SI-Diff: A Framework for Learning Search and High-Precision Insertion with a Force-Domain Diffusion Policy

Cuboid Peg
35 mm × 25 mm × 60 mm
0.1 mm clearance

2 mm

5 mm

Hexagonal prism
60 mm × 19 mm (flat-to-flat)
0.1 mm clearance

2 mm

5 mm

Pentagonal prism
60 mm × 19 mm (flat-to-flat)
0.1 mm clearance

2 mm

5 mm

Triangular prism
60 mm long with a side length of 34 mm
0.1 mm clearance

2 mm

5 mm

Cylinder
60 mm long with a diameter of 20 mm
0.1 mm clearance

2 mm

5 mm

Standard USB-A

2 mm

5 mm