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ROBOTCPP -> ROBOT_CPP
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Lines changed: 84 additions & 79 deletions

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‎CMakeLists.txt‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -21,7 +21,7 @@ if(NOT TARGET ggml OR NOT TARGET llama)
2121
message(FATAL_ERROR "llama.cpp must provide ggml and llama targets")
2222
endif()
2323

24-
set(ROBOTCPP_LLAMA_INCLUDE_DIRS
24+
set(ROBOT_CPP_LLAMA_INCLUDE_DIRS
2525
${CMAKE_CURRENT_SOURCE_DIR}/third_party/llama.cpp
2626
${CMAKE_CURRENT_SOURCE_DIR}/third_party/llama.cpp/include
2727
${CMAKE_CURRENT_SOURCE_DIR}/third_party/llama.cpp/src
@@ -51,7 +51,7 @@ target_include_directories(smolvla_runtime
5151
PUBLIC
5252
${CMAKE_CURRENT_SOURCE_DIR}/src
5353
${SMOLVLA_DIR}
54-
${ROBOTCPP_LLAMA_INCLUDE_DIRS}
54+
${ROBOT_CPP_LLAMA_INCLUDE_DIRS}
5555
)
5656
target_link_libraries(smolvla_runtime PUBLIC ggml llama)
5757
target_compile_features(smolvla_runtime PUBLIC cxx_std_17)
@@ -85,7 +85,7 @@ add_library(pi0_engine STATIC
8585
target_include_directories(pi0_engine
8686
PUBLIC
8787
${CMAKE_CURRENT_SOURCE_DIR}/src
88-
${ROBOTCPP_LLAMA_INCLUDE_DIRS}
88+
${ROBOT_CPP_LLAMA_INCLUDE_DIRS}
8989
)
9090
target_link_libraries(pi0_engine PUBLIC ggml llama)
9191
target_compile_features(pi0_engine PUBLIC cxx_std_17)
@@ -178,7 +178,7 @@ if(ROBOT_CPP_BUILD_MODEL_CLI)
178178
set_target_properties(model-cli PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
179179
target_include_directories(model-cli PRIVATE
180180
${CMAKE_CURRENT_SOURCE_DIR}/src
181-
${ROBOTCPP_LLAMA_INCLUDE_DIRS}
181+
${ROBOT_CPP_LLAMA_INCLUDE_DIRS}
182182
)
183183
target_link_libraries(model-cli PRIVATE robotcpp)
184184
target_compile_features(model-cli PRIVATE cxx_std_17)

‎docs/models/pi0.md‎

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -57,13 +57,13 @@ Use the CUDA architecture that matches the target GPU.
5757

5858
## Backend Selection
5959

60-
`ROBOTCPP_BACKEND` selects the shared runtime backend policy for every model.
60+
`ROBOT_CPP_BACKEND` selects the shared runtime backend policy for every model.
6161
When it is unset, pi0 defaults to automatic backend selection. In a CUDA build,
6262
components with GGUF metadata `backend=inherit` resolve to CUDA.
6363

6464
```sh
65-
ROBOTCPP_BACKEND=cuda # use CUDA in a CUDA build
66-
ROBOTCPP_BACKEND=cpu # force CPU
65+
ROBOT_CPP_BACKEND=cuda # use CUDA in a CUDA build
66+
ROBOT_CPP_BACKEND=cpu # force CPU
6767
```
6868

6969
The tokenizer sidecar is loaded as CPU vocab-only metadata. The compute
@@ -83,7 +83,7 @@ print(",".join(["0"] * 32))
8383
PY
8484
)"
8585

86-
ROBOTCPP_BACKEND=cuda ./build-cuda/bin/model-cli \
86+
ROBOT_CPP_BACKEND=cuda ./build-cuda/bin/model-cli \
8787
--model-type pi0 \
8888
--vit "${GGUF_DIR}/${MODEL}.vit.gguf" \
8989
--mmproj "${GGUF_DIR}/${MODEL}.mmproj.gguf" \
@@ -123,7 +123,7 @@ Start the CUDA server:
123123
GGUF_DIR=ckpts/pi0-libero-finetuned-v044/robotcpp-split
124124
MODEL=robotcpp-pi0-libero-finetuned-v044
125125

126-
ROBOTCPP_BACKEND=cuda ./build-cuda/bin/model-server \
126+
ROBOT_CPP_BACKEND=cuda ./build-cuda/bin/model-server \
127127
--model-type pi0 \
128128
--vit "${GGUF_DIR}/${MODEL}.vit.gguf" \
129129
--mmproj "${GGUF_DIR}/${MODEL}.mmproj.gguf" \
@@ -161,7 +161,7 @@ python -m eval.libero.runners.run_model_server \
161161
--launch-server \
162162
--host 127.0.0.1 \
163163
--port 5555 \
164-
--server-env ROBOTCPP_BACKEND=cuda \
164+
--server-env ROBOT_CPP_BACKEND=cuda \
165165
--suite libero_object \
166166
--task-ids 0 \
167167
--n-episodes 1 \

‎eval/libero/scripts/run_model_server.sh‎

Lines changed: 13 additions & 13 deletions
Original file line numberDiff line numberDiff line change
@@ -18,7 +18,7 @@ Wrapper configuration:
1818
1919
Advanced overrides:
2020
BUILD_DIR=... build directory derived from BACKEND by default
21-
ROBOTCPP_BACKEND=... runtime backend value passed to model-server
21+
ROBOT_CPP_BACKEND=... runtime backend value passed to model-server
2222
2323
Arguments after this script are passed to eval.libero.runners.run_model_server before
2424
the generated --server-command block. Use HOST and PORT env vars instead of
@@ -47,19 +47,19 @@ BACKEND="${BACKEND:-linux-cuda}"
4747
case "${BACKEND}" in
4848
linux-cuda)
4949
BUILD_DIR="${BUILD_DIR:-${REPO_ROOT}/build_linux_cuda}"
50-
ROBOTCPP_BACKEND_VALUE="${ROBOTCPP_BACKEND:-cuda}"
50+
ROBOT_CPP_BACKEND_VALUE="${ROBOT_CPP_BACKEND:-cuda}"
5151
;;
5252
linux-cpu)
5353
BUILD_DIR="${BUILD_DIR:-${REPO_ROOT}/build_linux_cpu}"
54-
ROBOTCPP_BACKEND_VALUE="${ROBOTCPP_BACKEND:-cpu}"
54+
ROBOT_CPP_BACKEND_VALUE="${ROBOT_CPP_BACKEND:-cpu}"
5555
;;
5656
mac-metal)
5757
BUILD_DIR="${BUILD_DIR:-${REPO_ROOT}/build_mac_metal}"
58-
ROBOTCPP_BACKEND_VALUE="${ROBOTCPP_BACKEND:-metal}"
58+
ROBOT_CPP_BACKEND_VALUE="${ROBOT_CPP_BACKEND:-metal}"
5959
;;
6060
mac-cpu)
6161
BUILD_DIR="${BUILD_DIR:-${REPO_ROOT}/build_mac_cpu}"
62-
ROBOTCPP_BACKEND_VALUE="${ROBOTCPP_BACKEND:-cpu}"
62+
ROBOT_CPP_BACKEND_VALUE="${ROBOT_CPP_BACKEND:-cpu}"
6363
;;
6464
*)
6565
echo "unsupported BACKEND=${BACKEND}" >&2
@@ -73,7 +73,7 @@ MUJOCO_GL="${MUJOCO_GL:-osmesa}"
7373
if [[ -z "${PYOPENGL_PLATFORM:-}" && "${MUJOCO_GL}" == "osmesa" ]]; then
7474
PYOPENGL_PLATFORM="osmesa"
7575
fi
76-
ROBOTCPP_EVAL_CACHE_DIR="${ROBOTCPP_EVAL_CACHE_DIR:-${TMPDIR:-/tmp}/robotcpp-eval-cache}"
76+
ROBOT_CPP_EVAL_CACHE_DIR="${ROBOT_CPP_EVAL_CACHE_DIR:-${TMPDIR:-/tmp}/robot_cpp-eval-cache}"
7777

7878
required_files=(
7979
"${GGUF_DIR}/${MODEL}.vit.gguf"
@@ -104,9 +104,9 @@ if [[ ! -x "${SERVER_BIN}" ]]; then
104104
fi
105105

106106
mkdir -p \
107-
"${ROBOTCPP_EVAL_CACHE_DIR}/numba" \
108-
"${ROBOTCPP_EVAL_CACHE_DIR}/torchinductor" \
109-
"${ROBOTCPP_EVAL_CACHE_DIR}/triton"
107+
"${ROBOT_CPP_EVAL_CACHE_DIR}/numba" \
108+
"${ROBOT_CPP_EVAL_CACHE_DIR}/torchinductor" \
109+
"${ROBOT_CPP_EVAL_CACHE_DIR}/triton"
110110

111111
PYTHON_BIN="${PYTHON:-python3}"
112112
if [[ -n "${CONDA_ENV:-}" && -z "${PYTHON:-}" ]]; then
@@ -122,11 +122,11 @@ eval_cmd=(
122122
"${python_cmd[@]}"
123123
-m eval.libero.runners.run_model_server
124124
--launch-server
125-
--server-env "ROBOTCPP_BACKEND=${ROBOTCPP_BACKEND_VALUE}"
125+
--server-env "ROBOT_CPP_BACKEND=${ROBOT_CPP_BACKEND_VALUE}"
126126
--mujoco-gl "${MUJOCO_GL}"
127-
--numba-cache-dir "${ROBOTCPP_EVAL_CACHE_DIR}/numba"
128-
--torchinductor-cache-dir "${ROBOTCPP_EVAL_CACHE_DIR}/torchinductor"
129-
--triton-cache-dir "${ROBOTCPP_EVAL_CACHE_DIR}/triton"
127+
--numba-cache-dir "${ROBOT_CPP_EVAL_CACHE_DIR}/numba"
128+
--torchinductor-cache-dir "${ROBOT_CPP_EVAL_CACHE_DIR}/torchinductor"
129+
--triton-cache-dir "${ROBOT_CPP_EVAL_CACHE_DIR}/triton"
130130
)
131131
server_endpoint_args=()
132132
if [[ -n "${HOST:-}" ]]; then

‎robot_server/README.md‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -41,7 +41,7 @@ pi0:
4141
GGUF_DIR=ckpts/pi0-libero-finetuned-v044/robotcpp-split
4242
MODEL=robotcpp-pi0-libero-finetuned-v044
4343

44-
ROBOTCPP_BACKEND=cuda ./build-cuda/bin/model-server \
44+
ROBOT_CPP_BACKEND=cuda ./build-cuda/bin/model-server \
4545
--model-type pi0 \
4646
--vit "${GGUF_DIR}/${MODEL}.vit.gguf" \
4747
--mmproj "${GGUF_DIR}/${MODEL}.mmproj.gguf" \

‎robot_server/shell/launch_robot_server_linux_cuda.sh‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -53,7 +53,7 @@ case "${MODEL_TYPE}" in
5353
)
5454
;;
5555
pi0)
56-
export ROBOTCPP_BACKEND="${ROBOTCPP_BACKEND:-cuda}"
56+
export ROBOT_CPP_BACKEND="${ROBOT_CPP_BACKEND:-cuda}"
5757
MODEL_BASENAME="${MODEL_BASENAME:-robotcpp-pi0-libero-finetuned-v044}"
5858
VIT_GGUF="${VIT_GGUF:-${GGUF_DIR}/${MODEL_BASENAME}.vit.gguf}"
5959
MMPROJ_GGUF="${MMPROJ_GGUF:-${GGUF_DIR}/${MODEL_BASENAME}.mmproj.gguf}"

‎robot_server/shell/launch_robot_server_mac_metal.sh‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -54,7 +54,7 @@ case "${MODEL_TYPE}" in
5454
)
5555
;;
5656
pi0)
57-
export ROBOTCPP_BACKEND="${ROBOTCPP_BACKEND:-metal}"
57+
export ROBOT_CPP_BACKEND="${ROBOT_CPP_BACKEND:-metal}"
5858
MODEL_BASENAME="${MODEL_BASENAME:-robotcpp-pi0-libero-finetuned-v044}"
5959
VIT_GGUF="${VIT_GGUF:-${GGUF_DIR}/${MODEL_BASENAME}.vit.gguf}"
6060
MMPROJ_GGUF="${MMPROJ_GGUF:-${GGUF_DIR}/${MODEL_BASENAME}.mmproj.gguf}"

‎robot_server/shell/launch_robot_server_windows_cpu.bat‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -186,7 +186,7 @@ if /I "!MODEL_TYPE!"=="smolvla" (
186186
)
187187

188188
if /I "!MODEL_TYPE!"=="pi0" (
189-
if not defined ROBOTCPP_BACKEND set "ROBOTCPP_BACKEND=cpu"
189+
if not defined ROBOT_CPP_BACKEND set "ROBOT_CPP_BACKEND=cpu"
190190
if not defined MODEL_BASENAME set "MODEL_BASENAME=robotcpp-pi0-libero-finetuned-v044"
191191
if not defined VIT_GGUF set "VIT_GGUF=!GGUF_DIR!\!MODEL_BASENAME!.vit.gguf"
192192
if not defined MMPROJ_GGUF set "MMPROJ_GGUF=!GGUF_DIR!\!MODEL_BASENAME!.mmproj.gguf"

‎robot_server/shell/launch_robot_server_windows_cuda.bat‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -236,7 +236,7 @@ if /I "!MODEL_TYPE!"=="smolvla" (
236236
)
237237

238238
if /I "!MODEL_TYPE!"=="pi0" (
239-
if not defined ROBOTCPP_BACKEND set "ROBOTCPP_BACKEND=cuda"
239+
if not defined ROBOT_CPP_BACKEND set "ROBOT_CPP_BACKEND=cuda"
240240
if not defined MODEL_BASENAME set "MODEL_BASENAME=robotcpp-pi0-libero-finetuned-v044"
241241
if not defined VIT_GGUF set "VIT_GGUF=!GGUF_DIR!\!MODEL_BASENAME!.vit.gguf"
242242
if not defined MMPROJ_GGUF set "MMPROJ_GGUF=!GGUF_DIR!\!MODEL_BASENAME!.mmproj.gguf"

‎src/models/ggml_backend.cpp‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -248,7 +248,7 @@ void set_backend_threads(const std::vector<ggml_backend_t> & backends, int n_thr
248248
}
249249

250250
bool robotcpp_backend_use_accel_from_env(bool default_value) {
251-
const char * value = std::getenv("ROBOTCPP_BACKEND");
251+
const char * value = std::getenv("ROBOT_CPP_BACKEND");
252252
if (value == nullptr || value[0] == '\0') {
253253
return default_value;
254254
}
@@ -261,6 +261,6 @@ bool robotcpp_backend_use_accel_from_env(bool default_value) {
261261
return true;
262262
}
263263

264-
std::fprintf(stderr, "%s: unsupported ROBOTCPP_BACKEND='%s'; using default backend selection\n", __func__, value);
264+
std::fprintf(stderr, "%s: unsupported ROBOT_CPP_BACKEND='%s'; using default backend selection\n", __func__, value);
265265
return default_value;
266266
}

‎tools/release/README.md‎

Lines changed: 16 additions & 13 deletions
Original file line numberDiff line numberDiff line change
@@ -5,15 +5,15 @@
55
Build redistributable Linux x86_64 packages by selecting one or more variants:
66

77
```sh
8-
BUILD_CPU=1 bash tools/release/package_linux.sh
9-
BUILD_CUDA=1 bash tools/release/package_linux.sh
10-
BUILD_CPU=1 BUILD_CUDA=1 bash tools/release/package_linux.sh
8+
ROBOT_CPP_BUILD_CPU=1 bash tools/release/package_linux.sh
9+
ROBOT_CPP_BUILD_CUDA=1 bash tools/release/package_linux.sh
10+
ROBOT_CPP_BUILD_CPU=1 ROBOT_CPP_BUILD_CUDA=1 bash tools/release/package_linux.sh
1111
```
1212

1313
Outputs:
1414

15-
- `dist/robotcpp-linux-cpu-x86_64.tar.gz`
16-
- `dist/robotcpp-linux-cuda<major>-x86_64.tar.gz`
15+
- `dist/robot_cpp-linux-cpu-x86_64.tar.gz`
16+
- `dist/robot_cpp-linux-cuda<major>-x86_64.tar.gz`
1717

1818
Package layout:
1919

@@ -36,17 +36,20 @@ Notes:
3636
Examples:
3737

3838
```sh
39-
BUILD_CPU=1 JOBS=16 bash tools/release/package_linux.sh
40-
BUILD_CUDA=1 CUDA_MAJOR=12 bash tools/release/package_linux.sh
39+
ROBOT_CPP_BUILD_CPU=1 ROBOT_CPP_JOBS=16 bash tools/release/package_linux.sh
40+
ROBOT_CPP_BUILD_CUDA=1 ROBOT_CPP_CUDA_MAJOR=12 bash tools/release/package_linux.sh
4141
```
4242

4343
Common knobs:
4444

45-
- `BUILD_CPU`, `BUILD_CUDA`: select package variants.
46-
- `CUDA_MAJOR`: override the detected CUDA package suffix.
47-
- `DIST_DIR`, `BUILD_ROOT`, `JOBS`: control output location and build parallelism.
48-
- `PACKAGE_PREFIX`, `PACKAGE_PLATFORM`, `PACKAGE_ARCH`: override package naming.
49-
- `STRIP_BINARIES`, `SOURCE_PREFIX_MAP`, `CMAKE_BIN`: packaging and toolchain
45+
- `ROBOT_CPP_BUILD_CPU`, `ROBOT_CPP_BUILD_CUDA`: select package variants.
46+
- `ROBOT_CPP_CUDA_MAJOR`: override the detected CUDA package suffix.
47+
- `ROBOT_CPP_DIST_DIR`, `ROBOT_CPP_BUILD_ROOT`, `ROBOT_CPP_JOBS`: control
48+
output location and build parallelism.
49+
- `ROBOT_CPP_PACKAGE_PREFIX`, `ROBOT_CPP_PACKAGE_PLATFORM`,
50+
`ROBOT_CPP_PACKAGE_ARCH`: override package naming.
51+
- `ROBOT_CPP_STRIP_BINARIES`, `ROBOT_CPP_SOURCE_PREFIX_MAP`,
52+
`ROBOT_CPP_CMAKE_BIN`: packaging and toolchain
5053
controls.
5154

5255
### Adding Variants
@@ -62,5 +65,5 @@ Use `package_name <variant>` to keep package names consistent. The resulting
6265
name is:
6366

6467
```text
65-
<PACKAGE_PREFIX>-<PACKAGE_PLATFORM>-<variant>-<PACKAGE_ARCH>
68+
<ROBOT_CPP_PACKAGE_PREFIX>-<ROBOT_CPP_PACKAGE_PLATFORM>-<variant>-<ROBOT_CPP_PACKAGE_ARCH>
6669
```

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