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| Paper row | Table 7: Lingbot-VLA baseline (0/36 dropped) |
| Dropped blocks | none (full model) |
| Recovery training | batch size 16, 50K steps, lr 5e-5, fine-tuned from lingbot-vla-4b on standard LIBERO |
| LIBERO success rate | Spatial 81.8 / Object 95.0 / Goal 86.6 / Long 67.8 / Avg 82.8 |
python -m deploy.lingbot_libero_policy --model_path <this_repo_local_path> --port 8200 --use_length 8
then run experiment/libero/libero/run_libero_eval.py --model_family instruct_vla.
Requires the Qwen2.5-VL-3B-Instruct tokenizer (env QWEN25_PATH).
The drop lists are recorded in the model config produced at export time.1@article{sun2026vladrop,
2 title={Drop-Then-Recovery: How Redundant Are Vision-Language-Action Models?},
3 author={Sun, Guoheng and Feng, Kaixi and He, Shwai and Gong, Xiaochuan and He, Yexiao and Wang, Ziyao and Shen, Zheyu and Ye, Wanghao and Kompella, Ramana Rao and Liu, Gaowen and Li, Ang},
4 journal={arXiv preprint arXiv:2606.27755},
5 year={2026}
6}