ResearchBenchmarksAggregate manipulation performance (All tasks) on XArm7 Real-worldAggregate manipulation performance (All tasks) on XArm7 Real-worldFollow75Overall Avg Success RateHiMoE-VLA17.07232.11147.1562.189Dec 5, 2025Evaluation resultsMethodMethodLinksOverall Avg Success RateHiMoE-VLAparameters=4B, experts...parameters=4B, experts=32, top-k=42025.1275π02025.1262.5CogACT2025.1261.5OpenVLA2025.1221.2Octo-Basevariant=Basevariant=Base2025.1219.3