lingbot-va
LingBot-VA_RoboTwin_clibration_data
LingBot-VA × RoboTwin Calibration Data
bf16 rollout capture from the LingBot-VA world-action model on the
RoboTwin 2.0 simulator: per-chunk observations, video latents, and predicted
actions recorded over 250 episodes.
Provenance
Source model
LingBot-VA (robbyant/lingbot-va-posttrain-robotwin, 5.09B bf16 Wan transformer)
Simulator
RoboTwin 2.0
Tasks
50 RoboTwin tasks
Episodes
5 per task → 250 episodes
Scene config
demo_randomized (per-episode… See the full description on the dataset page: https://huggingface.co/datasets/JingwuLuo/LingBot-VA_RoboTwin_clibration_data.nyush-galaxea-a1-lingbot-va-real-world-evaluations
LingBot-VA on Galaxea A1 — Real-World Evaluations
Fruit-placement rollouts and open-loop diagnostics of object grounding,
layout generalization, and predicted robot motion.
Fruit step-1000: lemon-to-plate rollout in the Official layout.
Evidence
Scale
Real closed-loop rollouts
61 archived; 60 scored
Matched base-model controls
9 predictions
Post-trained diagnostics
48 full-horizon predictions; 1,211 rolling futures
Controlled OOD studies
558 predictions… See the full description on the dataset page: https://huggingface.co/datasets/pengyue-polaron/nyush-galaxea-a1-lingbot-va-real-world-evaluations.libero_lingbot_va
LIBERO datasets pre-encoded for LingBot-VA
This repository mirrors three community-preprocessed LIBERO suites for easier migration and training with the official Robbyant/LingBot-VA pipeline.
Contents
libero_spatial/: 500 episodes, 10 tasks, LeRobot v2.1, dual-camera Wan2.2 latents.
libero_goal/: 500 episodes, 10 tasks, LeRobot v2.1, dual-camera Wan2.2 latents.
libero_object/: 500 episodes, 10 tasks, LeRobot v2.1, dual-camera Wan2.2 latents.
Each suite contains… See the full description on the dataset page: https://huggingface.co/datasets/Wjjjh/libero_lingbot_va.ur3-bimanual-lingbot-va
UR3 Bimanual Robot Dataset for LingBot-VA Fine-tuning
202 teleoperated episodes of a bimanual UR3 robot performing manipulation tasks, preprocessed and ready for LingBot-VA fine-tuning.
Dataset Summary
Property
Value
Episodes
202
Unique tasks
97
Total frames
61,074 (at 30 fps)
Cameras
3 (top, left wrist, right wrist)
Action space
30-dim (14 active: both arms EEF + grippers)
Format
LeRobot v2.1 + LingBot-VA pre-extracted latents
Task… See the full description on the dataset page: https://huggingface.co/datasets/ISRHUMANOID/ur3-bimanual-lingbot-va.RoboTwin_lingbot-va
RoboTwin(lingbot-va)
RoboTwin 双臂操作数据集的 LeRobot v3.0 / 末端执行器（EEF） 版本，包含 clean 与 augmented 两套子集，共 50 个任务 × 2 套 = 100 个子集。
派生自上游 Mo-ZheHan/robotwin-clean-and-aug-lerobot，并带有两处有意的修正（见下方「与上游的差异」），请勿在本仓库上直接重跑上游的 snapshot_download。
规模
子集
任务数
Episodes
Frames
大小
lerobot_robotwin_eef_clean_50/
50
2,500（50/任务）
551,931
~3.7 GB
lerobot_robotwin_eef_aug_500/
50
25,000（500/任务）
5,525,316
~70 GB
合计
50
27,500
6,077,247
~74 GB
clean：demo_clean_collect_200… See the full description on the dataset page: https://huggingface.co/datasets/Dario-Shit4/RoboTwin_lingbot-va.nyush-galaxea-a1-lingbot-va-plug-insertion-evaluations
LingBot-VA on Galaxea A1: plug-insertion Evaluations
Real-robot closed-loop evaluation of a LingBot-VA checkpoint trained to pick up
a charger and insert it into the leftmost socket of a power strip.
Result
Valid rollouts
Successes
Failures
Success rate
12
1
11
8.3%
Five additional runs stopped at the initial grasp and are excluded because they
did not evaluate insertion.
Representative rollouts
SuccessFailure
Stable insertion… See the full description on the dataset page: https://huggingface.co/datasets/pengyue-polaron/nyush-galaxea-a1-lingbot-va-plug-insertion-evaluations.