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ResearchFormerly WizWand

Peg-in-hole

Benchmarks

DatasetSOTA methodMetricTrendResultsLast updated

Peg-in-Hole (test)

Sim Force-Aware

25Insertion Depth (mm)

7

Feb 26, 2026

Peg-in-Hole task

Sim Force-Aware (Ours)

75SR-ND

7

Feb 26, 2026

DreamTacVLA (HSA & Dream)

95Success Rate

6

Feb 26, 2026

2Mode Count

6

Feb 26, 2026

Real-world Peg-in-Hole (test)

100Success Rate

4

Jul 7, 2026

Real-robot peg-in-hole (unseen conditions)

57.5Success Rate (Total)

3

Feb 26, 2026