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‎README.md‎

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<h3 align="center">Run your robot model on any device, easily.</h3>
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<p align="center">
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<a href="https://huggingface.co/rrobottt"><img alt="Hugging Face" src="https://img.shields.io/badge/HuggingFace-Model%20Zoo-ffcc4d?style=for-the-badge&logo=huggingface&logoColor=black"></a>
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<a href="https://huggingface.co/robotcpp"><img alt="Hugging Face" src="https://img.shields.io/badge/HuggingFace-Model%20Zoo-ffcc4d?style=for-the-badge&logo=huggingface&logoColor=black"></a>
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<a href="assets/readme/wechat-group.jpg"><img alt="WeChat" src="https://img.shields.io/badge/WeChat-Join%20Discussion%20Group-07C160?style=for-the-badge&logo=wechat&logoColor=white"></a>
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</p>
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#### Step 0: Download a GGUF model
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Download a sample GGUF model from Hugging Face: [huggingface.co/rrobottt/smolvla-so101-fp32](https://huggingface.co/rrobottt/smolvla-so101-fp32)
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Download a sample GGUF model from Hugging Face: [huggingface.co/robotcpp/smolvla-so101-fp32](https://huggingface.co/robotcpp/smolvla-so101-fp32)
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#### Step 1: Start model-server
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<td rowspan="3">SO-101</td>
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<td rowspan="3">-</td>
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<td>bf16</td>
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<td><a href="https://huggingface.co/rrobottt/smolvla-so101-bf16">smolvla-so101-bf16</a></td>
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<td><a href="https://huggingface.co/robotcpp/smolvla-so101-bf16">smolvla-so101-bf16</a></td>
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</tr>
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<tr>
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<td>f16</td>
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<td><a href="https://huggingface.co/rrobottt/smolvla-so101-fp16">smolvla-so101-fp16</a></td>
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<td><a href="https://huggingface.co/robotcpp/smolvla-so101-fp16">smolvla-so101-fp16</a></td>
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</tr>
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<tr>
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<td>f32</td>
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<td><a href="https://huggingface.co/rrobottt/smolvla-so101-fp32">smolvla-so101-fp32</a></td>
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<td><a href="https://huggingface.co/robotcpp/smolvla-so101-fp32">smolvla-so101-fp32</a></td>
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</tr>
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<tr>
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<td rowspan="3">SmolVLA</td>
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<td rowspan="3">LIBERO</td>
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<td rowspan="3"><a href="https://huggingface.co/lerobot/smolvla_libero">lerobot/smolvla_libero</a></td>
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<td>bf16</td>
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<td><a href="https://huggingface.co/rrobottt/smolvla-libero-bf16">smolvla-libero-bf16</a></td>
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<td><a href="https://huggingface.co/robotcpp/smolvla-libero-bf16">smolvla-libero-bf16</a></td>
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</tr>
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<tr>
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<td>f16</td>
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<td><a href="https://huggingface.co/rrobottt/smolvla-libero-f16">smolvla-libero-f16</a></td>
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<td><a href="https://huggingface.co/robotcpp/smolvla-libero-f16">smolvla-libero-f16</a></td>
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</tr>
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<tr>
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<td>f32</td>
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<td><a href="https://huggingface.co/rrobottt/smolvla-libero-f32">smolvla-libero-f32</a></td>
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<td><a href="https://huggingface.co/robotcpp/smolvla-libero-f32">smolvla-libero-f32</a></td>
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</tr>
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<tr>
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<td rowspan="3">pi0</td>
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<td rowspan="3">LIBERO</td>
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<td rowspan="3"><a href="https://huggingface.co/lerobot/pi0_libero_finetuned_v044">lerobot/pi0_libero_finetuned_v044</a></td>
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<td>bf16</td>
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<td><a href="https://huggingface.co/rrobottt/pi-libero-bf16">pi-libero-bf16</a></td>
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<td><a href="https://huggingface.co/robotcpp/pi-libero-bf16">pi-libero-bf16</a></td>
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</tr>
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<tr>
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<td>f16</td>
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<td><a href="https://huggingface.co/rrobottt/pi0-libero-f16">pi0-libero-f16</a></td>
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<td><a href="https://huggingface.co/robotcpp/pi0-libero-f16">pi0-libero-f16</a></td>
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</tr>
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<tr>
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<td>f32</td>
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<td><a href="https://huggingface.co/rrobottt/pi0-libero-f32">pi0-libero-f32</a></td>
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<td><a href="https://huggingface.co/robotcpp/pi0-libero-f32">pi0-libero-f32</a></td>
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</tr>
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</tbody>
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</table>

‎README_ZH.md‎

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<h3 align="center">轻松让机器人模型运行在任意设备上。</h3>
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<p align="center">
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<a href="https://huggingface.co/rrobottt"><img alt="Hugging Face" src="https://img.shields.io/badge/HuggingFace-模型仓库-ffcc4d?style=for-the-badge&logo=huggingface&logoColor=black"></a>
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<a href="https://huggingface.co/robotcpp"><img alt="Hugging Face" src="https://img.shields.io/badge/HuggingFace-模型仓库-ffcc4d?style=for-the-badge&logo=huggingface&logoColor=black"></a>
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<a href="assets/readme/wechat-group.jpg"><img alt="WeChat" src="https://img.shields.io/badge/微信-加入交流群-07C160?style=for-the-badge&logo=wechat&logoColor=white"></a>
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</p>
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#### Step 0：下载gguf model
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在hugging-face上下载一份gguf示例：[huggingface.co/rrobottt/smolvla-so101-fp32](https://huggingface.co/rrobottt/smolvla-so101-fp32)
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在hugging-face上下载一份gguf示例：[huggingface.co/robotcpp/smolvla-so101-fp32](https://huggingface.co/robotcpp/smolvla-so101-fp32)
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#### Step 1：model-server的启动
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<td rowspan="3">SO-101</td>
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<td rowspan="3">-</td>
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<td>bf16</td>
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<td><a href="https://huggingface.co/rrobottt/smolvla-so101-bf16">smolvla-so101-bf16</a></td>
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<td><a href="https://huggingface.co/robotcpp/smolvla-so101-bf16">smolvla-so101-bf16</a></td>
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</tr>
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<td>f16</td>
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<td><a href="https://huggingface.co/rrobottt/smolvla-so101-fp16">smolvla-so101-fp16</a></td>
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<td><a href="https://huggingface.co/robotcpp/smolvla-so101-fp16">smolvla-so101-fp16</a></td>
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</tr>
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<td>f32</td>
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<td><a href="https://huggingface.co/rrobottt/smolvla-so101-fp32">smolvla-so101-fp32</a></td>
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<td><a href="https://huggingface.co/robotcpp/smolvla-so101-fp32">smolvla-so101-fp32</a></td>
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</tr>
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<tr>
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<td rowspan="3">SmolVLA</td>
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<td rowspan="3">LIBERO</td>
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<td rowspan="3"><a href="https://huggingface.co/lerobot/smolvla_libero">lerobot/smolvla_libero</a></td>
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<td>bf16</td>
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<td><a href="https://huggingface.co/rrobottt/smolvla-libero-bf16">smolvla-libero-bf16</a></td>
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<td><a href="https://huggingface.co/robotcpp/smolvla-libero-bf16">smolvla-libero-bf16</a></td>
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</tr>
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<td>f16</td>
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<td><a href="https://huggingface.co/rrobottt/smolvla-libero-f16">smolvla-libero-f16</a></td>
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<td><a href="https://huggingface.co/robotcpp/smolvla-libero-f16">smolvla-libero-f16</a></td>
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</tr>
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<td>f32</td>
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<td><a href="https://huggingface.co/rrobottt/smolvla-libero-f32">smolvla-libero-f32</a></td>
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<td><a href="https://huggingface.co/robotcpp/smolvla-libero-f32">smolvla-libero-f32</a></td>
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<td rowspan="3">pi0</td>
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<td rowspan="3">LIBERO</td>
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<td rowspan="3"><a href="https://huggingface.co/lerobot/pi0_libero_finetuned_v044">lerobot/pi0_libero_finetuned_v044</a></td>
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<td>bf16</td>
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<td><a href="https://huggingface.co/rrobottt/pi-libero-bf16">pi-libero-bf16</a></td>
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<td><a href="https://huggingface.co/robotcpp/pi-libero-bf16">pi-libero-bf16</a></td>
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<td>f16</td>
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<td><a href="https://huggingface.co/rrobottt/pi0-libero-f16">pi0-libero-f16</a></td>
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<td><a href="https://huggingface.co/robotcpp/pi0-libero-f16">pi0-libero-f16</a></td>
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<td>f32</td>
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<td><a href="https://huggingface.co/rrobottt/pi0-libero-f32">pi0-libero-f32</a></td>
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<td><a href="https://huggingface.co/robotcpp/pi0-libero-f32">pi0-libero-f32</a></td>
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</tr>
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</tbody>
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</table>

‎eval/libero/README.md‎

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### step1: Prepare C++ Policy GGUF
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For Pi0, refer to the GGUF checkpoint
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[`rrobottt/pi-libero-bf16`](https://huggingface.co/rrobottt/pi-libero-bf16).
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[`robotcpp/pi-libero-bf16`](https://huggingface.co/robotcpp/pi-libero-bf16).
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The C++ Policy uses converted split GGUF files:
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```bash
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hf download rrobottt/pi-libero-bf16 \
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For SmolVLA, download `rrobottt/smolvla-libero-bf16` and run with
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For SmolVLA, download `robotcpp/smolvla-libero-bf16` and run with
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`MODEL_TYPE=smolvla` (the wrapper then defaults `GGUF_DIR=ckpts/smolvla-libero-bf16`).
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These repos are private/gated — use an authorized token, and set
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`HF_ENDPOINT=https://hf-mirror.com` on restricted networks.

‎eval/libero/README_ZH.md‎

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### step1：准备 C++ Policy GGUF
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Pi0 GGUF checkpoint 可以参考
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[`rrobottt/pi-libero-bf16`](https://huggingface.co/rrobottt/pi-libero-bf16)。
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[`robotcpp/pi-libero-bf16`](https://huggingface.co/robotcpp/pi-libero-bf16)。
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C++ Policy 使用转换后的 split GGUF 文件：
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```bash
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hf download rrobottt/pi-libero-bf16 \
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SmolVLA 则下载 `rrobottt/smolvla-libero-bf16`，并用 `MODEL_TYPE=smolvla` 运行
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SmolVLA 则下载 `robotcpp/smolvla-libero-bf16`，并用 `MODEL_TYPE=smolvla` 运行
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（脚本会把 `GGUF_DIR` 默认成 `ckpts/smolvla-libero-bf16`）。这些仓库是私有/gated，
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需要有权限的 token；受限网络下设 `HF_ENDPOINT=https://hf-mirror.com`。
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