| { |
| "dataset": { |
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| "repo_id": "TianxingChen/RoboTwin2.0", |
| "revision": "981c92aa34d8f94d4cff47e0d5bc2f7d4e0af042", |
| "scope": "50 clean episodes/task across50tasks, original train+val partitions both included in original all-clean training. No held-out validation, seed7, normalization fixed.", |
| "trajectories": 2500 |
| }, |
| "date": "2026-10-25", |
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| "revision": "11c703bf6a5c1f45b3b69168482da11fdbba53d7" |
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| "revision": "ca5f0e07ff01d3e5a364c1d954ed12ee1814b368" |
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| "repo_id": "Qwen/Qwen3-VL-4B-Instruct", |
| "revision": "ebb281ec70b05090aa6165b016eac8ec08e71b17" |
| } |
| }, |
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| "successes": 10 |
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| "episodes": 10, |
| "successes": 9 |
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| "episodes": 10, |
| "successes": 10 |
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| "episodes": 10, |
| "successes": 4 |
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| "episodes": 10, |
| "successes": 10 |
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| "episodes": 10, |
| "successes": 10 |
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| "successes": 10 |
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| "episodes": 10, |
| "successes": 6 |
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| "episodes": 10, |
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| "episodes": 10, |
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| "episodes": 10, |
| "successes": 2 |
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| "successes": 1 |
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| "episodes": 10, |
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| "episodes": 10, |
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| "episodes": 10, |
| "successes": 4 |
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| "episodes": 10, |
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| "episodes": 10, |
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| "episodes": 10, |
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| "successes": 1 |
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| "episodes": 10, |
| "successes": 3 |
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| "episodes": 10, |
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| "episodes": 10, |
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| "episodes": 10, |
| "successes": 8 |
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| "episodes": 10, |
| "successes": 9 |
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| "episodes": 10, |
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| "episodes": 10, |
| "successes": 1 |
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| "episodes": 10, |
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| "successes": 6 |
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| "episodes": 10, |
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| "episodes": 10, |
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| "episodes": 10, |
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| "episodes": 10, |
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| "episodes": 10, |
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| "episodes": 10, |
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| "episodes": 10, |
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| "episodes": 10, |
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| "completed_on": "2026-10-09", |
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| { |
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| { |
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| "instruction_protocol_note": "clean uses seen template/object vocabulary; randomized uses unseen instructions. This split changes both scene setting and instruction pool; not a pure visual randomization ablation.", |
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| 4, |
| 6 |
| ] |
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| }, |
| "place_bread_basket": { |
| "clean": { |
| "episodes": 10, |
| "successes": 9 |
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| "randomized": { |
| "episodes": 10, |
| "successes": 6 |
| } |
| }, |
| "place_bread_skillet": { |
| "clean": { |
| "episodes": 10, |
| "successes": 8 |
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| "randomized": { |
| "episodes": 10, |
| "successes": 2 |
| } |
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| "place_burger_fries": { |
| "clean": { |
| "episodes": 10, |
| "successes": 10 |
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| "randomized": { |
| "episodes": 10, |
| "successes": 8 |
| } |
| }, |
| "place_can_basket": { |
| "clean": { |
| "episodes": 10, |
| "successes": 8 |
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| "randomized": { |
| "episodes": 10, |
| "successes": 1 |
| } |
| }, |
| "place_cans_plasticbox": { |
| "clean": { |
| "episodes": 10, |
| "successes": 10 |
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| "randomized": { |
| "episodes": 10, |
| "successes": 7 |
| } |
| }, |
| "place_container_plate": { |
| "clean": { |
| "episodes": 10, |
| "successes": 10 |
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| "randomized": { |
| "episodes": 10, |
| "successes": 8 |
| } |
| }, |
| "place_dual_shoes": { |
| "clean": { |
| "episodes": 10, |
| "successes": 8 |
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| "randomized": { |
| "episodes": 10, |
| "successes": 1 |
| } |
| }, |
| "place_empty_cup": { |
| "clean": { |
| "episodes": 10, |
| "successes": 10 |
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| "randomized": { |
| "episodes": 10, |
| "successes": 4 |
| } |
| }, |
| "place_fan": { |
| "clean": { |
| "episodes": 10, |
| "successes": 8 |
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| "randomized": { |
| "episodes": 10, |
| "successes": 1 |
| } |
| }, |
| "place_mouse_pad": { |
| "clean": { |
| "episodes": 10, |
| "successes": 7 |
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| "randomized": { |
| "episodes": 10, |
| "successes": 2 |
| } |
| }, |
| "place_object_basket": { |
| "clean": { |
| "episodes": 10, |
| "successes": 7 |
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| "randomized": { |
| "episodes": 10, |
| "successes": 4 |
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| "place_object_scale": { |
| "clean": { |
| "episodes": 10, |
| "successes": 7 |
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| "episodes": 10, |
| "successes": 1 |
| } |
| }, |
| "place_object_stand": { |
| "clean": { |
| "episodes": 10, |
| "successes": 8 |
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| "randomized": { |
| "episodes": 10, |
| "successes": 3 |
| } |
| }, |
| "place_phone_stand": { |
| "clean": { |
| "episodes": 10, |
| "successes": 9 |
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| "randomized": { |
| "episodes": 10, |
| "successes": 4 |
| } |
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| "place_shoe": { |
| "clean": { |
| "episodes": 10, |
| "successes": 10 |
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| "randomized": { |
| "episodes": 10, |
| "successes": 5 |
| } |
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| "press_stapler": { |
| "clean": { |
| "episodes": 10, |
| "successes": 10 |
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| "randomized": { |
| "episodes": 10, |
| "successes": 4 |
| } |
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| "put_bottles_dustbin": { |
| "clean": { |
| "episodes": 10, |
| "successes": 8 |
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| "episodes": 10, |
| "successes": 3 |
| } |
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| "put_object_cabinet": { |
| "clean": { |
| "episodes": 10, |
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| "episodes": 10, |
| "successes": 2 |
| } |
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| "rotate_qrcode": { |
| "clean": { |
| "episodes": 10, |
| "successes": 10 |
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| "randomized": { |
| "episodes": 10, |
| "successes": 0 |
| } |
| }, |
| "scan_object": { |
| "clean": { |
| "episodes": 10, |
| "successes": 8 |
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| "randomized": { |
| "episodes": 10, |
| "successes": 2 |
| } |
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| "shake_bottle": { |
| "clean": { |
| "episodes": 10, |
| "successes": 10 |
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| "randomized": { |
| "episodes": 10, |
| "successes": 8 |
| } |
| }, |
| "shake_bottle_horizontally": { |
| "clean": { |
| "episodes": 10, |
| "successes": 10 |
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| "randomized": { |
| "episodes": 10, |
| "successes": 10 |
| } |
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| "stack_blocks_three": { |
| "clean": { |
| "episodes": 10, |
| "successes": 10 |
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| "randomized": { |
| "episodes": 10, |
| "successes": 5 |
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| "stack_blocks_two": { |
| "clean": { |
| "episodes": 10, |
| "successes": 10 |
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| "randomized": { |
| "episodes": 10, |
| "successes": 5 |
| } |
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| "stack_bowls_three": { |
| "clean": { |
| "episodes": 10, |
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| "randomized": { |
| "episodes": 10, |
| "successes": 6 |
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| "stack_bowls_two": { |
| "clean": { |
| "episodes": 10, |
| "successes": 10 |
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| "episodes": 10, |
| "successes": 6 |
| } |
| }, |
| "stamp_seal": { |
| "clean": { |
| "episodes": 10, |
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| "randomized": { |
| "episodes": 10, |
| "successes": 1 |
| } |
| }, |
| "turn_switch": { |
| "clean": { |
| "episodes": 10, |
| "successes": 3 |
| }, |
| "randomized": { |
| "episodes": 10, |
| "successes": 0 |
| } |
| } |
| }, |
| "completed_on": "2026-10-12", |
| "inference_runtime": [ |
| { |
| "attention_implementation": "eager", |
| "autocast": false, |
| "compile": false, |
| "cuda_version": "12.8", |
| "gpu_memory_bytes": 42406903808, |
| "gpu_name": "NVIDIA A100-SXM4-40GB", |
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| "model_replicas": 1, |
| "precision": "fp32", |
| "tf32": false, |
| "torch_version": "2.8.0+cu128", |
| "vision_attention_precision_note": "Official FA2 vision patch internally casts FP32 Q/K/V to BF16, then restores output dtype; FP32 here denotes official FP32 parameter/main-path mode, not all operations IEEE FP32." |
| } |
| ], |
| "instruction_protocol_note": "clean uses seen template/object vocabulary; randomized uses unseen instructions. This split changes both scene setting and instruction pool; not a pure visual randomization ablation.", |
| "instruction_types": { |
| "seen": { |
| "episodes": 500, |
| "successes": 416 |
| }, |
| "unseen": { |
| "episodes": 500, |
| "successes": 178 |
| } |
| }, |
| "metrics": { |
| "clean": { |
| "completed": 500, |
| "mean_episode_wall_seconds": 32.501751442580485, |
| "planned": 500, |
| "success_rate_among_completed": 0.832, |
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| }, |
| "overall": { |
| "completed": 1000, |
| "mean_episode_wall_seconds": 41.383597164122506, |
| "planned": 1000, |
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| "mean_episode_wall_seconds": 50.26544288566453, |
| "planned": 500, |
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| }, |
| "render_gpu": "NVIDIA GeForce RTX 5090 32GB", |
| "subset_commit": "b5abe512dafd400736c6dca5905f2fd262dd9029", |
| "subset_id": "robotwin-eval-subset-v2-seen-unseen", |
| "workers": [ |
| 6 |
| ] |
| }, |
| "repo_id": "ar-mine/lingbot-vla-v2-6b-e5-c3-epoch6-step17178", |
| "training": { |
| "automatic_restarts": 0, |
| "epochs": 6, |
| "frames": 549787, |
| "global_batch_size": 192, |
| "gpu_count": 8, |
| "gpu_model": "NVIDIA A100-SXM4-40GB", |
| "gpu_vram_mib": 40960, |
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| "gradient_accumulation_steps": 2, |
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| "initialization": "official_base_fresh", |
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| "requested_cpus_per_node": 64, |
| "requested_memory_gb_per_node": 440, |
| "source_archive_sha256": "77c95a4d09b5dc44358b46c3598203f09d1f1de26540e2883c15039212816c0a", |
| "training_cpu_model": "not captured in preserved allocation/binding record", |
| "training_seconds": 165183.77823376656, |
| "trajectories": 2500, |
| "validation_enabled": false |
| } |
| } |
| }, |
| "pairing": { |
| "initial_observation_hash_mismatches": 0, |
| "scope": "All 1000 accepted initial RGB and public state hashes match between endpoints; policy failures accepted, infrastructure retries excluded.", |
| "shared_episode_ids": 1000 |
| } |
| } |
|
|
