Peg-insertion on Real-world Peg-insertion Triangle (in-distribution)
70Success RateVTLA-Pre
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| VTLA-PreTactile Enc. FS=No, Tactile Enc. Pre=Yes, Tactile Enc. SA=No2025.08 | 70 | 742 | |
| OmniVTLATactile Enc. FS=No, Tactile Enc. Pre=Yes, Tactile Enc. SA=Yes2025.08 | 70 | 765 | |
| VLA (π0)Tactile Enc. FS=No, Tactile Enc. Pre=No, Tactile Enc. SA=No2025.08 | 60 | 726 | |
| VTLA-FSTactile Enc. FS=Yes, Tactile Enc. Pre=No, Tactile Enc. SA=No2025.08 | 60 | 606 | |
| VTLA-SATactile Enc. FS=No, Tactile Enc. Pre=No, Tactile Enc. SA=Yes2025.08 | 60 | 620 | |
| VTLA-Pre-PreTactile Enc. FS=No, Tactile Enc. Pre=Yes, Tactile Enc. SA=No2025.08 | 40 | 640 | |
| VTLA-Pre-TacTactile Enc. FS=No, Tactile Enc. Pre=Yes, Tactile Enc. SA=No2025.08 | 40 | 919 |