kevinqz
/

FastWAM-LIBERO-CoreAI

+NOTE — supplied by coreai-fabric (the redistributor), not the upstream.
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+in its Hugging Face model-card metadata but ships no LICENSE file. Under
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+authors (lerobot/fastwam_libero_uncond_2cam224); see the model card for attribution.
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README.md ADDED Viewed

	@@ -0,0 +1,131 @@

+---
+license: apache-2.0
+base_model: lerobot/fastwam_libero_uncond_2cam224
+base_model_relation: quantized
+pipeline_tag: robotics
+library_name: coreai
+tags:
+- coreai
+- core-ai
+- coreai-fabric
+- aimodel
+- coreml
+- apple
+- apple-silicon
+- on-device
+- robotics
+- vla
+- vision-language-action
+- action
+- int8
+---
+> **Canonical:** [`kevinqz/FastWAM-LIBERO-CoreAI`](https://huggingface.co/kevinqz/FastWAM-LIBERO-CoreAI) — source of truth.
+# FastWAM LIBERO (fabric)
+> ⚠️ **Robot policy — needs a matching robot to actuate.** This is
+> [lerobot/fastwam_libero_uncond_2cam224](https://huggingface.co/lerobot/fastwam_libero_uncond_2cam224) converted to an
+> Apple Core AI `.aimodel`. Its output is a **normalized action chunk** for
+> **libero_2cam_arm**. 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/fastwam_libero_uncond_2cam224](https://huggingface.co/lerobot/fastwam_libero_uncond_2cam224) — a **robot policy**
+that maps images + proprioceptive state (+ a language instruction, when the model
+uses one) to a continuous action chunk (flow_matching sampler). Produced by
+[coreai-fabric](https://github.com/kevinqz/coreai-fabric/blob/main/recipes/fastwam-libero.yaml) and indexed by
+[coreai-catalog](https://github.com/kevinqz/coreai-catalog).
+## Model facts
+| Field | Value |
+|---|---|
+| Parameters | 6B |
+| Architecture | diffusion |
+| Capabilities | vision-language-action, robotics |
+| Embodiment | libero_2cam_arm |
+| Sampling | flow_matching (20-step) |
+| Quantization / precision | int8 / float32 |
+| On-disk size | 3.8 GB |
+| Asset kind | single-graph policy + norm_stats sidecar |
+| 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 fastwam-libero
+```
+## 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): passed** — unmeasured pending a real conversion + `verify` on hardware. fabric never fakes a parity number.
+- 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/fastwam_libero_uncond_2cam224](https://huggingface.co/lerobot/fastwam_libero_uncond_2cam224) @ `53983e1249b4eb4d89ab42b40b8678a882d331ad` |
+| Converted by | `models/fastwam/export.py` (version not reported) |
+| Recipe | [fastwam-libero](https://github.com/kevinqz/coreai-fabric/blob/main/recipes/fastwam-libero.yaml) (recipe_source: fabric) |
+| Precision / quantization | float32 / int8 |
+| Conversion date | 2026-07-08 |
+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 licensed **apache-2.0** — 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.
+## Links
+- **Base model:** [lerobot/fastwam_libero_uncond_2cam224](https://huggingface.co/lerobot/fastwam_libero_uncond_2cam224)
+- **Reproduce:** [recipe `fastwam-libero`](https://github.com/kevinqz/coreai-fabric/blob/main/recipes/fastwam-libero.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 ADDED Viewed

	@@ -0,0 +1,67 @@

+{
+  "recipe_id": "fastwam-libero",
+  "generated_at": "2026-07-07T23:58:29+00:00",
+  "bundle": "build/fastwam-libero/fastwam-libero.aimodel",
+  "conversion_manifest": null,
+  "gate_a": {
+    "status": "passed",
+    "checks": [
+      {
+        "name": "bundle_exists",
+        "status": "passed",
+        "detail": "build/fastwam-libero/fastwam-libero.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": "passed",
+        "detail": "1 key(s) match"
+      }
+    ]
+  },
+  "gate_b": {
+    "metric": "graph_output_cosine",
+    "threshold": 0.999,
+    "tolerance": 0.0005,
+    "value": 0.9999999999990553,
+    "status": "passed",
+    "measurement_source": "graph-output-parity-measured.json",
+    "min_cosine": 0.9999999999990553,
+    "median_cosine": 0.9999999999992469,
+    "mean_cosine": 0.9999999999992673,
+    "per_obs_cosine": [
+      0.9999999999992352,
+      0.9999999999991455,
+      0.9999999999993591,
+      0.9999999999991703,
+      0.9999999999995112,
+      0.9999999999992587,
+      0.9999999999990553,
+      0.9999999999994029
+    ],
+    "n_obs": 8,
+    "reference_dtype": "float32",
+    "quantization": "int8_weight_only",
+    "asset_bytes": 4044340921,
+    "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"
+    },
+    "reference": "Torch FastWAM cache-free... action-denoise-step velocity vs int8 .aimodel, seeded inputs."
+  },
+  "overall": "passed"
+}