Foundation models for spatial intelligence.

Setup

git clone https://github.com/yaak-ai/rmind
cd rmind
nix develop # alternatively, install `just`, `uv`, `ytt`
just setup

Training

just train experiment=yaak/control_transformer/pretrain [...]

Inference

just predict inference=yaak/control_transformer/default model=yaak/control_transformer/pretrained model.artifact=yaak/rmind/model-{run_id}:v{version} [+model.map_location=cuda:0] [+model.strict=false]

Important

if using the RerunPredictionWriter trainer callback, start rerun prior to running inference:

just rerun

Export

ONNX

just export-onnx model=yaak/control_transformer/raw_export input=yaak/control_transformer/dummy +report=true