ResearchBenchmarksPeg-Transfer Task Performance (Novices)Peg-Transfer Task Performance (Novices)Follow5Weighted Error (Mean)dVRK4.88365.66936.4557.2407Oct 3, 2025Evaluation resultsMethodMethodLinksWeighted Error (Mean)Weighted Error (Std Dev)Weighted Error p-value (vs Manual)Weighted Error p-value (vs dVRK)Time (s) (Mean)Time (s) (Std Dev)Time (s) p-value (vs Manual)Time (s) p-value (vs dVRK)dVRKPlatform=dVRKPlatform=dVRK2025.1052.830.096—45.3717.930.006—HumanoidPlatform=HumanoidPlatform=Humanoid2025.105.493.350.0910.57589.2338.910.220.0001ManualPlatform=ManualPlatform=Manual2025.107.915.64—0.09675.4332.66—0.006