{
  "recipe_id": "diffusion-pusht",
  "tool": "models/diffusion/export.py",
  "tool_version": "coreai_torch 0.4.1 + coremltools 9.0",
  "converter_stack": {
    "coreai_torch": "0.4.1",
    "coremltools": "9.0",
    "coreai_core": "1.0.0b2",
    "torch": "2.9.0",
    "lerobot": "0.5.1"
  },
  "lane": "vla-two-venv-split",
  "command": [
    "export.py",
    "export",
    "--repo",
    "lerobot/diffusion_pusht",
    "--out",
    "build/diffusion-pusht"
  ],
  "reproduce": [
    ".venv-lerobot/bin/python models/diffusion/export.py export --repo lerobot/diffusion_pusht --out build/diffusion-pusht",
    ".venv/bin/python models/diffusion/export.py --lower --out build/diffusion-pusht",
    ".venv-lerobot/bin/python models/diffusion/parity.py reference --repo lerobot/diffusion_pusht --out build/diffusion-pusht",
    ".venv/bin/python models/diffusion/parity.py --compare --out build/diffusion-pusht",
    "coreai-fabric verify diffusion-pusht",
    "coreai-fabric publish diffusion-pusht"
  ],
  "input": {
    "hf_repo": "lerobot/diffusion_pusht",
    "revision": "84a7c23178445c6bbf7e1a884ff497017910f653",
    "revision_pinned_by_tool": true
  },
  "asset_minimum_os": "27",
  "notes": "Split export: encode + denoise_step land in ONE .aimodel as named entrypoints (coreai_torch add_exported_program entrypoint_name). The 100-step DDPM sampler loop + un-normalization run in host code. action_parity measured robot-free: the converted split-export and the torch reference run the IDENTICAL deterministic DDPM host loop, isolating numerical export fidelity."
}