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Model: OpenmindAGI/functiongemma-finetuned-g1 Source: Original Platform
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README.md
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README.md
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---
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language:
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- en
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license: apache-2.0
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base_model: google/functiongemma-270m-it
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tags:
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- robotics
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- function-calling
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- gemma
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- lora
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- fine-tuned
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- edge-ai
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- jetson
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pipeline_tag: text-generation
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library_name: transformers
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---
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# FunctionGemma Robot Actions
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A fine-tuned [FunctionGemma 270M](https://huggingface.co/google/functiongemma-270m-it) model that converts natural language into structured robot action and emotion function calls. Designed for real-time inference on edge devices like the NVIDIA Jetson AGX Thor.
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## Overview
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This model takes a user's voice or text input and outputs two function calls:
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- **`robot_action`** — a physical action for the robot to perform
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- **`show_emotion`** — an emotion to display on the robot's avatar screen (Rive animations)
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General conversation defaults to `stand_still` with a contextually appropriate emotion.
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## Example
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```
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Input: "Can you shake hands with me?"
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Output: robot_action(action_name="shake_hand") + show_emotion(emotion="happy")
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Input: "What is that?"
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Output: robot_action(action_name="stand_still") + show_emotion(emotion="confused")
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Input: "I feel sad"
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Output: robot_action(action_name="stand_still") + show_emotion(emotion="sad")
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```
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## Supported Actions
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| Action | Description |
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|--------|-------------|
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| `shake_hand` | Handshake gesture |
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| `face_wave` | Wave hello |
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| `hands_up` | Raise both hands |
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| `stand_still` | Stay idle (default for general conversation) |
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| `show_hand` | Show open hand |
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## Supported Emotions
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| Emotion | Animation |
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|---------|-----------|
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| `happy` | Happy.riv |
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| `sad` | Sad.riv |
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| `excited` | Excited.riv |
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| `confused` | Confused.riv |
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| `curious` | Curious.riv |
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| `think` | Think.riv |
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## Performance on NVIDIA Jetson AGX Thor
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Benchmarked with constrained decoding (2 forward passes instead of 33 autoregressive steps):
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| Metric | Value |
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|--------|-------|
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| Min latency | 52 ms |
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| Max latency | 72 ms |
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| **Avg latency** | **59 ms** |
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## Training Details
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| Parameter | Value |
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|-----------|-------|
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| Base model | `google/functiongemma-270m-it` |
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| Method | LoRA (rank 8, alpha 16) |
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| Training data | 545 examples (490 train / 55 eval) |
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| Epochs | 5 |
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| Learning rate | 2e-4 |
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| Batch size | 2 (effective 4 with gradient accumulation) |
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| Max sequence length | 512 |
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| Precision | bf16 |
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### Quick Start
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```python
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from transformers import AutoTokenizer, AutoModelForCausalLM
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import torch
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model = AutoModelForCausalLM.from_pretrained(
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"OpenmindAGI/functiongemma-robot-actions",
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torch_dtype=torch.bfloat16,
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device_map="auto",
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)
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tokenizer = AutoTokenizer.from_pretrained("OpenmindAGI/functiongemma-robot-actions")
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model.eval()
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```
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## Citation
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```bibtex
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@misc{openmindagi-functiongemma-robot-actions,
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title={FunctionGemma Robot Actions},
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author={OpenmindAGI},
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year={2025},
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url={https://huggingface.co/OpenmindAGI/functiongemma-robot-actions}
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}
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```
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279
chat_template.jinja
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{%- macro format_parameters(properties, required) -%}
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{%- set standard_keys = ['description', 'type', 'properties', 'required', 'nullable'] -%}
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{%- set ns = namespace(found_first=false) -%}
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{%- for key, value in properties | dictsort -%}
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{%- if key not in standard_keys -%}
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{%- if ns.found_first %},{% endif -%}
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{%- set ns.found_first = true -%}
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{{- key }}:{description:<escape>{{ value['description'] }}<escape>
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{%- if value['type'] | upper == 'STRING' -%}
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{%- if value['enum'] -%}
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,enum:{{ format_argument(value['enum']) }}
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{%- endif -%}
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{%- elif value['type'] | upper == 'OBJECT' -%}
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,properties:{
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{%- if value['properties'] is defined and value['properties'] is mapping -%}
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{{- format_parameters(value['properties'], value['required'] | default([])) -}}
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{%- elif value is mapping -%}
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{{- format_parameters(value, value['required'] | default([])) -}}
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{%- endif -%}
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}
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{%- if value['required'] -%}
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,required:[
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{%- for item in value['required'] | default([]) -%}
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<escape>{{- item -}}<escape>
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{%- if not loop.last %},{% endif -%}
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{%- endfor -%}
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]
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{%- endif -%}
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{%- elif value['type'] | upper == 'ARRAY' -%}
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{%- if value['items'] is mapping and value['items'] -%}
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,items:{
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{%- set ns_items = namespace(found_first=false) -%}
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{%- for item_key, item_value in value['items'] | dictsort -%}
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{%- if item_value is not none -%}
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{%- if ns_items.found_first %},{% endif -%}
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{%- set ns_items.found_first = true -%}
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{%- if item_key == 'properties' -%}
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properties:{
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{%- if item_value is mapping -%}
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{{- format_parameters(item_value, value['items']['required'] | default([])) -}}
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{%- endif -%}
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}
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{%- elif item_key == 'required' -%}
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required:[
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{%- for req_item in item_value -%}
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<escape>{{- req_item -}}<escape>
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{%- if not loop.last %},{% endif -%}
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{%- endfor -%}
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]
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{%- elif item_key == 'type' -%}
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{%- if item_value is string -%}
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type:{{ format_argument(item_value | upper) }}
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{%- else -%}
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type:{{ format_argument(item_value | map('upper') | list) }}
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{%- endif -%}
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{%- else -%}
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{{ item_key }}:{{ format_argument(item_value) }}
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{%- endif -%}
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{%- endif -%}
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{%- endfor -%}
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}
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{%- endif -%}
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{%- endif -%}
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,type:<escape>{{ value['type'] | upper }}<escape>}
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{%- endif -%}
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{%- endfor -%}
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{%- endmacro -%}
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{% macro format_function_declaration(tool_data) -%}
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declaration:{{- tool_data['function']['name'] -}}
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{description:<escape>{{- tool_data['function']['description'] -}}<escape>
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{%- set params = tool_data['function']['parameters'] -%}
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{%- if params -%}
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,parameters:{
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{%- if params['properties'] -%}
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properties:{ {{- format_parameters(params['properties'], params['required']) -}} },
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{%- endif -%}
|
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{%- if params['required'] -%}
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required:[
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{%- for item in params['required'] -%}
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<escape>{{- item -}}<escape>
|
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{{- ',' if not loop.last -}}
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||||
{%- endfor -%}
|
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],
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||||
{%- endif -%}
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{%- if params['type'] -%}
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type:<escape>{{- params['type'] | upper -}}<escape>}
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{%- endif -%}
|
||||
{%- endif -%}
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}
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{%- endmacro -%}
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{% macro format_argument(argument, escape_keys=True) -%}
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{%- if argument is string -%}
|
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{{- '<escape>' + argument + '<escape>' -}}
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{%- elif argument is boolean -%}
|
||||
{%- if argument -%}
|
||||
{{- 'true' -}}
|
||||
{%- else -%}
|
||||
{{- 'false' -}}
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{%- endif -%}
|
||||
{%- elif argument is mapping -%}
|
||||
{{- '{' -}}
|
||||
{%- set ns = namespace(found_first=false) -%}
|
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{%- for key, value in argument | dictsort -%}
|
||||
{%- if ns.found_first %},{% endif -%}
|
||||
{%- set ns.found_first = true -%}
|
||||
{%- if escape_keys -%}
|
||||
{{- '<escape>' + key + '<escape>' -}}
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||||
{%- else -%}
|
||||
{{- key -}}
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||||
{%- endif -%}
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||||
:{{- format_argument(value, escape_keys=escape_keys) -}}
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||||
{%- endfor -%}
|
||||
{{- '}' -}}
|
||||
{%- elif argument is sequence -%}
|
||||
{{- '[' -}}
|
||||
{%- for item in argument -%}
|
||||
{{- format_argument(item, escape_keys=escape_keys) -}}
|
||||
{%- if not loop.last %},{% endif -%}
|
||||
{%- endfor -%}
|
||||
{{- ']' -}}
|
||||
{%- else -%}
|
||||
{{- argument -}}
|
||||
{%- endif -%}
|
||||
{%- endmacro -%}
|
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{{ bos_token }}
|
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{%- set ns = namespace(prev_message_type=None) -%}
|
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{#- Tool Declarations -#}
|
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{%- set loop_messages = messages -%}
|
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{%- if tools or messages[0]['role'] == 'system' or messages[0]['role'] == 'developer' -%}
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{{- '<start_of_turn>developer\n' -}}
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{%- if messages[0]['role'] == 'system' or messages[0]['role'] == 'developer' -%}
|
||||
{%- if messages[0]['content'] is string -%}
|
||||
{{- messages[0]['content'] | trim -}}
|
||||
{%- elif messages[0]['content'] is sequence -%}
|
||||
{%- for item in messages[0]['content'] -%}
|
||||
{%- if item['type'] == 'text' -%}
|
||||
{{- item['text'] | trim -}}
|
||||
{%- endif -%}
|
||||
{%- endfor -%}
|
||||
{%- endif -%}
|
||||
{%- set loop_messages = messages[1:] -%}
|
||||
{%- endif -%}
|
||||
{%- if tools -%}
|
||||
{%- for tool in tools %}
|
||||
{{- '<start_function_declaration>' -}}
|
||||
{{- format_function_declaration(tool) | trim }}
|
||||
{{- '<end_function_declaration>' -}}
|
||||
{%- endfor %}
|
||||
{%- endif -%}
|
||||
{{- '<end_of_turn>\n' }}
|
||||
{%- endif %}
|
||||
{#- Loop through messages. -#}
|
||||
{%- for message in loop_messages -%}
|
||||
{%- if (message['role'] == 'assistant') -%}
|
||||
{#- Rename "assistant" to "model". -#}
|
||||
{%- set role = "model" -%}
|
||||
{%- else -%}
|
||||
{%- set role = message['role'] -%}
|
||||
{%- endif -%}
|
||||
{%- if role != 'tool' -%}
|
||||
{%- if ns.prev_message_type != 'tool_response' -%}
|
||||
{{- '<start_of_turn>' + role + '\n' }}
|
||||
{%- endif -%}
|
||||
{%- set ns.prev_message_type = None -%}
|
||||
{%- if 'content' in message and message['content'] is not none -%}
|
||||
{%- if message['content'] is string -%}
|
||||
{{ message['content'] | trim }}
|
||||
{%- elif message['content'] is sequence -%}
|
||||
{%- for item in message['content'] -%}
|
||||
{%- if item['type'] == 'image' -%}
|
||||
{{ '<start_of_image>' }}
|
||||
{%- elif item['type'] == 'text' -%}
|
||||
{{ item['text'] | trim }}
|
||||
{%- endif -%}
|
||||
{%- endfor -%}
|
||||
{%- else -%}
|
||||
{{ raise_exception("Invalid content type in user/assistant message") }}
|
||||
{%- endif -%}
|
||||
{%- set ns.prev_message_type = 'content' -%}
|
||||
{%- endif -%}
|
||||
{%- if 'tool_calls' in message and message['tool_calls'] and message['tool_calls'] is iterable -%}
|
||||
{#- Tool Calls -#}
|
||||
{%- for tool_call in message['tool_calls'] -%}
|
||||
{% set function = tool_call['function'] %}
|
||||
{{- '<start_function_call>call:' + function['name'] + '{' -}}
|
||||
{%- if 'arguments' in function -%}
|
||||
{%- if function['arguments'] is mapping -%}
|
||||
{%- set ns = namespace(found_first=false) -%}
|
||||
{%- for key, value in function['arguments'] | dictsort -%}
|
||||
{%- if ns.found_first %},{% endif -%}
|
||||
{%- set ns.found_first = true -%}
|
||||
{{- key -}}:{{- format_argument(value, escape_keys=False) -}}
|
||||
{%- endfor -%}
|
||||
{%- elif function['arguments'] is string -%}
|
||||
{# This handles string-JSON, just in case #}
|
||||
{{ function['arguments'] }}
|
||||
{%- endif %}
|
||||
{%- endif -%}
|
||||
{{- '}<end_function_call>' -}}
|
||||
{%- endfor -%}
|
||||
{%- if loop.last -%}
|
||||
{{ '<start_function_response>' }}
|
||||
{%- endif -%}
|
||||
{%- set ns.prev_message_type = 'tool_call' -%}
|
||||
{%- endif -%}
|
||||
{%- else -%}
|
||||
{#- Tool Responses -#}
|
||||
{%- if 'content' in message and message['content'] -%}
|
||||
{%- if message['content'] is mapping -%}
|
||||
{%- if 'name' in message['content'] and 'response' in message['content'] -%}
|
||||
{{ '<start_function_response>response:' + message['content']['name'] | trim + '{' }}
|
||||
{%- set response_ns = namespace(found_first=false) -%}
|
||||
{%- for key, value in message['content']['response'] | dictsort -%}
|
||||
{%- if response_ns.found_first %},{% endif -%}
|
||||
{%- set response_ns.found_first = true -%}
|
||||
{{- key -}}:{{- format_argument(value, escape_keys=False) -}}
|
||||
{%- endfor -%}
|
||||
{{- '}<end_function_response>' -}}
|
||||
{%- elif 'name' in message -%}
|
||||
{{ '<start_function_response>response:' + message['name'] | trim + '{' }}
|
||||
{%- set response_ns = namespace(found_first=false) -%}
|
||||
{%- for key, value in message['content'] | dictsort -%}
|
||||
{%- if response_ns.found_first %},{% endif -%}
|
||||
{%- set response_ns.found_first = true -%}
|
||||
{{- key -}}:{{- format_argument(value, escape_keys=False) -}}
|
||||
{%- endfor -%}
|
||||
{{- '}<end_function_response>' -}}
|
||||
{%- else -%}
|
||||
{{ raise_exception("Invalid tool response mapping: must contain 'name' and 'response' keys, or 'name' must be in the message.") }}
|
||||
{%- endif -%}
|
||||
{%- elif message['content'] is string -%}
|
||||
{%- if 'name' in message -%}
|
||||
{{ '<start_function_response>response:' + message['name'] | trim + '{value:' + format_argument(message['content'], escape_keys=False) + '}<end_function_response>' }}
|
||||
{%- else -%}
|
||||
{{ raise_exception("Invalid tool response: 'name' must be provided.") }}
|
||||
{%- endif -%}
|
||||
{%- elif message['content'] is sequence -%}
|
||||
{%- for item in message['content'] -%}
|
||||
{%- if item is mapping -%}
|
||||
{%- if 'name' in item and 'response' in item -%}
|
||||
{{ '<start_function_response>response:' + item['name'] | trim + '{' }}
|
||||
{%- set response_ns = namespace(found_first=false) -%}
|
||||
{%- for key, value in item['response'] | dictsort -%}
|
||||
{%- if response_ns.found_first %},{% endif -%}
|
||||
{%- set response_ns.found_first = true -%}
|
||||
{{- key -}}:{{- format_argument(value, escape_keys=False) -}}
|
||||
{%- endfor -%}
|
||||
{{- '}<end_function_response>' -}}
|
||||
{%- elif 'name' in message -%}
|
||||
{{ '<start_function_response>response:' + message['name'] | trim + '{' }}
|
||||
{%- set response_ns = namespace(found_first=false) -%}
|
||||
{%- for key, value in item | dictsort -%}
|
||||
{%- if response_ns.found_first %},{% endif -%}
|
||||
{%- set response_ns.found_first = true -%}
|
||||
{{- key -}}:{{- format_argument(value, escape_keys=False) -}}
|
||||
{%- endfor -%}
|
||||
{{- '}<end_function_response>' -}}
|
||||
{%- else -%}
|
||||
{{ raise_exception("Invalid tool response mapping: must contain 'name' and 'response' keys, or 'name' must be in the message.") }}
|
||||
{%- endif -%}
|
||||
{%- else -%}
|
||||
{{ raise_exception("Invalid tool response message: multiple responses must all be mappings") }}
|
||||
{%- endif -%}
|
||||
{%- endfor -%}
|
||||
{%- else -%}
|
||||
{{ raise_exception("Invalid content type in tool message: must be mapping, sequence of mappings, or string.") }}
|
||||
{%- endif -%}
|
||||
{%- endif -%}
|
||||
{%- set ns.prev_message_type = 'tool_response' -%}
|
||||
{%- endif -%}
|
||||
{%- if ns.prev_message_type not in ['tool_call', 'tool_response'] -%}
|
||||
{{ '<end_of_turn>\n' }}
|
||||
{%- endif -%}
|
||||
{%- endfor -%}
|
||||
{%- if add_generation_prompt -%}
|
||||
{%- if ns.prev_message_type != 'tool_response' -%}
|
||||
{{- '<start_of_turn>model\n' -}}
|
||||
{%- endif -%}
|
||||
{%- endif -%}
|
||||
62
config.json
Normal file
62
config.json
Normal file
@@ -0,0 +1,62 @@
|
||||
{
|
||||
"_sliding_window_pattern": 6,
|
||||
"architectures": [
|
||||
"Gemma3ForCausalLM"
|
||||
],
|
||||
"attention_bias": false,
|
||||
"attention_dropout": 0.0,
|
||||
"attn_logit_softcapping": null,
|
||||
"bos_token_id": 2,
|
||||
"dtype": "bfloat16",
|
||||
"eos_token_id": 1,
|
||||
"final_logit_softcapping": null,
|
||||
"head_dim": 256,
|
||||
"hidden_activation": "gelu_pytorch_tanh",
|
||||
"hidden_size": 640,
|
||||
"initializer_range": 0.02,
|
||||
"intermediate_size": 2048,
|
||||
"layer_types": [
|
||||
"sliding_attention",
|
||||
"sliding_attention",
|
||||
"sliding_attention",
|
||||
"sliding_attention",
|
||||
"sliding_attention",
|
||||
"full_attention",
|
||||
"sliding_attention",
|
||||
"sliding_attention",
|
||||
"sliding_attention",
|
||||
"sliding_attention",
|
||||
"sliding_attention",
|
||||
"full_attention",
|
||||
"sliding_attention",
|
||||
"sliding_attention",
|
||||
"sliding_attention",
|
||||
"sliding_attention",
|
||||
"sliding_attention",
|
||||
"full_attention"
|
||||
],
|
||||
"max_position_embeddings": 32768,
|
||||
"model_type": "gemma3_text",
|
||||
"num_attention_heads": 4,
|
||||
"num_hidden_layers": 18,
|
||||
"num_key_value_heads": 1,
|
||||
"pad_token_id": 0,
|
||||
"query_pre_attn_scalar": 256,
|
||||
"rms_norm_eps": 1e-06,
|
||||
"rope_parameters": {
|
||||
"full_attention": {
|
||||
"rope_theta": 1000000.0,
|
||||
"rope_type": "default"
|
||||
},
|
||||
"sliding_attention": {
|
||||
"rope_theta": 10000.0,
|
||||
"rope_type": "default"
|
||||
}
|
||||
},
|
||||
"sliding_window": 512,
|
||||
"tie_word_embeddings": true,
|
||||
"transformers_version": "5.3.0",
|
||||
"use_bidirectional_attention": false,
|
||||
"use_cache": false,
|
||||
"vocab_size": 262146
|
||||
}
|
||||
15
generation_config.json
Normal file
15
generation_config.json
Normal file
@@ -0,0 +1,15 @@
|
||||
{
|
||||
"bos_token_id": 2,
|
||||
"cache_implementation": "hybrid",
|
||||
"do_sample": true,
|
||||
"eos_token_id": [
|
||||
1,
|
||||
1,
|
||||
50,
|
||||
106
|
||||
],
|
||||
"pad_token_id": 0,
|
||||
"top_k": 64,
|
||||
"top_p": 0.95,
|
||||
"transformers_version": "5.3.0"
|
||||
}
|
||||
3
model.safetensors
Normal file
3
model.safetensors
Normal file
@@ -0,0 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:1c3c6d21cf760021f543d037935a10b8b10a15dc6dadbe8f9c1caac0b4b6739e
|
||||
size 536225616
|
||||
3
tokenizer.json
Normal file
3
tokenizer.json
Normal file
@@ -0,0 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:80d7f800b949accd7eb940bac75e642f9468e4df157403032a55bf54ed23b650
|
||||
size 33384898
|
||||
26
tokenizer_config.json
Normal file
26
tokenizer_config.json
Normal file
@@ -0,0 +1,26 @@
|
||||
{
|
||||
"backend": "tokenizers",
|
||||
"boi_token": "<start_of_image>",
|
||||
"bos_token": "<bos>",
|
||||
"clean_up_tokenization_spaces": false,
|
||||
"eoi_token": "<end_of_image>",
|
||||
"eos_token": "<eos>",
|
||||
"image_token": "<image_soft_token>",
|
||||
"is_local": false,
|
||||
"mask_token": "<mask>",
|
||||
"model_max_length": 512,
|
||||
"model_specific_special_tokens": {
|
||||
"boi_token": "<start_of_image>",
|
||||
"eoi_token": "<end_of_image>",
|
||||
"image_token": "<image_soft_token>",
|
||||
"sfr_token": "<start_function_response>"
|
||||
},
|
||||
"pad_token": "<pad>",
|
||||
"padding_side": "left",
|
||||
"sfr_token": "<start_function_response>",
|
||||
"sp_model_kwargs": null,
|
||||
"spaces_between_special_tokens": false,
|
||||
"tokenizer_class": "GemmaTokenizer",
|
||||
"unk_token": "<unk>",
|
||||
"use_default_system_prompt": false
|
||||
}
|
||||
Reference in New Issue
Block a user