rename vlacpp to robotcpp

Author: JJJYmmm

AGENTS.md

@@ -18,11 +18,11 @@ live in `tools`, and third-party dependencies belong under `third_party`.
 Configure and build the active targets:
 
 ```sh
-cmake -S . -B build -DVLACPP_BUILD_ROBOT_SERVER=ON
+cmake -S . -B build -DROBOT_CPP_BUILD_ROBOT_SERVER=ON
 cmake --build build --target model-cli model-server
 ```
 
-`VLACPP_BUILD_ROBOT_SERVER` is the only project-level build option. Do not add
+`ROBOT_CPP_BUILD_ROBOT_SERVER` is the only project-level build option. Do not add
 CTest or old C ABI targets back unless the architecture is explicitly changed.
 
 ## Coding Style & Naming Conventions
@@ -35,7 +35,7 @@ variables. Keep comments sparse and focused on non-obvious behavior.
 
 ## Architecture Notes
 
-Do not route `model-cli` or `model-server` through a generic public `vlacpp_*`
+Do not route `model-cli` or `model-server` through a generic public `robotcpp_*`
 C ABI. pi0 should load split GGUF components through `pi0_engine`, and
 SmolVLA should continue to use `smolvla_engine`. Preserve clean boundaries for
 raw observation input, preprocessing, backbone/prefix work, action head,

CMakeLists.txt

@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.16)
-project(vlacpp VERSION 0.1.0 LANGUAGES C CXX)
+project(robotcpp VERSION 0.1.0 LANGUAGES C CXX)
 
-option(BUILD_ROBOT_SERVER "Build model-cli, model-server, and robot client targets" ON)
+option(ROBOT_CPP_BUILD_ROBOT_SERVER "Build model-cli, model-server, and robot client targets" ON)
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
@@ -19,7 +19,7 @@ if(NOT TARGET ggml OR NOT TARGET llama)
     message(FATAL_ERROR "llama.cpp must provide ggml and llama targets")
 endif()
 
-set(VLACPP_LLAMA_INCLUDE_DIRS
+set(ROBOTCPP_LLAMA_INCLUDE_DIRS
     ${CMAKE_CURRENT_SOURCE_DIR}/third_party/llama.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/third_party/llama.cpp/include
     ${CMAKE_CURRENT_SOURCE_DIR}/third_party/llama.cpp/src
@@ -49,7 +49,7 @@ target_include_directories(smolvla_runtime
     PUBLIC
         ${CMAKE_CURRENT_SOURCE_DIR}/src
         ${SMOLVLA_DIR}
-        ${VLACPP_LLAMA_INCLUDE_DIRS}
+        ${ROBOTCPP_LLAMA_INCLUDE_DIRS}
 )
 target_link_libraries(smolvla_runtime PUBLIC ggml llama)
 target_compile_features(smolvla_runtime PUBLIC cxx_std_17)
@@ -83,7 +83,7 @@ add_library(pi0_engine STATIC
 target_include_directories(pi0_engine
     PUBLIC
         ${CMAKE_CURRENT_SOURCE_DIR}/src
-        ${VLACPP_LLAMA_INCLUDE_DIRS}
+        ${ROBOTCPP_LLAMA_INCLUDE_DIRS}
 )
 target_link_libraries(pi0_engine PUBLIC ggml llama)
 target_compile_features(pi0_engine PUBLIC cxx_std_17)
@@ -107,7 +107,7 @@ target_include_directories(robotcpp
 target_link_libraries(robotcpp PUBLIC smolvla_runtime pi0_engine)
 target_compile_features(robotcpp PUBLIC cxx_std_17)
 
-if(BUILD_ROBOT_SERVER)
+if(ROBOT_CPP_BUILD_ROBOT_SERVER)
     add_library(robot_server_common STATIC
         ${ROBOT_SERVER_DIR}/protocol.cpp
         ${ROBOT_SERVER_DIR}/protocol.h
@@ -149,7 +149,7 @@ if(BUILD_ROBOT_SERVER)
     set_target_properties(model-cli PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
     target_include_directories(model-cli PRIVATE
         ${CMAKE_CURRENT_SOURCE_DIR}/src
-        ${VLACPP_LLAMA_INCLUDE_DIRS}
+        ${ROBOTCPP_LLAMA_INCLUDE_DIRS}
     )
     target_link_libraries(model-cli PRIVATE robotcpp)
     target_compile_features(model-cli PRIVATE cxx_std_17)

README.md

@@ -1,6 +1,6 @@
-# vla.cpp
+# robot.cpp
 
-`vla.cpp` currently builds a robot model frontend around two engine-style
+`robot.cpp` currently builds a robot model frontend around two engine-style
 runtimes:
 
 - `src/models/smolvla`: SmolVLA runtime with `smolvla_engine.h`.
@@ -18,12 +18,12 @@ out of git under `build*/`, `ckpts/`, `artifacts/`, and `data/`.
 
 ```sh
 git submodule update --init --recursive
-cmake -S . -B build -DVLACPP_BUILD_ROBOT_SERVER=ON
+cmake -S . -B build -DROBOT_CPP_BUILD_ROBOT_SERVER=ON
 cmake --build build --target model-cli model-server
 ```
 
-`VLACPP_BUILD_ROBOT_SERVER` is the only project-level build option. The build no
-longer registers CTest targets or the old `vlacpp` shared C ABI.
+`ROBOT_CPP_BUILD_ROBOT_SERVER` is the only project-level build option. The build
+no longer registers CTest targets or the old public shared C ABI.
 
 ## Checks
 
@@ -62,8 +62,8 @@ launchers when switching models.
 Converted pi0 checkpoints are expected as split GGUF components:
 
 ```sh
-GGUF_DIR=ckpts/pi0-libero-finetuned-v044/vlacpp-split
-MODEL=vlacpp-pi0-libero-finetuned-v044
+GGUF_DIR=ckpts/pi0-libero-finetuned-v044/robotcpp-split
+MODEL=robotcpp-pi0-libero-finetuned-v044
 
 ./build/bin/model-server \
   --model-type pi0 \
@@ -86,8 +86,8 @@ server predictions share one runtime path. For pi0, pass image names that match
 the checkpoint metadata. The LIBERO v044 checkpoint expects two image views:
 
 ```sh
-GGUF_DIR=ckpts/pi0-libero-finetuned-v044/vlacpp-split
-MODEL=vlacpp-pi0-libero-finetuned-v044
+GGUF_DIR=ckpts/pi0-libero-finetuned-v044/robotcpp-split
+MODEL=robotcpp-pi0-libero-finetuned-v044
 IMAGE0=agentview.png
 IMAGE1=eye_in_hand.png
 

docs/models/pi0.md

@@ -11,7 +11,7 @@ The LeRobot reference checkpoint is available on Hugging Face as
 converted components in one directory, for example:
 
 ```sh
-ckpts/pi0-libero-finetuned-v044/vlacpp-split
+ckpts/pi0-libero-finetuned-v044/robotcpp-split
 ```
 
 The converted split GGUF files are available on Hugging Face as
@@ -20,34 +20,34 @@ The converted split GGUF files are available on Hugging Face as
 ```sh
 hf download JJJYmmm/robotcpp-pi0-libero-finetuned-v044 \
   --include "*.gguf" \
-  --local-dir ckpts/pi0-libero-finetuned-v044/vlacpp-split
+  --local-dir ckpts/pi0-libero-finetuned-v044/robotcpp-split
 ```
 
 Expected files:
 
 ```text
-vlacpp-pi0-libero-finetuned-v044.vit.gguf
-vlacpp-pi0-libero-finetuned-v044.mmproj.gguf
-vlacpp-pi0-libero-finetuned-v044.llm.gguf
-vlacpp-pi0-libero-finetuned-v044.tokenizer.gguf
-vlacpp-pi0-libero-finetuned-v044.state.gguf
-vlacpp-pi0-libero-finetuned-v044.action_decoder.gguf
+robotcpp-pi0-libero-finetuned-v044.vit.gguf
+robotcpp-pi0-libero-finetuned-v044.mmproj.gguf
+robotcpp-pi0-libero-finetuned-v044.llm.gguf
+robotcpp-pi0-libero-finetuned-v044.tokenizer.gguf
+robotcpp-pi0-libero-finetuned-v044.state.gguf
+robotcpp-pi0-libero-finetuned-v044.action_decoder.gguf
 ```
 
 ## Build
 
 CPU build:
 
 ```sh
-cmake -S . -B build -DVLACPP_BUILD_ROBOT_SERVER=ON
+cmake -S . -B build -DROBOT_CPP_BUILD_ROBOT_SERVER=ON
 cmake --build build --target model-cli model-server -j
 ```
 
 CUDA build:
 
 ```sh
 cmake -S . -B build-cuda \
-  -DVLACPP_BUILD_ROBOT_SERVER=ON \
+  -DROBOT_CPP_BUILD_ROBOT_SERVER=ON \
   -DGGML_CUDA=ON \
   -DCMAKE_CUDA_ARCHITECTURES=80
 cmake --build build-cuda --target model-cli model-server -j
@@ -74,8 +74,8 @@ components are `vit`, `mmproj`, `llm`, `state`, and `action_decoder`.
 Example with a split GGUF checkpoint and CUDA build:
 
 ```sh
-GGUF_DIR=ckpts/pi0-libero-finetuned-v044/vlacpp-split
-MODEL=vlacpp-pi0-libero-finetuned-v044
+GGUF_DIR=ckpts/pi0-libero-finetuned-v044/robotcpp-split
+MODEL=robotcpp-pi0-libero-finetuned-v044
 IMAGE0=agentview.png
 IMAGE1=eye_in_hand.png
 STATE="$(python3 - <<'PY'
@@ -120,8 +120,8 @@ strings "${GGUF_DIR}/${MODEL}.tokenizer.gguf" | rg "pi0\\.image_keys|observation
 Start the CUDA server:
 
 ```sh
-GGUF_DIR=ckpts/pi0-libero-finetuned-v044/vlacpp-split
-MODEL=vlacpp-pi0-libero-finetuned-v044
+GGUF_DIR=ckpts/pi0-libero-finetuned-v044/robotcpp-split
+MODEL=robotcpp-pi0-libero-finetuned-v044
 
 ROBOTCPP_BACKEND=cuda ./build-cuda/bin/model-server \
   --model-type pi0 \
@@ -154,10 +154,10 @@ The pi0-specific pieces are only the server launch command and optional backend
 environment override:
 
 ```sh
-GGUF_DIR=ckpts/pi0-libero-finetuned-v044/vlacpp-split
-MODEL=vlacpp-pi0-libero-finetuned-v044
+GGUF_DIR=ckpts/pi0-libero-finetuned-v044/robotcpp-split
+MODEL=robotcpp-pi0-libero-finetuned-v044
 
-python -m eval.libero.run_model_server_eval \
+python -m eval.libero.run_model_server \
   --launch-server \
   --host 127.0.0.1 \
   --port 5555 \

eval/__init__.py

@@ -1 +1 @@
-"""Evaluation helpers for vla.cpp model-server policies."""
+"""Evaluation helpers for robot.cpp model-server policies."""

eval/lerobot_so101/README.md

@@ -1,9 +1,9 @@
-# vla.cpp LeRobot SO101 Client
+# robot.cpp LeRobot SO101 Client
 
-最小同步 client：SO101 硬件 → vla.cpp SmolVLA TCP server（`127.0.0.1:5555`）。**不修改** `third_party/lerobot` 源码。
+最小同步 client：SO101 硬件 → robot.cpp SmolVLA TCP server（`127.0.0.1:5555`）。**不修改** `third_party/lerobot` 源码。
 
 - LeRobot 上游：`third_party/lerobot`（submodule，只读）
-- 推理：vla.cpp `robot_server` TCP
+- 推理：robot.cpp `robot_server` TCP
 - 相机：LeRobot CLI 使用 `type: opencv_crop`
 
 ## 目录结构
@@ -25,7 +25,7 @@ eval/base_platform.py           # BasePolicy
 
 ## 安装
 
-在 vla.cpp 仓库根目录：
+在 robot.cpp 仓库根目录：
 
 ```bash
 conda create -n lerobot-demo python=3.12 -y
@@ -51,7 +51,7 @@ pip install -e "eval/lerobot_so101/lerobot_camera_opencv_crop"
 | `CAMERA_`*                    | 分辨率、backend、resize、warmup 等                              |
 | `ROBOT_USE_DEGREES`           | follower 关节单位（默认 degrees）                                |
 | `ROBOT_PLATFORM`              | 平台选择（默认 `lerobot_so101` → `eval.lerobot_so101.so101_client`） |
-| `SERVER` / `TASK` / `FPS`     | vla.cpp TCP 推理                                           |
+| `SERVER` / `TASK` / `FPS`     | robot.cpp TCP 推理                                           |
 | `DATASET_REPO_ID` 等           | 录制数据集                                                    |
 
 

eval/lerobot_so101/run_sync.py

@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-"""Launch a platform robot client against a running vla.cpp model server."""
+"""Launch a platform robot client against a running robot.cpp model server."""
 
 from __future__ import annotations
 

eval/libero/README.md

@@ -1,7 +1,7 @@
 # LIBERO Eval
 
 This directory contains LIBERO rollout and latency runners for two paths:
-LeRobot Python policies and vla.cpp `model-server`.
+LeRobot Python policies and robot.cpp `model-server`.
 
 ## Files
 
@@ -27,7 +27,7 @@ Create the optional conda environment:
 
 ```sh
 conda env create -f eval/libero/environment.yaml
-conda activate vlacpp-libero
+conda activate robotcpp-libero
 ```
 
 Or install the key dependencies in an existing environment:
@@ -47,7 +47,7 @@ default cache directories:
 ```sh
 export MUJOCO_GL=osmesa
 export PYOPENGL_PLATFORM=osmesa
-export VLACPP_EVAL_CACHE_DIR="${TMPDIR:-/tmp}/vlacpp-eval-cache"
+export ROBOTCPP_EVAL_CACHE_DIR="${TMPDIR:-/tmp}/robotcpp-eval-cache"
 ```
 
 ## LeRobot Baseline
@@ -62,9 +62,9 @@ python -m eval.libero.run_lerobot \
   --n-episodes 1 \
   --mujoco-gl osmesa \
   --pyopengl-platform osmesa \
-  --numba-cache-dir "${VLACPP_EVAL_CACHE_DIR}/numba" \
-  --torchinductor-cache-dir "${VLACPP_EVAL_CACHE_DIR}/torchinductor" \
-  --triton-cache-dir "${VLACPP_EVAL_CACHE_DIR}/triton" \
+  --numba-cache-dir "${ROBOTCPP_EVAL_CACHE_DIR}/numba" \
+  --torchinductor-cache-dir "${ROBOTCPP_EVAL_CACHE_DIR}/torchinductor" \
+  --triton-cache-dir "${ROBOTCPP_EVAL_CACHE_DIR}/triton" \
   --extra-arg=--policy.compile_model=false
 ```
 
@@ -101,8 +101,8 @@ The benchmark reports `processor_ms`, `policy_ms`, and `total_ms` after warmup.
 Measure model-server action chunk latency with synthetic LIBERO-style inputs:
 
 ```sh
-GGUF_DIR=ckpts/pi0-libero-finetuned-v044/vlacpp-split
-MODEL=vlacpp-pi0-libero-finetuned-v044
+GGUF_DIR=ckpts/pi0-libero-finetuned-v044/robotcpp-split
+MODEL=robotcpp-pi0-libero-finetuned-v044
 
 python -m eval.libero.benchmark_model_server \
   --launch-server \
@@ -137,16 +137,16 @@ Download the pi0 v044 split GGUF files:
 ```sh
 hf download JJJYmmm/robotcpp-pi0-libero-finetuned-v044 \
   --include "*.gguf" \
-  --local-dir ckpts/pi0-libero-finetuned-v044/vlacpp-split
+  --local-dir ckpts/pi0-libero-finetuned-v044/robotcpp-split
 ```
 
 The convenience wrapper configures/builds `model-server`, launches it, and runs
 the rollout:
 
 ```sh
-GGUF_DIR=ckpts/pi0-libero-finetuned-v044/vlacpp-split \
-MODEL=vlacpp-pi0-libero-finetuned-v044 \
-CONDA_ENV=vlacpp-libero \
+GGUF_DIR=ckpts/pi0-libero-finetuned-v044/robotcpp-split \
+MODEL=robotcpp-pi0-libero-finetuned-v044 \
+CONDA_ENV=robotcpp-libero \
 CMAKE_CUDA_ARCHITECTURES=80 \
 bash eval/libero/run_model_server.sh
 ```

eval/libero/environment.yaml

@@ -1,4 +1,4 @@
-name: vlacpp-libero
+name: robotcpp-libero
 channels:
   - conda-forge
 dependencies: