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ResearchFormerly WizWand

Peg-insertion on Real-world Peg-insertion Square (in-distribution)

90Success Rate (SR)OmniVTLA
3851.56578.5Aug 12, 2025
Updated 4mo ago

Evaluation results

MethodLinks
OmniVTLATactile Enc. FS=No, Tactile Enc. Pre=Yes, Tactile Enc. SA=Yes2025.0890583
VTLA-SATactile Enc. FS=No, Tactile Enc. Pre=No, Tactile Enc. SA=Yes2025.0870673
VLA (π0)Tactile Enc. FS=No, Tactile Enc. Pre=No, Tactile Enc. SA=No2025.0860873
VTLA-PreTactile Enc. FS=No, Tactile Enc. Pre=Yes, Tactile Enc. SA=No2025.0860683
VTLA-Pre-PreTactile Enc. FS=No, Tactile Enc. Pre=Yes, Tactile Enc. SA=No2025.0850676
VTLA-FSTactile Enc. FS=Yes, Tactile Enc. Pre=No, Tactile Enc. SA=No2025.0840613
VTLA-Pre-TacTactile Enc. FS=No, Tactile Enc. Pre=Yes, Tactile Enc. SA=No2025.0840697