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

arXiv · AI, language, vision and robotics · article · Sep 1, 2026 · UTC

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. This paper introduces a reconfigurable peg-in-hole benchmark designed to evaluate task generalization in high-precision insertion. The benchmark consists of a set of fully 3D-printable modular components, including

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