ResearchBenchmarksCup-Handover on Aloha Real-world (evaluation)Follow80Grasp Success Rateπ038.449.26070.8Dec 5, 2025Evaluation ResultsMethodMethodLinksGrasp Success RateTransfer Success Rateπ02025.128013.3HiMoE-VLAParameters=4B, MoE Exp...Parameters=4B, MoE Experts (N)=32, Top-k=42025.128026.6RDT-1BParameters=1BParameters=1B2025.1266.613.3ACT2025.12400