Benchmarking Local Language Models for Social Robots using Edge Devices

Resource constrained single-board computers including Raspberry Pi, NVIDIA Jetson Nano, Arduino UNO Q, Orange Pi, and LattePanda motivate on-device small language model (SLM) agents that reduce cloud dependence, improve data locality, and tolerate intermittent connectivity. Model Context Protocol (MCP)-style tool invocation demands more than fluent generation: an agent must emit machine-readable JSON, select the correct tool, supply all required arguments, and avoid unintended actions. We establish a platform-agnostic CPU baseline by evaluating five open-weight models below two billion parameters Phi-1.5, Pythia-1.4B, TinyLlama-1.1B-Chat, Qwen2.5-0.5B, and Qwen2.5-1.5B on 100 prompts spanning weather retrieval, web search, calculation, email composition, and task creation, under greedy decoding and nucleus sampling. A recovery parser strips Markdown fences, extracts brace-delimited substrings, and scores parseability, tool-name correctness, argument completeness, and value agreement. Under this criterion, Qwen2.5-1.5B achieves 75% (greedy) and 79% (sampling); Qwen2.5-0.5B achieves 72% (greedy) but drops to 32% under sampling. Phi-1.5 scores 0%; Pythia and TinyLlama reach at most 7%. A strict post-hoc audit finds only 5 of 1,000 raw responses directly parseable as JSON, exposing near-total dependence on output recovery. A CPU resource probe shows Qwen2.5-1.5B requires 7,960 MiB and 30.782 s mean latency; Qwen2.5-0.5B uses 3,637 MiB and 10.627 s, revealing a reliability-resource trade-off for edge deployment. These results do not cover the named boards directly or a full MCP implementation. Safe deployment requires schema validation, constrained generation, least-privilege execution, and human escalation for consequential actions.

Edge devices such as smartwatches and smart glasses cannot continuously run even the smallest 100M-1B parameter language models due to power and compute constraints, yet cloud inference introduces multi-second latencies that break the illusion of a responsive assistant. We introduce micro language models ($μ$LMs): ultra-compact models (8M-30M parameters) that instantly generate the first 4-8 words of a contextually grounded response on-device, while a cloud model completes it; thus, masking the cloud latency. We show that useful language generation survives at this extreme scale with our models matching several 70M-256M-class existing models. We design a collaborative generation framework that reframes the cloud model as a continuator rather than a respondent, achieving seamless mid-sentence handoffs and structured graceful recovery via three error correction methods when the local opener goes wrong. Empirical results show that $μ$LMs can initiate responses that larger models complete seamlessly, demonstrating that orders-of-magnitude asymmetric collaboration is achievable and unlocking responsive AI for extremely resource-constrained devices. The model checkpoint and demo are available at https://github.com/Sensente/micro_language_model_swen_project.

Edge-AI model selection is commonly driven by one isolated metric - accuracy, latency, memory, energy, or safety, even though a deployable language model must balance all five. Our work focuses on answering the question whether na- tively trained small language models (SLMs) or large language models (LLMs) compressed through post-training quantization offer the more sustainable edge- deployment trade-off. We introduce a reproducible Holistic Sustainability Score (HSS) organized around the triple bottom line: an economic pillar for capability and systems efficiency, an environmental pillar for operational GPU energy and a social pillar for harmful-prompt robustness. Five BF16 SLMs and five LLMs under different quantization approaches - BF16, INT8, NF4 4-bit, GPTQ 4-bit, and GGUF Q4 produce 30 measured configurations. Capability is assessed on five zero-shot benchmarks; efficiency uses latency, throughput, peak VRAM and energy; and safety is approximated by attack success rate on five harmful prompts. Qwen3-30B-A3B/GGUF Q4 ranks first in the combined pool (93.38), followed by Mistral-Small-24B/GGUF Q4 (92.40), while Phi-4-mini/BF16 is the highest- ranked SLM in that pool (89.49). Thus, the hypothesis that native SLMs must be the most sustainable edge choice is not supported universally; optimized quantized LLMs can win overall, while SLMs remain competitive through lower resource demand. Quantization is a systems-level choice rather than a monotonic precision- efficiency trade-off and HSS remains relative to its comparison pool and proxy definitions.