ResearchBenchmarksFruit-to-Plate manipulation on XArm7 Real-worldFruit-to-Plate manipulation on XArm7 Real-worldFollow81.3Pick Success RateHiMoE-VLA29.342.856.369.8Dec 5, 2025Evaluation resultsMethodMethodLinksPick Success RatePlace Success RateHiMoE-VLAparameters=4B, experts...parameters=4B, experts=32, top-k=42025.1281.375π02025.1268.862.5CogACT2025.1265.659.4OpenVLA2025.1237.525Octo-Basevariant=Basevariant=Base2025.1231.318.8