Mirror of mlboydaisuke/BitVLA-CoreAI

.gitattributes

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LICENSE

@@ -0,0 +1,5 @@
+MIT License
+
+This Core AI artifact is a converted redistribution of lxsy/bitvla-bf16 (BitVLA,
+https://github.com/ustcwhy/BitVLA, arXiv:2506.07530), released under the MIT License.
+See the base model and the BitVLA repository for the original terms and copyright.

README.md

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+---
+license: mit
+base_model:
+  - lxsy/bitvla-bf16
+tags:
+  - core-ai
+  - coreai
+  - on-device
+  - iphone
+  - apple-silicon
+  - ternary
+  - bitnet
+  - 1.58-bit
+  - vla
+  - vision-language-action
+  - robotics
+  - openvla
+language:
+  - en
+pipeline_tag: robotics
+library_name: coreai
+---
+
+> **Mirror** of [`mlboydaisuke/BitVLA-CoreAI`](https://huggingface.co/mlboydaisuke/BitVLA-CoreAI) — the canonical repo ([CoreAI Model Zoo](https://github.com/john-rocky/coreai-model-zoo)). Updates land there first.
+
+
+# BitVLA (1.58-bit Vision-Language-Action) — Core AI
+
+The **first Vision-Language-Action model running fully on-device on iPhone**, via Apple **Core AI**.
+A Core AI conversion of [`lxsy/bitvla-bf16`](https://huggingface.co/lxsy/bitvla-bf16)
+([BitVLA, arXiv:2506.07530](https://arxiv.org/abs/2506.07530), MIT).
+
+BitVLA takes an **image + a natural-language instruction** and predicts a **7-DoF robot
+end-effector action** (Δx, Δy, Δz, Δroll, Δpitch, Δyaw, gripper) — OpenVLA-style discrete action
+tokens. Every transformer weight, in **both** the BitNet b1.58-2B language model **and** the
+BitSigLIP-SO400M vision tower, is **1.58-bit ternary** ({-1, 0, +1}) — ~32× smaller than a
+full-precision VLA (OpenVLA-7.5B ≈ 15 GB), so the whole policy fits and runs on a phone GPU. The
+language model's per-layer linears run a **custom 2-bit packed-ternary Metal kernel**.
+
+Part of the **Core AI model zoo** — on-device AI for iPhone & Mac through Apple Core AI:
+https://github.com/john-rocky/coreai-model-zoo
+
+## On-device (iPhone 17 Pro — Core AI GPU, greedy)
+
+One image + instruction → 7-DoF action:
+
+| stage | warm |
+|---|---:|
+| vision encode (BitSigLIP-SO400M, 256 tokens) | **0.13 s** |
+| LLM prefill (≈308 positions, M=1 ternary kernel) | **8.8 s** |
+| action decode (7 tokens) | **0.26 s** |
+
+Resident ≈ 2 GB, no jetsam. On-device output matches the official model: **6/7 action tokens
+identical**, 7-DoF action effectively identical, vision embeddings at per-token cosine **0.999**.
+
+## What's in this repo
+
+- **`h18p/`** — device-ready, AOT-compiled for the iPhone 17 Pro (h18p) GPU:
+  `bitvla_vision/` (BitSigLIP tower), `bitvla_llm_act/` (BitNet LLM, 256-row action head + ternary
+  kernel), `bitvla_device_data/` (preset-instruction text embeds + the 256-row action-token embed
+  table + `norm_stats` + a sample image — so the device needs no tokenizer or embedding table).
+- **`aimodel/`** — portable source `.aimodel`s (vision + LLM); re-AOT for another device with
+  `xcrun coreai-build compile <…>.aimodel --platform iOS --preferred-compute gpu --architecture <arch>`.
+
+## Architecture
+
+- **LLM** = BitNet b1.58 2B4T (30L, hidden 2560, FFN 6912, GQA 20/5 hd128, ReLU² FFN, SubLN, RoPE
+  θ500000), W1.58-A8 (per-tensor absmean ternary weight + per-token int8 activation).
+- **Vision** = BitSigLIP-SO400M (26L, hidden 1152, FFN 4304, patch14/224 → 256 tokens), ternary
+  linears; fp16 activations on device.
+- **Connector** = 2-layer MLP (1152→2560→2560), fp16.
+- **Action** = OpenVLA discrete: 256 vision embeds spliced into the LLM; 7 action tokens from the
+  vocab tail → 256-bin → BOUNDS-Q99 un-normalization (`norm_stats`, 27-dataset OXE mix;
+  e.g. `unnorm_key = bridge_orig`).
+
+## Conversion & how it works
+
+Recipe, kernel notes, and the device gotchas (custom kernel must be AOT-compiled — it can't JIT on
+device; the dynamic-shape LLM `.aimodelc` loads with `expectFrequentReshapes=false`; vision uses
+fp16 activations because the in-graph A8 quant stalls the GPU) are in the zoo:
+
+- card: https://github.com/john-rocky/coreai-model-zoo/blob/main/zoo/bitvla.md
+- knowledge: https://github.com/john-rocky/coreai-model-zoo/blob/main/knowledge/bitvla-1.58bit-vla.md
+- conversion: https://github.com/john-rocky/coreai-model-zoo/tree/main/conversion
+
+## License
+
+MIT, inheriting [`lxsy/bitvla-bf16`](https://huggingface.co/lxsy/bitvla-bf16) /
+[BitVLA](https://github.com/ustcwhy/BitVLA). This is a converted redistribution of the Core AI
+artifacts; see the base model for original terms.

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+  "{\n  \"entryFunctionName\" : \"main_9wemocz7YmEwKSHhsD5JpQ\",\n  \"deviceDescriptor\" : [\n    0,\n    6,\n    \"h18p\"\n  ],\n  \"compilationDescriptor\" : {\n    \"enableANECValidationWorkflow\" : true,\n    \"reducedPrecisionFastMath\" : 0,\n    \"entryFunctionName\" : \"\",\n    \"enableCompileResourcesForPackage\" : true,\n    \"useANELLIR\" : true,\n    \"shapeShifterCacheThreads\" : 1,\n    \"disableShapeFolding\" : false,\n    \"optimizationProfile\" : 0,\n    \"enableANEFWToFWSignal\" : false,\n    \"optimizationLevel\" : 1,\n    \"includeDebugInfo\" : false,\n    \"addUniqueIdToMLIRLocations\" : true,\n    \"maximumNumberOfParallelEncodingRegions\" : 1,\n    \"aneCompilerSpatialSplitting\" : 3,\n    \"compilerOptions\" : 1691022,\n    \"preferredDevice\" : 1,\n    \"enableMLIRDiagnostics\" : false,\n    \"enableShapeEquivalence\" : false,\n    \"enableShapeShifter\" : true,\n    \"enableShapeShifterCache\" : false,\n    \"shapeShifterTILevel\" : 0,\n    \"verifyTypeInference\" : false,\n    \"printANEPlacementAnalysis\" : false,\n    \"inputShapeRanges\" : null,\n    \"enableANELateLatch\" : false,\n    \"minimumNumberOfOpsInParallelRegion\" : 100,\n    \"enableANECHWRankPromotion\" : true,\n    \"enableParallelEncode\" : true,\n    \"allowedComputeDevices\" : 1,\n    \"aneBondedCompileMode\" : 0,\n    \"enableMemrefBufferization\" : true\n  },\n  \"inputShapesCount\" : 0,\n  \"inputShapes\" : [\n\n  ],\n  \"callablesHash\" : 0\n}"
+]</key>
+				<dict>
+					<key>Entry Function Attributes</key>
+					<dict>
+						<key>main_9wemocz7YmEwKSHhsD5JpQ_0</key>
+						<array>
+							<string>mps.disablePreAllocate</string>
+							<dict>
+								<key>mps.stateInputIndices</key>
+								<array>
+									<integer>0</integer>
+									<integer>1</integer>
+								</array>
+							</dict>
+							<dict>
+								<key>mps.tokenResIndices</key>
+								<array>
+									<integer>1</integer>
+									<integer>2</integer>
+								</array>
+							</dict>
+						</array>
+					</dict>
+					<key>File Name</key>
+					<string>specialized_model_1.mpsgraph</string>
+					<key>Key to Symbol Name</key>
+					<dict>
+						<key>{
+  "entryFunctionName" : "main_9wemocz7YmEwKSHhsD5JpQ",
+  "deviceDescriptor" : [
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+    6,
+    "h18p"
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+  "inputShapesCount" : 0,
+  "inputShapes" : [
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+  "callablesHash" : 0
+}</key>
+						<string>main_9wemocz7YmEwKSHhsD5JpQ_0</string>
+					</dict>
+					<key>Used In Cache</key>
+					<array>
+						<string>{
+  "entryFunctionName" : "main_9wemocz7YmEwKSHhsD5JpQ",
+  "deviceDescriptor" : [
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+  "inputShapes" : [
+
+  ],
+  "callablesHash" : 0
+}</string>
+					</array>
+				</dict>
+			</dict>
+			<key>Optimized No Device Modules</key>
+			<dict/>
+			<key>Optimized No Device Resources Used</key>
+			<dict/>
+			<key>Optimized Resources Used</key>
+			<dict>
+				<key>[
+  "{\n  \"entryFunctionName\" : \"main_9wemocz7YmEwKSHhsD5JpQ\",\n  \"deviceDescriptor\" : [\n    0,\n    6,\n    \"h18p\"\n  ],\n  \"compilationDescriptor\" : {\n    \"enableANECValidationWorkflow\" : true,\n    \"reducedPrecisionFastMath\" : 0,\n    \"entryFunctionName\" : \"\",\n    \"enableCompileResourcesForPackage\" : true,\n    \"useANELLIR\" : true,\n    \"shapeShifterCacheThreads\" : 1,\n    \"disableShapeFolding\" : false,\n    \"optimizationProfile\" : 0,\n    \"enableANEFWToFWSignal\" : false,\n    \"optimizationLevel\" : 1,\n    \"includeDebugInfo\" : false,\n    \"addUniqueIdToMLIRLocations\" : true,\n    \"maximumNumberOfParallelEncodingRegions\" : 1,\n    \"aneCompilerSpatialSplitting\" : 3,\n    \"compilerOptions\" : 1691022,\n    \"preferredDevice\" : 1,\n    \"enableMLIRDiagnostics\" : false,\n    \"enableShapeEquivalence\" : false,\n    \"enableShapeShifter\" : true,\n    \"enableShapeShifterCache\" : false,\n    \"shapeShifterTILevel\" : 0,\n    \"verifyTypeInference\" : false,\n    \"printANEPlacementAnalysis\" : false,\n    \"inputShapeRanges\" : null,\n    \"enableANELateLatch\" : false,\n    \"minimumNumberOfOpsInParallelRegion\" : 100,\n    \"enableANECHWRankPromotion\" : true,\n    \"enableParallelEncode\" : true,\n    \"allowedComputeDevices\" : 1,\n    \"aneBondedCompileMode\" : 0,\n    \"enableMemrefBufferization\" : true\n  },\n  \"inputShapesCount\" : 0,\n  \"inputShapes\" : [\n\n  ],\n  \"callablesHash\" : 0\n}"
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