Base Manipulation on AIR-VLA
87Base Positioning AccuracyFeature-MoE
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| Feature-MoEbase=π0.52026.06 | 87 | 68.8 | 99.2 | 33 | 62.1 | |
| Single Headbase=π0.52026.06 | 78.8 | 49.9 | 87.2 | 11 | 45.3 | |
| π02026.06 | 56.6 | 48 | 87.5 | 8 | 38.1 | |
| Action-Level Soft MoEbase=π0.52026.06 | 54.9 | 42.3 | 41.4 | 0.5 | 28.6 | |
| π0-FAST2026.06 | 27.5 | 23.9 | 98.1 | 0 | 22.7 | |
| ACT2026.06 | 0 | 20 | 100 | 0 | 15 | |
| Diffusion Policy2026.06 | 0 | 20 | 100 | 0 | 15 | |
| Action-Level Hard MoEbase=π0.52026.06 | 0 | 20 | 100 | 0 | 15 |