TASX-Cmd-0.5B-GGUF

TASX-Command-0.5B

TASX-Command-0.5B is a highly specialized, lightweight language model designed specifically for robotics. It translates natural language (including slang, typos, and complex phrasing) into strict, execution-ready JSON command sequences for ROS2, SLAM, and physical robot control.

By fine-tuning the Qwen2.5-0.5B base model, we created a "robot brain" that is small and fast enough to run locally on edge hardware (like a Raspberry Pi) via llama.cpp while retaining the intelligence to understand complex human intent.

Quantized Versions (GGUF)

For high-performance inference , use these GGUF quants:

• TASX-Cmd-0.5B-GGUF (mradermacher) — Includes high-quality iMatrix and IQ quants.

Key Features

• Strict JSON Output: Never outputs conversational filler; only valid JSON arrays.
• Typo & Slang Immunity: Successfully maps messy speech (e.g., "scoot forward lik 3 point 5 meeters") to perfect floats and commands.
• Dynamic Location Extraction: Converts any spoken room or location name (e.g., "Professor Xavier's Office") into clean snake_case (e.g., professor_xavier_office).
• Physical Constraint Logic: Automatically generates implicit macro sequences (like sit -> stand -> move) for fetching and delivering items without needing explicit user instruction.

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Supported Actions & Commands

The model is trained to strictly output one or more of the following 20 commands formatted as a JSON array of actions.

1. Teleop (Movement & Speed)

• {"type": "teleop", "cmd": "move_forward", "distance": <float>}
• {"type": "teleop", "cmd": "move_backward", "distance": <float>}
• {"type": "teleop", "cmd": "rotate_left", "angle": <float>}
• {"type": "teleop", "cmd": "rotate_right", "angle": <float>}
• {"type": "teleop", "cmd": "set_speed", "level": "slow" | "normal" | "fast"}
• {"type": "teleop", "cmd": "stop"} (For casual pauses)
• {"type": "teleop", "cmd": "e_stop"} (For panicked/emergency stops)

2. Nav2 (Autonomous Navigation)

• {"type": "nav2", "cmd": "go_to_waypoint", "target": "<snake_case_string>"}
• {"type": "nav2", "cmd": "cancel_goal"}

3. Stunts (Posture & Tricks)

• {"type": "stunt", "cmd": "full_sit"}
• {"type": "stunt", "cmd": "half_sit"}
• {"type": "stunt", "cmd": "stand_up"}
• {"type": "stunt", "cmd": "spin", "direction": "clockwise" | "anticlockwise"}

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Advanced Behaviors (Macros)

TASX-Command-0.5B has been taught physical robotics logic. It knows a robot cannot drive while sitting.

If you ask it to perform a delivery (e.g., "Fetch my laptop from the server room and bring it to John's desk"), it will automatically output the required posture macros:

{
  "actions": [
    {"type": "nav2", "cmd": "go_to_waypoint", "target": "server_room"},
    {"type": "stunt", "cmd": "full_sit"},
    {"type": "stunt", "cmd": "stand_up"},
    {"type": "nav2", "cmd": "go_to_waypoint", "target": "john_desk"},
    {"type": "stunt", "cmd": "full_sit"}
  ]
}

Test Script

from llama_cpp import Llama


print("⏳ Loading model... please wait.")
llm = Llama(
    model_path="./tasx_sft_merged_gguf/tasx_sft_merged.Q8_0.gguf",
    n_ctx=512,           
    stop=["<|im_end|>"],  
    verbose=False        
)

print("\n" + "="*50)
print("TASX ROBOT ")
print("Type a command and press Enter. Type 'q' to quit.")
print("="*50 + "\n")

while True:
    user_text = input("🎤 You: ")
    
    if user_text.lower() in ['q', 'quit', 'exit']:
        print("Stopping tester. Great job!")
        break
        
    if not user_text.strip():
        continue

    prompt = f"<|im_start|>user\n{user_text}<|im_end|>\n<|im_start|>assistant\n"

    output = llm(
        prompt,
        max_tokens=150,
        temperature=0,   
        echo=False
    )

    response = output["choices"][0]["text"].strip()
    print(f"TASX: {response}\n")

Contact

Need a custom version of this model for your specific robot's API or hardware? Contact: [[email protected]]