BitVLA LIBERO-Object I2S for Robot.cpp

Four GGUF components for Robot.cpp's BitVLA runtime. The source is the author's BitVLA checkpoint, revision 7fd7a4f2cdb968a4d05759ff6ffb37667abc84f6. This is the fine-tuned version without robotics pre-training. The normalization key is libero_object_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-object-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.