Following the Apple docs here I have been able to successfully load a GarageBand EXS sampler instrument into AUSampler in my iOS app by recreating, for example the following
The key here is that your source sampler file has to reference samples that come from any of these 'trigger' directory structures to work properly:
"/Sounds/" "/Sampler Files/" "/Apple Loops/" "/EXS Factory Samples/" "/SoundFont Samples/"
Your sample has to exist in a directory path with one of those triggers in it, and then the path has to match the exact same in your bundle. iOS looks for one of those triggers, then deletes everything before that, and uses that as the new search path in the bundle to find your sample. It is tricky, but it will work this way if you make sure everything is in order.
I fought with this because my samples were stored in places without any of those keywords, and so it would never find them.