ResearchBenchmarksCup-in-Cup Manipulation on XArm7 Real-worldCup-in-Cup Manipulation on XArm7 Real-worldFollow88.9Pick Success RateHiMoE-VLA25.35641.85358.3574.847Dec 5, 2025Evaluation resultsMethodMethodLinksPick Success RateInsert Success RateHiMoE-VLAparameters=4B, experts...parameters=4B, experts=32, top-k=42025.1288.972.2CogACT2025.1277.863.9π02025.1277.861.1Octo-Basevariant=Basevariant=Base2025.1233.316.7OpenVLA2025.1227.816.7