Inari

What it does - Name a dish and a Franka Panda arm cooks it in a MuJoCo kitchen. - It finds a real recipe online, turns it into robot steps, acts, and checks each step through the camera before moving on. - Every model is a small Liquid AI model (350M to 3B), the size that fits on a robot. How it works - Search: Nimble finds and extracts a real recipe. - Plan: LFM2.5-1.2B maps each sentence to robot steps with grammar-constrained JSON. - Act: LFM2.5-2.6B picks one skill at a time through tool calls, and inverse kinematics drives the arm. - Imagine: FLUX shows what each finished step should look like. - Verify: LFM2.5-VL-3B checks a close-up camera frame before the next step. Built for long tasks - Checkpoints after every step, so a crashed agent resumes at the exact step. - The prompt is rebuilt from memory on every call. It stayed near 1.2k tokens across a 179-event run. - When an ingredient runs out, it finds a substitute and records the lesson for later runs. - Every run exports a trajectory dataset for training the next small model and is scored in an evaluation gym.