Add BitVLA LIBERO I2S GGUF components

a8f42e7 verified 1 day ago

2.31 kB

license: mit
base_model: hongyuw/ft-bitvla-bitsiglipL-224px-libero_spatial-bf16
tags:
  - gguf
  - robotics
  - bitvla

BitVLA LIBERO-Spatial I2S for Robot.cpp

Four GGUF components for Robot.cpp's BitVLA runtime. The source is the author's BitVLA checkpoint, revision df6d27c4ad2ce10ce510c68a6fb18130752130c7. This is the fine-tuned version without robotics pre-training. The normalization key is libero_spatial_no_noops.

Files and precision

bitvla-llm-i2s.gguf
bitvla-vision-i2s.gguf
bitvla-proprio-i2s.gguf
bitvla-action-i2s.gguf

The converter applies BitVLA WeightQuant in BF16, then packs 366 ternary matrices as i2s-matrix-v1. Other tensors retain BF16/F32 storage. I2S is a Robot.cpp-specific layout; these files require its patched gguf/ggml runtime, not a standalone llama.cpp CLI. Use all four components from the same checkpoint.

Run

Use Robot.cpp with BitVLA support and apply its llama.cpp patches before building. Use a model-server binary built from this revision or a later compatible revision.

GGUF_DIR=/path/to/bitvla-libero-spatial-i2s
/path/to/model-server \
  --model-type bitvla \
  --llm "${GGUF_DIR}/bitvla-llm-i2s.gguf" \
  --mmproj "${GGUF_DIR}/bitvla-vision-i2s.gguf" \
  --state-proj "${GGUF_DIR}/bitvla-proprio-i2s.gguf" \
  --action-expert "${GGUF_DIR}/bitvla-action-i2s.gguf" \
  --threads 8 --host 127.0.0.1 --port 5555

For these LIBERO checkpoints, send two 224×224 HWC RGB uint8 images in the full_image, then wrist_image order, eight raw proprio values, and a nonempty task instruction. Resize/crop images according to the source checkpoint's evaluation preprocessing before sending them. The runtime normalizes images/state and returns an 8×7 denormalized action chunk. Robot-specific action postprocessing remains the client's responsibility.

Validation

Release checks verify all four GGUF headers and SHA256 hashes. Uploaded file sizes and SHA256 hashes are compared with the local conversion outputs. This model card does not claim a new success-rate, numerical-equivalence, or latency result.