commit f1c8515e021c65149a400274071bf0c7eb78cfb6 Author: ModelHub XC Date: Sat Jun 20 11:51:18 2026 +0800 初始化项目，由ModelHub XC社区提供模型 Model: ReXeeD/TASX-Cmd-0.5B-GGUF Source: Original Platform diff --git a/.gitattributes b/.gitattributes new file mode 100644 index 0000000..9080255 --- /dev/null +++ b/.gitattributes @@ -0,0 +1,36 @@ +*.7z filter=lfs diff=lfs merge=lfs -text +*.arrow filter=lfs diff=lfs merge=lfs -text +*.bin filter=lfs diff=lfs merge=lfs -text +*.bz2 filter=lfs diff=lfs merge=lfs -text +*.ckpt filter=lfs diff=lfs merge=lfs -text +*.ftz filter=lfs diff=lfs merge=lfs -text +*.gz filter=lfs diff=lfs merge=lfs -text +*.h5 filter=lfs diff=lfs merge=lfs -text +*.joblib filter=lfs diff=lfs merge=lfs -text +*.lfs.* filter=lfs diff=lfs merge=lfs -text +*.mlmodel filter=lfs diff=lfs merge=lfs -text +*.model filter=lfs diff=lfs merge=lfs -text +*.msgpack filter=lfs diff=lfs merge=lfs -text +*.npy filter=lfs diff=lfs merge=lfs -text +*.npz filter=lfs diff=lfs merge=lfs -text +*.onnx filter=lfs diff=lfs merge=lfs -text +*.ot filter=lfs diff=lfs merge=lfs -text +*.parquet filter=lfs diff=lfs merge=lfs -text +*.pb filter=lfs diff=lfs merge=lfs -text +*.pickle filter=lfs diff=lfs merge=lfs -text +*.pkl filter=lfs diff=lfs merge=lfs -text +*.pt filter=lfs diff=lfs merge=lfs -text +*.pth filter=lfs diff=lfs merge=lfs -text +*.rar filter=lfs diff=lfs merge=lfs -text +*.safetensors filter=lfs diff=lfs merge=lfs -text +saved_model/**/* filter=lfs diff=lfs merge=lfs -text +*.tar.* filter=lfs diff=lfs merge=lfs -text +*.tar filter=lfs diff=lfs merge=lfs -text +*.tflite filter=lfs diff=lfs merge=lfs -text +*.tgz filter=lfs diff=lfs merge=lfs -text +*.wasm filter=lfs diff=lfs merge=lfs -text +*.xz filter=lfs diff=lfs merge=lfs -text +*.zip filter=lfs diff=lfs merge=lfs -text +*.zst filter=lfs diff=lfs merge=lfs -text +*tfevents* filter=lfs diff=lfs merge=lfs -text +tasx_sft_merged.Q8_0.gguf filter=lfs diff=lfs merge=lfs -text diff --git a/README.md b/README.md new file mode 100644 index 0000000..895dede --- /dev/null +++ b/README.md @@ -0,0 +1,120 @@ +--- +language: +- en +tags: +- robotics +- ros2 +- json +- unsloth +- qwen +- text-generation +- hardware +base_model: ReXeeD/TASX-Cmd-0.5B +pipeline_tag: text-generation +license: apache-2.0 +--- + +# 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)](https://huggingface.co/mradermacher/TASX-Cmd-0.5B-GGUF)** — *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. + +--- + +## 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": }` +* `{"type": "teleop", "cmd": "move_backward", "distance": }` +* `{"type": "teleop", "cmd": "rotate_left", "angle": }` +* `{"type": "teleop", "cmd": "rotate_right", "angle": }` +* `{"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": ""}` +* `{"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"}` + +--- + +## 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: +```json +{ + "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: [albinthomas7034@gmail.com] \ No newline at end of file diff --git a/tasx_sft_merged.Q8_0.gguf b/tasx_sft_merged.Q8_0.gguf new file mode 100644 index 0000000..1a49048 --- /dev/null +++ b/tasx_sft_merged.Q8_0.gguf @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:150ea69c4b0caf3842f5d810d5bed6bfbe79f0a3736d3ca20ffdeb994d0366aa +size 531067712