---
license: bsl-1.0
language:
- en
- fr
library_name: transformers
pipeline_tag: text-generation
tags:
- structured-generation
- function-calling
- tool-use
- json
- edge
- offline
- robotics
- iot
- agentic
- small-language-model
model-index:
- name: SAM-G
  results:
  - task:
      type: structured-action-generation
      name: Instruction-to-JSON (10 domains, zero-shot)
    metrics:
    - type: json_valid
      value: 100
      name: Valid JSON (%)
    - type: exact_match
      value: 76
      name: Exact match (%)
    - type: exact_match_fr
      value: 77
      name: Exact match, French (%)
  - task:
      type: text-generation
      name: Language modeling (FineWeb-Edu held-out)
    metrics:
    - type: bits_per_byte
      value: 1.179
      name: Bits per byte
---

# SAM-G

**SAM-G** is a 30.3M-parameter dual-mode language model for **offline structured
action generation**. Given a natural-language instruction it emits compact,
schema-valid JSON for ten domains; given a question it emits free text. Mode
selection is learned, not prompted. Built by **AMEFORGE** for robotics, IoT and
embedded deployment where hosted-LLM APIs are too costly, too slow, or
unavailable.

- **Parameters:** 30.3M · **Footprint:** 121 MB fp32 (~30 MB int8)
- **Context:** 1024 tokens · **Languages:** English, French (actions)
- **Throughput:** ~235 tok/s, 16 ms first-token (single GPU); runs on a
  Raspberry-Pi-class CPU
- **Released:** model weights + inference tokenizer. Training pipeline, data
  generators and architecture are proprietary.

## Two modes

| Input | Model emits |
|---|---|
| `turn on the kitchen lamp` | `[ACTION] {"domain":"home","op":"set_state","params":{"device":"lamp","name":"kitchen","state":"on"}}` |
| `what is a mutex` | `[CHAT] A mutex is a lock that allows one thread at a time.` |

Domains: `ros`, `http`, `mqtt`, `db`, `workflow`, `ecommerce`, `vehicle`,
`home`, `cal`, `file`.

## Benchmark

SAM-G is evaluated **zero-shot** in its native format; baselines run **3-shot**
through their chat template with a system instruction. `bpb` is tokenizer-fair
(per-token perplexity is not comparable across vocabularies). `exact/M` =
action exact-match per million parameters — the efficiency axis.

| Model | Params | bpb ↓ | JSON valid % | Exact % | Exact FR % | Cloze % | MB | tok/s | exact/M ↑ |
|---|---|---|---|---|---|---|---|---|---|
| **SAM-G** | **30.3M** | 1.179 | **100** | **76** | **77** | 83 | **121** | **235** | **2.51** |
| Pythia-70M | 70M | 1.674 | 2 | 0 | 0 | 75 | 141 | 120 | 0.00 |
| Qwen2.5-0.5B-Instruct | 494M | 0.814 | 99 | 25 | 7 | 96 | 988 | 27 | 0.05 |
| SmolLM2-360M-Instruct | 362M | 0.812 | 96 | 14 | 0 | 96 | 724 | 21 | 0.04 |
| Qwen2.5-1.5B-Instruct | 889M | 0.753 | 98 | 21 | 0 | 96 | 444* | 13 | 0.02 |

<sub>*Qwen2.5-1.5B loaded in 4-bit. Larger general models lead on bits-per-byte
and cloze (they are 12–30× bigger and trained for general knowledge); SAM-G
leads decisively on structured action, French actions, footprint, speed, and
exact-match per parameter. Notably Qwen2.5-1.5B scores *below* Qwen2.5-0.5B on
action exact-match — capability here comes from domain specialization, not
scale.</sub>

## Per-domain exact match (%)

| ros | http | mqtt | db | workflow | ecommerce | vehicle | home | cal | file |
|---|---|---|---|---|---|---|---|---|---|
| 0 | 100 | 100 | 100 | 60 | 100 | 100 | 50 | 80 | 60 |

All general baselines score 0 on most domains, succeeding only partially on the
most generic ones (home, cal). `ros` (floating-point fields) is SAM-G's weakest
schema and benefits most from additional training data.

## Usage

```python
import sentencepiece as spm, torch
# Load the released inference tokenizer (samg_tokenizer.model) and weights.
sp = spm.SentencePieceProcessor(); sp.Load("samg_tokenizer.model")

prompt = "publish 21.5 on sensors/temp qos 1 [ACTION]"
ids = torch.tensor([sp.EncodeAsIds(prompt)])
# greedy-decode with your loaded model until EOS, then sp.DecodeIds(...)
# -> {"domain":"mqtt","op":"publish","params":{"topic":"sensors/temp","payload":21.5,"qos":1}}
```

Always parse output as JSON and validate against your schema before execution.

## Intended use

On-device home automation; NL→ROS robot command layers; MQTT fleet gateways;
offline vehicle commands; NL-to-SQL on embedded databases; workflow triggers;
and the structured tool-calling stage of agentic pipelines — as a drop-in
replacement or a fast router ahead of a larger hosted model.

## Limitations

- Not a general assistant: factual knowledge and open-ended reasoning are
  limited at this scale; larger general models lead on bits-per-byte and cloze.
- French covers actions, not extended prose.
- Schemas outside the ten domains need fine-tuning. The `ros` schema
  (floating-point fields) is the weakest and benefits most from more data.
- The action benchmark is synthetic, drawn from the training distribution
  family with a disjoint evaluation seed (999).

## Citation

```bibtex
@misc{samg2026,
  title  = {SAM-G: A 30M-Parameter Dual-Mode Language Model for Offline Structured Action Generation},
  author = {AMEFORGE Lab},
  year   = {2026}
}
```