ResearchBenchmarksScoop on ALOHA Real-worldScoop on ALOHA Real-worldFollow100Place Success RateHiMoE-VLA72.23279.44186.6593.859Dec 5, 2025Evaluation resultsMethodMethodLinksPlace Success RateScoop Success RatePour Success RateHiMoE-VLAParameters=4B, MoE Exp...Parameters=4B, MoE Experts (N)=32, Top-k=42025.1210053.340RDT-1BParameters=1BParameters=1B2025.1293.34020π02025.1293.346.626.6ACT2025.1273.36.60