ResearchBenchmarksBlock-on-Block manipulation on XArm7 Real-worldBlock-on-Block manipulation on XArm7 Real-worldFollow83.3Pick Success RateHiMoE-VLA14.03632.0185067.982Dec 5, 2025Evaluation resultsMethodMethodLinksPick Success RateStack Success RateHiMoE-VLAparameters=4B, experts...parameters=4B, experts=32, top-k=42025.1283.350π02025.1272.233.3CogACT2025.1269.433.3OpenVLA2025.1222.20Octo-Basevariant=Basevariant=Base2025.1216.70