molmoact2-libero-qnn-lp_vtp_sd

MolmoAct2-LIBERO LP-VTP-SD — QNN / HTP context binaries

Offline-compiled Qualcomm QNN (HTP) context binaries for the pruned MolmoAct2 policy xpuenabler/MolmoAct2-LIBERO-LP-VTP-SD, ready to run resident on-device on a Qualcomm Dragonwing IQ‑9075 (QCS9075, Hexagon v73, soc_id 77).

The source policy stacks three compressions on allenai/MolmoAct2-LIBERO:

This bundle contains the 7 prebuilt .bin contexts, the ONNX graphs they were built from, and the golden reference tensors used as inputs / parity references. The conversion code lives in nota-github/xpu-molmoact2-qnn-htp (scripts_lp_vtp_sd/, branch support-LP_VTP_SD, PR #4).

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What's in here

ctx/      7 HTP context binaries (soc_id 77 / Hexagon v73), fp16 weights
  vision_socid77_archv73.bin           447 MB   (ViT-10L + grid token sampler)
  llm_split0_socid77_archv73.bin       1821 MB
  llm_split1_socid77_archv73.bin       1821 MB
  llm_split2_socid77_archv73.bin       1821 MB
  llm_split3_socid77_archv73.bin       1821 MB
  action_context_socid77_archv73.bin   4 MB
  action_step_socid77_archv73.bin      1162 MB  (2-step flow-matching)
golden/   reference I/O (PyTorch fp32), the parity gate for every context
  vision_io.npz  llm_split{0..3}_io.npz  action_context_io.npz  action_step_io.npz  trace.json
onnx/     per-component ONNX graphs (opset 20) that feed the DLC/context build; large weights
          stored as external data next to each .onnx
  vision/  llm_split0..3/  action_context/  action_step/

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Architecture — 3 components, seq = 130

            image ─┐  ViT-10L + Grid Sampler  ┌──────────────────┐  36-layer KV  ┌──────────────────┐
 text ─────────────┼───────────────────────▶  │   LLM (Qwen-ish) │ ────────────▶ │  Action Expert   │─▶ actions
            state ─┘   16 tok/cam (host scatter)│  single prefill  │  (as context) │ flow-matching    │  [1,10,7]
                                                └──────────────────┘               └──────────────────┘
              32 image tokens                 1 pass, KV = OUTPUT only        context ×1 + Euler step ×2 (SD)

• VTP: the vision backbone prunes each camera's pooled grid to 16 tokens via a trained grid token sampler (F.grid_sample, exports to ONNX GridSample opset 20), so the 2-camera prompt is 130 tokens (the original checkpoint was 489).
• LP: the ViT is a 10-layer student (MolmoAct2-LIBERO-ViT10L base).
• SD: the flow-matching action expert runs 2 host-looped Euler steps (action_step), not 10.
• The 3.5B LLM is split into 4 layer-range contexts (9 layers each) for the HTP per-session limit.

Per-component I/O contract (seq = 130)

Host pipeline: vision (NPU) → scatter 32 image embeds into the prompt scaffold → llm_split0..3 (chain, collect 36-layer KV) → action_context (NPU) → 2-step Euler with action_step → de-normalize.

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Validated parity (host, QNN CPU backend vs PyTorch fp32)

Each context was verified device-free on the QNN CPU backend against the PyTorch golden. Cosine is the correctness gate (≥ 0.9999); within_tol is a known massive-activation fp artifact (LLM hidden_states/KV span ~1e4) and is informational.

ONNX-vs-PyTorch parity (ORT CPU) was tight for every component (vision incl. GridSample: cosine 0.99999999). Note on vision: the QNN CPU-backend DLC lands at cosine 0.9984 — below the 0.99999 the non-grid pooling reference hits — attributable to the grid sampler's F.grid_sample(align_corners=False, bilinear) interpolation on the QNN GridSample op. The context binary compiles and loads; a GridSample-attribute/opset match + on-device fp16 end-to-end check are follow-ups.

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Build provenance

• Source policy: xpuenabler/MolmoAct2-LIBERO-LP-VTP-SD (LeRobot checkpoint; base MolmoAct2-LIBERO-ViT10L).
• Loaded via the nota-github/xpu-lerobot @ feat/grid-sampler-molmoact2 fork (implements grid_token_sampler); one real LIBERO inference captured golden I/O at the four boundaries.
• Toolchain: QAIRT 2.47.0, opset 20, float DLC (no quant), offline HTP context-binary generation for soc_id 77 / dsp_arch v73, O3, weight-sharing per multi-graph context.
• Path: PyTorch → ONNX (per component) → qairt-converter DLC → CPU-backend parity → qnn-context-binary-generator (.bin). See docs/lp_vtp_sd_qnn.md in the conversion repo.