Pour on AgileX PiPER real-world
86.7Success RateFull FT
Evaluation results
| Method | Links | |
|---|---|---|
| Full FTModel=π0, Trainable / Total (%)=100.0, Active Rank=Full, Training regime=Multi-task2026.03 | 86.7 | |
| Full FTModel=SmolVLA, Trainable / Total (%)=100.0, Active Rank=Full, Training regime=Multi-task2026.03 | 86.7 | |
| LoRA-SPModel=SmolVLA, Trainable / Total (%)=17.1, Active Rank=60, Training regime=Multi-task2026.03 | 86.7 | |
| LoRA-SPModel=π0, Trainable / Total (%)=9.2, Active Rank=76, Training regime=Multi-task2026.03 | 80 | |
| LoRA-MoE (weighted sum)Model=SmolVLA, Trainable / Total (%)=17.2, Active Rank=128, Training regime=Multi-task2026.03 | 80 | |
| LoRA-MoE (weighted sum)Model=π0, Trainable / Total (%)=9.2, Active Rank=128, Training regime=Multi-task2026.03 | 60 | |
| LoRA-MoE (top-1)Model=SmolVLA, Trainable / Total (%)=17.2, Active Rank=32, Training regime=Multi-task2026.03 | 46.7 | |
| LoRA (r = 128)Model=π0, Trainable / Total (%)=9.1, Active Rank=128, Training regime=Multi-task2026.03 | 26.7 | |
| LoRA (r = 128)Model=SmolVLA, Trainable / Total (%)=17.0, Active Rank=128, Training regime=Multi-task2026.03 | 20 | |
| LoRA-MoE (top-1)Model=π0, Trainable / Total (%)=9.2, Active Rank=32, Training regime=Multi-task2026.03 | 13.3 | |
| AdaLoRAModel=π0, Trainable / Total (%)=9.1, Active Rank=76, Training regime=Multi-task2026.03 | 6.7 | |
| AdaLoRAModel=SmolVLA, Trainable / Total (%)=17.0, Active Rank=60, Training regime=Multi-task2026.03 | 0 |