README.md

---
tags:
- robotics
- vla
- vision-language-action
- libero
- model-compression
pipeline_tag: robotics
---

# VLADrop-LingbotVLA-LIBERO-drop-half

Checkpoint for [Drop-Then-Recovery: How Redundant Are Vision-Language-Action Models?](https://arxiv.org/abs/2606.27755).

DTR (Drop-Then-Recovery) removes transformer blocks from a pretrained VLA model and
recovery-fine-tunes the smaller dense model. Code: https://github.com/s1ghhh/VLADrop

## This checkpoint

| | |
|---|---|
| Paper row | Table 7: Lingbot-VLA Drop Half (18/36 dropped) |
| Dropped blocks | VLM (Qwen2.5-VL) blocks [1,3,5,...,35] (all odd-indexed; attn+mlp) |
| Recovery training | batch size 16, 50K steps, lr 5e-5 |
| LIBERO success rate | Spatial 85.6 / Object 97.0 / Goal 84.2 / Long 67.8 / Avg 83.7 |

## Usage

Lingbot-VLA HF-format checkpoint. Use with the VLADrop lingbot-vla code
(https://github.com/s1ghhh/VLADrop): serve with
`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.

## Citation

```bibtex
@article{sun2026vladrop,
  title={Drop-Then-Recovery: How Redundant Are Vision-Language-Action Models?},
  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},
  journal={arXiv preprint arXiv:2606.27755},
  year={2026}
}
```