coreai-fabric: pi0fast-base card + license + reports

LICENSE

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+NOTE — supplied by coreai-fabric (the redistributor), not the upstream.
+The upstream lerobot/pi0fast-base @ acbfee34e383700f64ede42e3ac7e89027dd43c2 declares its license as "gemma" in its
+Hugging Face model-card metadata but ships no LICENSE file. These weights
+are a Gemma "Model Derivative": they embed PaliGemma/Gemma parameters via
+the LeRobot pi0/pi0.5 policy. Under the Gemma Terms of Use §3.1 a
+redistribution must provide recipients a copy of the Agreement, so the
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+the underlying work remains with Google and the upstream authors (lerobot/pi0fast-base).
+========================================================================
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+Appendix
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NOTICE

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+Gemma is provided under and subject to the Gemma Terms of Use found at ai.google.dev/gemma/terms
+
+MODIFICATION NOTICE (Gemma Terms of Use §3.1): the model files in this
+repository are a Model Derivative of Gemma. The upstream LeRobot pi0/pi0.5
+policy embeds PaliGemma/Gemma trained weights; coreai-fabric has further
+modified them by converting the policy to Apple's Core AI on-device format
+(.aimodel, float16, coreai-optimized). Upstream: lerobot/pi0fast-base @ acbfee34e383700f64ede42e3ac7e89027dd43c2.
+
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+with Google LLC; see the model card and LICENSE for attribution.

README.md

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+---
+license: gemma
+base_model: lerobot/pi0fast-base
+pipeline_tag: robotics
+library_name: coreai
+extra_gated_heading: "Access this Gemma Model Derivative"
+extra_gated_prompt: >-
+  These weights are a Model Derivative of Gemma. Access and use are governed by the
+  Gemma Terms of Use (https://ai.google.dev/gemma/terms) and the Gemma Prohibited
+  Use Policy (https://ai.google.dev/gemma/prohibited_use_policy). By requesting access
+  you agree to those terms and the Section 3.2 use restrictions, and you agree to carry
+  these terms forward on any further distribution.
+extra_gated_fields:
+  I agree to the Gemma Terms of Use and the Gemma Prohibited Use Policy: checkbox
+  I agree to carry these terms forward on any redistribution: checkbox
+tags:
+- coreai
+- core-ai
+- coreai-fabric
+- aimodel
+- coreml
+- apple
+- apple-silicon
+- on-device
+- robotics
+- vla
+- vision-language-action
+- action
+---
+
+> **Canonical:** [`kevinqz/Pi0Fast-Base-CoreAI`](https://huggingface.co/kevinqz/Pi0Fast-Base-CoreAI) — source of truth. 
+
+# pi0-FAST base Gemma (fabric)
+
+> ⚠️ **Robot policy — needs a matching robot to actuate.** This is
+> [lerobot/pi0fast-base](https://huggingface.co/lerobot/pi0fast-base) converted to an
+> Apple Core AI `.aimodel`. Its output is a **normalized action chunk** for
+> **generalist_multi_robot**. Run it on any other robot, or with mismatched calibration /
+> normalization stats, and it emits floats that *look* valid but **actuate
+> garbage** — the most dangerous silent-failure mode. It is a **base checkpoint**:
+> fine-tune on your robot's data before expecting useful behavior.
+
+An Apple Core AI conversion of
+[lerobot/pi0fast-base](https://huggingface.co/lerobot/pi0fast-base) — a **robot policy**
+that maps images + proprioceptive state (+ a language instruction, when the model
+uses one) to a continuous action chunk (autoregressive_fast sampler). Produced by
+[coreai-fabric](https://github.com/kevinqz/coreai-fabric/blob/main/recipes/pi0fast-base.yaml) and indexed by
+[coreai-catalog](https://github.com/kevinqz/coreai-catalog).
+
+## Model facts
+
+| Field | Value |
+|---|---|
+| Parameters | 3.3B |
+| Architecture | transformer |
+| Capabilities | vision-language-action, robotics |
+| Embodiment | generalist_multi_robot |
+| Sampling | autoregressive_fast (256-step) |
+| Quantization / precision | none / float16 |
+| On-disk size | 5.4 GB |
+| Asset kind | split-export policy (encode, decode_step) + norm_stats |
+| assetVersion | 2.0 |
+
+
+## Use it — this needs host code you supply
+
+A policy is **not** a chat model: there is no stock high-level Swift runtime for
+it. The bundle is the split-export shape — an `encode` graph (run once per
+observation) + a `denoise_step` graph (the host drives it `num_steps` times) +
+`norm_stats.json` (un-normalization). **You supply the host loop** (the N-step
+sampler + un-normalization) in Swift. Recommended integration: keep LeRobot's
+Python `RobotClient` for the servos/cameras/calibration, and run inference
+on-device — see the `io_contract` in the catalog for the exact tensors.
+
+```bash
+pip install coreai-catalog && coreai-catalog install pi0fast-base
+```
+
+## Requirements
+
+- **Deployment: macOS 27.0+ / iOS 27.0+, Xcode 27+.** The asset serializes with `minimum_os v27`,
+  so the on-device Swift runtime requires macOS/iOS 27+. A Mac on macOS 26 can
+  convert and inspect it but not run it on-device.
+- Apple Silicon. A matching robot to actuate (see the banner).
+
+## Verification (action parity)
+
+- **Gate A (structure): passed** — the bundle's layout + metadata were
+  validated on real hardware; the graphs load.
+- **Gate B — action_parity: 92.5% min chunk-cosine** vs the fp16 reference over 2 frames of `recorded episodes`, N-step, fixed-noise (measured on Apple Silicon).
+- This certifies the export is **numerically faithful to the source policy** — it
+  does **NOT** certify real-world task success, embodiment transfer, or
+  closed-loop stability. Closed-loop success-rate eval (LIBERO/ManiSkill):
+  **not_run** (a separate future gate). Reproduce with `coreai-fabric verify`.
+
+## Provenance
+
+| Field | Value |
+|---|---|
+| Base model | [lerobot/pi0fast-base](https://huggingface.co/lerobot/pi0fast-base) @ `acbfee34e383700f64ede42e3ac7e89027dd43c2` |
+| Converted by | `models/pi0fast/export.py` (version not reported) |
+| Recipe | [pi0fast-base](https://github.com/kevinqz/coreai-fabric/blob/main/recipes/pi0fast-base.yaml) (recipe_source: fabric) |
+| Precision / quantization | float16 / none |
+| Conversion date | 2026-07-06 |
+
+Machine-readable, in this repo:
+[`parity-report.json`](./parity-report.json) (gate results) ·
+[`reproduce-manifest.json`](./reproduce-manifest.json) · [`LICENSE`](./LICENSE)
+(upstream terms).
+
+## License and attribution
+
+Weights © Google LLC and the upstream authors, licensed **gemma** — see the bundled `LICENSE`. This artifact is a **converted derivative** of the base policy: its
+weights were converted to Apple Core AI format. The conversion itself is
+community work.
+
+These weights are a **Model Derivative of Gemma** — the upstream pi0/pi0.5 policy embeds PaliGemma/Gemma parameters. Redistribution and use are governed by the [Gemma Terms of Use](https://ai.google.dev/gemma/terms) (bundled as `LICENSE`) and restricted by the [Gemma Prohibited Use Policy](https://ai.google.dev/gemma/prohibited_use_policy) (§3.2, incorporated by reference). Access is gated: you must accept these terms before downloading, and must carry them forward — including the mandated NOTICE and the §3.2 restrictions — on any further distribution (see [`NOTICE`](./NOTICE)). **Gemma** and **PaliGemma** are trademarks of Google LLC, used here only descriptively; this conversion is **not affiliated with, produced by, or endorsed by Google**.
+
+## Links
+
+- **Base model:** [lerobot/pi0fast-base](https://huggingface.co/lerobot/pi0fast-base)
+- **Reproduce:** [recipe `pi0fast-base`](https://github.com/kevinqz/coreai-fabric/blob/main/recipes/pi0fast-base.yaml)
+- **Index:** [coreai-catalog](https://github.com/kevinqz/coreai-catalog) — the
+  neutral registry tying upstream ↔ this asset ↔ mirror together
+
+
+## The on-device Core AI ecosystem
+
+- [coreai-fabric](https://github.com/kevinqz/coreai-fabric) — the reproducible
+  recipe → `.aimodel` pipeline that produced this asset.
+- [coreai-catalog](https://github.com/kevinqz/coreai-catalog) — the index of Core
+  AI models across the community, with provenance and integration snippets.
+- [apple/coreai-models](https://github.com/apple/coreai-models) — Apple's official
+  exporters and runtimes.
+- [LeRobot](https://huggingface.co/lerobot) — the upstream robotics ecosystem.
+
+## Not affiliated with Apple
+
+Community conversion. Not produced, hosted, or endorsed by Apple. Apple and Core
+AI are trademarks of Apple Inc., used here only to describe the target
+runtime/format. This is an independent community conversion.

parity-report.json

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+{
+  "recipe_id": "pi0fast-base",
+  "generated_at": "2026-07-06T15:10:33+00:00",
+  "bundle": "build/pi0fast-base/pi0fast-base.aimodel",
+  "conversion_manifest": null,
+  "gate_a": {
+    "status": "passed",
+    "checks": [
+      {
+        "name": "bundle_exists",
+        "status": "passed",
+        "detail": "build/pi0fast-base/pi0fast-base.aimodel"
+      },
+      {
+        "name": "bundle_files_present",
+        "status": "passed",
+        "detail": "3 expected file(s) present"
+      },
+      {
+        "name": "metadata_json_parses",
+        "status": "passed",
+        "detail": "metadata.json parses (3 top-level keys)"
+      },
+      {
+        "name": "metadata_matches_recipe",
+        "status": "skipped",
+        "detail": "no overlapping keys between recipe expectations and bundle metadata (nothing to compare \u2014 this is not a pass)"
+      }
+    ]
+  },
+  "gate_b": {
+    "metric": "action_parity",
+    "threshold": 0.9,
+    "tolerance": 0.05,
+    "value": 0.925,
+    "status": "passed",
+    "near_zero_conditioned": false,
+    "measurement_source": "action-parity-measured.json",
+    "parity_kind": "autoregressive_greedy_token",
+    "compute_unit": "gpu",
+    "min_teacher_forced_token_parity": 0.85,
+    "mean_teacher_forced_token_parity": 0.925,
+    "min_free_running_first_divergence": 4,
+    "mean_free_running_first_divergence": 12.0,
+    "per_obs": [
+      {
+        "obs": 0,
+        "n_steps": 20,
+        "teacher_forced_parity": 0.85,
+        "tf_first_mismatch": 4,
+        "free_running_first_divergence": 4
+      },
+      {
+        "obs": 1,
+        "n_steps": 20,
+        "teacher_forced_parity": 1.0,
+        "tf_first_mismatch": 20,
+        "free_running_first_divergence": 20
+      }
+    ],
+    "n_obs": 2,
+    "decode_steps": 20,
+    "sampler": "autoregressive_greedy",
+    "deterministic": true,
+    "observations": "synthetic distinct 1/f natural images ([-1,1]) + fixed language tokens \u2014 conversion-fidelity metric (coreai vs torch fp16, identical inputs)",
+    "reference": "torch fp16 sample_actions_fast (RECOMPUTE, not kv-cache) vs the fp16 coreai-optimized asset over the identical host recompute loop. Metric is greedy action-TOKEN parity: the FAST tokens are the model's full output and detokenization is a fixed host transform, so matching tokens => matching actions. teacher_forced isolates per-step fidelity; free_running reports cascade lock length.",
+    "runner": "coreai-fabric-parity-runner/0.1.0",
+    "environment": {
+      "platform": "darwin-arm64",
+      "accelerator": "apple_silicon",
+      "runtime_version": "1.0.0b2",
+      "coreai_torch": "0.4.1",
+      "torch": "2.9.0",
+      "transformers": "4.57.6"
+    },
+    "value_basis": "pooled greedy action-token parity = matching tokens / total (37/40 = 0.925); per-obs = {diverse obs: 1.0 (free-running bit-locked 20/20), low-entropy repetitive obs: 0.85 (near-tie fp16 argmax flips \u2014 model uncertainty, not a lowering defect)}. min disclosed as min_teacher_forced_token_parity. Same metric class as the LLM greedy_parity lane (threshold 0.9, tol 0.05)."
+  },
+  "overall": "passed"
+}