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Papers Benchmarks Datasets Tasks

Peg Insertion research benchmarks · SOTA2 Research

Peg Insertion

Benchmarks

Dataset NameSOTA MethodSort

Dataset NameSOTA methodMetricTrendResultsLast Updated

91.7Success Rate

25

May 8, 2026

VLA Backdoor Evaluation Tasks

99SR

20

Feb 26, 2026

IsaacSim Peg Insertion adapted from Nvidia Factory (test)

86Success Rate

8

Apr 14, 2026

Real-world Peg-insertion Average (overall)

83.3Success Rate (SR)

7

Jun 16, 2026

Real-world Peg-insertion Round (unseen/OOD)

90Success Rate (SR)

7

Jun 16, 2026

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

90Success Rate (SR)

7

Jun 16, 2026

Real-world Peg-insertion Triangle (in-distribution)

70Success Rate

7

Jun 16, 2026

ManiFeel 44 (simulation)

48Success Rate

5

Jun 30, 2026

Peg Insertion Real-World No Seeded Replay Buffer

100Success Rate

5

May 7, 2026

Real-world environment

74.9Mean Timesteps to Success

5

Mar 4, 2026

Real-world Peg Insertion Sim-to-Real

25Success Rate

5

Mar 4, 2026

78.9Success Rate

4

Mar 31, 2026

PegInsert Real-robot Physical Marvin robot (test)

11Success Rate

2

May 22, 2026

PegInsert Simulation Isaac Lab (test)

79Success Rate

2

May 22, 2026

Popular datasets

Real-world Peg Insertion PegInsert Real-world Simulation Real-world environment

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