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    "story_id": "mp-2026-09-02-014",
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    "headline": "The Peg Test Stopped Being One Fixed Hole",
    "slug": "the-peg-test-stopped-being-one-fixed-hole",
    "dek": "Peg-in-Bench makes insertion evaluation reconfigurable with printable geometries, tolerances and machine-readable scenarios.",
    "summary": "Peg-in-Bench makes insertion evaluation reconfigurable with printable geometries, tolerances and machine-readable scenarios.",
    "body_text": "Modular pegs and bases can vary layouts, orientations and task structures while holding other physical conditions controlled. A scenario tool emits standardized configurations and descriptions, and the authors released the STL files and repository. The contribution is an evaluation apparatus, not a new insertion policy.",
    "why_it_matters": "Peg-in-Bench makes insertion evaluation reconfigurable with printable geometries, tolerances and machine-readable scenarios.",
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      "The contribution is an evaluation apparatus, not a new insertion policy."
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        "qualification": "The contribution is an evaluation apparatus, not a new insertion policy."
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    "tags": [
      "robot benchmark",
      "precision insertion",
      "3D printing"
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    {
      "source_id": "source-2026-09-02-014",
      "title": "arXiv preprint 2609.00906",
      "publisher": "arXiv",
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  "publisher": {
    "name": "The Machine Press",
    "url": "https://themachinepress.com",
    "description": "A daily newspaper for the age of artificial intelligence."
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  "cite_this_report": {
    "title": "The Peg Test Stopped Being One Fixed Hole",
    "publisher": "The Machine Press",
    "published_at": "2026-09-02T09:00:00.000-04:00",
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