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InsertAnything Evaluated in Isaac Lab for Precision Peg-in-Hole Insertion Policies with Fingertip Force Feedback

Official weights of InsertAnything's force-conditioned insertion policy were evaluated in Isaac Lab: at 0.1 mm clearance, baseline success rates for two hole types were 96–100%. With a 5 mm initial hand offset, success rates were unaffected, but with a 3 mm hole-position observation deviation, the hexagonal hole success rate dropped to 60%.

Part of the event: Evaluation results of InsertAnything official weights in Isaac Lab

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