Peg-in-Bench: A Modular Benchmark for High-Precision Robotic Insertion

Source: arXiv cs.RO·2026-09-02 12:00Publish time unverified

arXiv:2609.00906v1 Announce Type: new Abstract: High-precision insertion remains a fundamental challenge in robotic manipulation due to the strict alignment requirements and contact-rich interactions involved. Although peg-in-hole tasks are widely used for evaluation, existing bench- marks often rely on fixed task configurations, limiting their ability to assess robustness and generalization across different insertion scenarios.