ResearchBenchmarksPeg-transfer task on Peg-transfer task (Surgeons)Follow2.44Weighted Error (mean)Humanoid2.36762.85633.3453.8337Oct 3, 2025Evaluation ResultsMethodMethodLinksWeighted Error (mean)Weighted Error (std)Weighted Error (p vs. Manual)Weighted Error (p vs. dVRK)Time (s) (mean)Time (s) (std)Time (s) (p vs. Manual)Time (s) (p vs. dVRK)HumanoidPlatform=HumanoidPlatform=Humanoid2025.102.442.030.1090.53466.7515.920.4340.368dVRKPlatform=dVRKPlatform=dVRK2025.103.563.80.597—39.169.580.022—ManualPlatform=ManualPlatform=Manual2025.104.252.47—0.59744.89.3—0.022