| --- |
| tags: |
| - robotics |
| - lingbot-vla |
| --- |
| # E5+C3 original training code and evaluation documentation |
|
|
| Public release, 2026-10-25 (Asia/Singapore). This Hugging Face dataset hosts a **Git source |
| repository**, cloneable with `git clone https://huggingface.co/datasets/ar-mine/e5-c3-code`. |
| It is not a training dataset or a generic AutoModel implementation. |
|
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| [Epoch2 weights](https://huggingface.co/ar-mine/lingbot-vla-v2-6b-e5-c3-epoch2-step17180) · |
| [Epoch6 weights](https://huggingface.co/ar-mine/lingbot-vla-v2-6b-e5-c3-epoch6-step17178) · |
| [Training method and reproduction](TRAINING.md) · [Evaluation method](EVALUATION.md) · |
| [Hardware](HARDWARE.md) · [Full results](RESULTS.json). |
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| | Model | Clean / seen | Randomized / unseen | Overall | |
| |---|---:|---:|---:| |
| | ep2 | 381/500 (76.2%) | 204/500 (40.8%) | 585/1000 (58.5%) | |
| | ep6 | 416/500 (83.2%) | 178/500 (35.6%) | 594/1000 (59.4%) | |
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| These are completed historical evaluations; the release task ran no new rollouts or training. |
| Epoch2 and epoch6 differ in global batch (64/192), LR (1e-4/1.5e-4), GPU count (4/8) |
| and epoch count. They are not a pure epoch ablation. |
| Clean/seen versus randomized/unseen also changes the instruction pool, so it is not a pure |
| visual randomization effect. All 50 tasks appear in training; seen/unseen describes instruction |
| vocabulary/template pools, not unseen tasks. These are the original fixed-table runs, not later |
| low-table adaptation or interpolation experiments. |
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| The actual original training archives supply the shared runtime, training entry, E5 history |
| logic, C3 augmentation, normalization and configs. Selected shared files are byte-identical |
| between endpoints before the documented portable path changes. `SOURCE_MANIFEST.json` |
| records original/export SHA256 values, original archive SHA256 values and portable edits. |
| Original archive contents, machine-specific mappings and records remain local: 原始记录保存在本地。 |
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| Upstream licenses are preserved in `third_party/lingbot-vla-v2/LICENSE` and nested dependency |
| LICENSE files. Original upstream illustrations/loss plots are omitted; they are not these runs' |
| curves. Deployment allocation scripts and private machine layouts are not required by the |
| portable training entry. See the explicit remaining reproduction limits in the method documents. |
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