0)Tactile Enc. FS=No, Tactile Enc. Pre=No, Tactile Enc. SA=No2025.0830850