Text-to-motion planner for Reachy Mini: a prompt goes in, and a ready-to-play head, antenna and body trajectory comes out. This repo is a complete serving bundle: The response holds the recipe, a one-line idea, and moves: Reachy Mini recorded-move dicts ({"time", "settargetdata": [{"head": 4x4, "antennas", "bodyyaw"}]}), already projected onto the robot's reachable set. Serving effort: "medium" runs this model. Speed: ~0.31 s median per prompt on one RTX PRO 6000 (FP8 + fine-tuned MTP; planner 0.25 s), 2.7x faster than the 27B. GPU memory: ~12 GB. Compact system prompt (units, recipe grammar, 4 motion rules, 3 examples), user message = the prompt (word. one sentence of context. works best).…
Open weights
apache-2.0
transformers
Text-to-motion planner for Reachy Mini: a prompt goes in, and a ready-to-play head, antenna and body trajectory comes out. This repo is a complete serving bundle: The response holds the recipe, a one-line idea, and moves: Reachy Mini recorded-move dicts ({"time", "settargetdata": [{"head": 4x4, "antennas", "bodyyaw"}]}), already projected onto the robot's reachable set. Serving effort: "high" runs this model. Speed: ~0.84 s median per prompt on one RTX PRO 6000 (FP8 + fine-tuned MTP speculative decoding; planner 0.75 s). GPU memory: ~40 GB with FP8. Compact system prompt (units, recipe grammar, 4 motion rules, 3 examples), user message = the prompt (word. one sentence of context. works…
Open weights
apache-2.0
transformers
Text-to-motion planner for Reachy Mini: a prompt goes in, and a ready-to-play head, antenna and body trajectory comes out. This repo is a complete serving bundle: The response holds the recipe, a one-line idea, and moves: Reachy Mini recorded-move dicts ({"time", "settargetdata": [{"head": 4x4, "antennas", "bodyyaw"}]}), already projected onto the robot's reachable set. Serving effort: "low" runs this model. Speed: ~0.18 s median per prompt on one RTX PRO 6000 (FP8 + fine-tuned MTP; planner 0.14 s), the fastest tier; weaker on multi-phase motions (yawns, bows, build-up events). GPU memory: ~6 GB. Compact system prompt (units, recipe grammar, 4 motion rules, 3 examples), user message = the…
Open weights
apache-2.0
transformers
