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Muto RS Robot📖
01.Introduction to Muto Robot
  • 1.Accessories introduction
  • 2.Precautions for battery
  • 3.FAQ
  • 4.MutoRS Study Guide
  • 5.Quick Start Guide
02.Assembly and write system
  • 1.Raspberry Pi write system
  • 2.Assembly video
03.Remote control course
  • 1.Open and Close APP Control Program
  • 2.Mobile APP Remote Control
  • 3.USB Wireless Controller Remote Control
  • 4.Web Host Computer Remote Control
04.Remote login operation
  • 1.SSH and VNC remote login
  • 2.Jupyter Lab login and running example code
05.AI Large Model Basicsnew
  • 1.AI Large Model Types and Principles
  • 2.RAG Retrieval Enhancement and Model Training Samples
  • 3.Embodied Intelligent Robot System Architecture
  • 4.Embodied Intelligent Functions Core Source Code
06.AI Large Model Developmentnew
  • 1.Register a model service provider account
  • 2.Configure API-KEY
  • 3.Introduction to Dify
  • 4.Dify Basic function
  • 5.AI large model development - Chatbot
  • 6.Deploy the RAG knowledge base
  • 7.RAG knowledge base + Chatbot
  • 8.AI agent workflow
  • 9.Custom wake-up response
  • 10.Core module testing tools
07.AI Large Model (Text Version)new
  • 0.MutoRS Model Setup & Details
  • 1.Semantic Understanding, Instruction Following
  • 2.Multimodal Visual Understanding
  • 3.Multimodal Visual Understanding + Depth Camera Distance Q&A
  • 4.Multimodal Visual Understanding + Visual Line Following
  • 5.Multimodal Visual Understanding + Visual Following
  • 6.Multimodal Visual Understanding + SLAM Navigation
  • 7.Multimodal Visual Understanding + SLAM Navigation + Visual Line Following
  • 8.Intention Estimation + Multimodal Visual Understanding + SLAM Navigation + Visual Functions
08.AI Large Model (Voice Version)new
  • 0.MutoRS Model Setup & Details
  • 1.Semantic Understanding, Instruction Following
  • 2.Multimodal Visual Understanding
  • 3.Multimodal Visual Understanding + Depth Camera Distance Q&A
  • 4.Multimodal Visual Understanding + Visual Line Following
  • 5.Multimodal Visual Understanding + Visual Following
  • 6.Multimodal Visual Understanding + SLAM Navigation
  • 7.Multimodal Visual Understanding + SLAM Navigation + Visual Line Following
  • 8.Intention Estimation + Multimodal Visual Understanding + SLAM Navigation + Visual Functions
09.AI Large Model (Fun Applications)new
  • 1.Versatile performer
  • 2.Action Imitation
  • 3.Problem Solving Expert
  • 4.Exploring Unfamiliar Environments
10.Robot basic course
  • 1)Control buzzer
  • 2)Control PWM servo
  • 3)Control bus servo
  • 4)Robot forward and backward
  • 5)Robot move left and right
  • 6)Robot rotate left and right
  • 7)Control height
  • 8)Control head
  • 9)Action group performance
  • 10)Read data
  • 11)Host computer control
  • 12)Camera driver
11.Voice control coursenew
  • 1.Control Muto motion
  • 2.Control Muto tracking
  • 3.Control Muto color recognition
  • 4.Control Muto color tracking
  • 5.Control multi-point navigation
12.AI vision course
  • 0)Color HSV Calibration
  • 1)Color recognition
  • 2)Color following
  • 3)Color recognition action group
  • 4)Face detection
  • 5)QR code recognition
  • 6)QR code instructions
  • 7)Visual line following
  • 8)Motion learning
  • 9)Synchronous action teaching
13.Mediapipe course
  • 1)Hand detection
  • 2)Attitude detection
  • 3)Overall inspection
  • 4)Face detection
  • 5)Face recognition
  • 6)Face effects
  • 7)Face detection
  • 8)3D object recognition
  • 9)Brush
  • 10)Finger control
  • 11)Gesture recognition
14.Depth camera course
  • 1)Depth camera use
  • 2)Internal reference calibration
  • 3)Web page real-time monitoring
  • 4)ROS+opencv application
  • 5)QR code creation and recognition
  • 6)AR vision
  • 7)Tracking
  • 8)Obstacle recognition
  • 9)Color tracking
  • 10)KCF object tracking
  • 11)RTAB-Map 3D mapping navigation
15.Lidar course
  • 1)About lidar
  • 2)Lidar obstacle avoidance
  • 3)Lidar tracking
  • 4)Lidar guard
  • 5)Patrol
  • 6)SLAM overview
  • 7)ROS2_Gmapping mapping algorithm
  • 8)ROS2_Cartographer mapping algorithm
  • 9)About ROS2 Navigation
  • 10)ROS2 navigation and avoid
  • 11) APP mapping
  • 12)APP navigation
16.Road network navigationnew
  • 1.Road network planning and navigation environment deployment
  • 2.Constructing pose maps
  • 3.Road network annotation
  • 4.Inter-road network planning and navigation
  • 5.Road network navigation under arbitrary poses
  • 6.Path replanning
17.Multi-machine control course
  • 1)Multi-vehicle control
  • 2)Multi-vehicle navigation
18.Robot chassis control
  • 1)Hexapod gait and kinematics
  • 2)Robot information release
  • 3)Robot control
  • 4)URDF model
19.Raspberry Pi course
  • 1)Python usage
  • 2)Use APT to install Python packages
  • 3)Python virtual environment
  • 4)GPIO Zero
  • 5)Pin output high and low levels
  • 6)Pin reads high and low levels
  • 7)Pin output PWM
  • 8)Serial communication
  • 9)I2C communication
20.OpenCV course
  • 1)Introduction to Open Source CV
  • 2)Image reading and display
  • 3)Picture writing
  • 4)Image Quality
  • 5)Pixel operations
  • 6)Image zoom
  • 7)Picture cut
  • 8)Picture pan
  • 9)Picture mirroring
  • 10)Affine transformation
  • 11)Picture rotation
  • 12)perspective transformation
  • 13)Grayscale processing
  • 14)Binary image
  • 15)Edge green detection
  • 16)Line segment drawing
  • 17)Rectangular circle drawing
  • 18)Text and picture drawing
21.Docker course
  • 1)Overview and installation
  • 2)Common commands
  • 3)Deeply understand and publish images
  • 4)Hardware interaction and data processing
  • 5)Enter docker container
  • 6)Robot development environment construction
  • 7)Update docker images
22.ROS2 basic course
  • 1) Introduction to ROS2
  • 2)ROS2 install Humble
  • 3)ROS2 development environment
  • 4)ROS2 workspace
  • 5)ROS2 function package
  • 6)ROS2 node
  • 7)ROS2 topic communication
  • 8)ROS2 service communication
  • 9)ROS2 action communication
  • 10)ROS2 custom interface message
  • 11)ROS2 parameter service case
  • 12)ROS2 meta-function package
  • 13)ROS2 distributed communication
  • 14)ROS2 DDS
  • 15)ROS2 time related API
  • 16)ROS2 common command tools
  • 17)ROS2 rviz2 use
  • 18)ROS2 rqt toolbox
  • 19)ROS2 Launch startup file configuration
  • 20)ROS2 recording and playback tool
  • 21)ROS2 URDF model
  • 22)ROS2 Gazebo simulation platform
  • 23)ROS2 TF2 coordinate transformation
23.Linux basic course
  • 1)Introduction to Linux system
  • 2)Ubuntu file system
  • 3)Ubuntu common commands
  • 4)Ubuntu common editors
  • 5)Ubuntu software operation commands
  • 6)Virtual machine installation
  • 7)SSH remote control
  • 8)VNC remote control
  • 9)Driver library and communication
  • 10)Static IP and hotspot mode
  • 11)Bind device ID
  • 12)Capacity expansion and resource allocation
  • 13)Back up system image
  • 14)Update system software sources
  • 15)Set root user password
  • 16)sudo free password
  • 17)Connect to WiFi network
  • 18)View system version
  • 19)Customized service management
  • 20.Back up system image
24.Mainboard Large Model Course
Offline large model (Text Interaction)
  • 0. AI large model image description
  • 1. Deployment of large AI model environments
  • 2. Installation of large model dialogue platform
  • 3. Meta AI Llama 3.2 model
  • 4. Alibaba Cloud Qwen3 Model
  • 5. Microsoft Phi-4-mini model
  • 6. DeepSeek DeepSeek-R1 model
  • 7. Alibaba Cloud Qwen2.5vl Visual Multimodal Large Model
  • 8. Google Gemma3 Visual Multimodal Large Model
  • 9. Llava Visual Multimodal Large Model
  • 10. MiniCPM-V Visual Multimodal Large Model
  • 11. Multimodal Visual Understanding Applications
  • 12. Multimodal Text-Based Image Application
  • 13. Multimodal Video Analysis Application
  • 14. Multimodal visual positioning applications
  • 15. Multimodal table scanning application
  • 16. Multimodal Autonomous Agent Application
Offline large model (Voice Interaction)
  • 0. Voice Interaction Hardware Connection (Must Read)
  • 1. Offline speech-to-text (ASR)
  • 2. Offline Text-to-Speech (TTS)
  • 3. AI large model voice interaction
  • 4. Multimodal visual understanding and voice interaction
  • 5. Multimodal Text-Based Image Application
  • 6. Multimodal Video Analysis Application
  • 7. Multimodal visual positioning applications
  • 8. Multimodal table scanning application
  • 9. Multimodal Autonomous Agent Applications
  • 10. AI large model offline voice assistant
Online large model (text interaction)
  • 1.OpenRouter Large Model API Aggregation Platform
  • 2. Multimodal Visual Understanding Applications
  • 3. Multimodal visual positioning applications
  • 4. Multimodal table scanning application
  • 5. Multimodal Autonomous Agent Applications
Online large model (voice interaction)
  • 0. Voice Interaction Hardware Connection (Must Read)
  • 1. Online speech-to-text (ASR)
  • 2. Online Text-to-Speech (TTS)
  • 3. AI large model voice interaction
  • 4. Multimodal visual and voice interaction
  • 5. Multimodal visual positioning applications
  • 6. Multimodal table scanning application
  • 7. Multimodal Autonomous Agent Applications
  • 8. AI large model online voice assistant
Download
  • RemoteCtrl_APP(iOS/Android)
  • Mapping_APP(iOS_Android)
  • SystemFile_For_RPi5
  • SystemFile_Jetson
  • SystemFile_RPi
  • Code
  • VM File
  • Hardware Info
  • Instruction Manual
  • Jetson_Boot_USB.tar.gz
  • ROS2_Basic_VM
Download ZIP

Welcome to Muto RS Robot repository

1.AI Large Model Types and Principles

AI Largr Model Types and Principles

1. Course Content

This course introduces the basics of AI Largr models and the types and principles of Largr models used in AI embodied intelligence.

2. Introduction to AI Largr Models

AI Largr models, also known as large-scale pre-trained models, are the product of a deep fusion of big data, massive computing power, and powerful algorithms. Simply put, they are like intelligent agents that are "fed" with vast amounts of knowledge and repeatedly trained. By learning from vast amounts of data, they grasp the patterns and patterns within the data, thus possessing strong versatility and generalization capabilities. This capability enables AI Largr models to transcend single tasks and, like humans, flexibly apply their learned knowledge to solve complex problems across multiple domains. Leveraging multiple sources of data, such as internet text and images, they learn patterns, possessing strong generalization capabilities. They can adapt to a variety of tasks through transfer learning or prompt engineering, and may even develop capabilities such as logical reasoning and common sense understanding that were not previously trained.

3. Common AI Large Model Categories

3.1 Text Generation Large Models

  • Based on the Transformer architecture, these models learn the grammatical, semantic, and pragmatic rules of a language through unsupervised or supervised learning on massive amounts of text data. They are then able to generate natural and fluent text based on input prompts or context. Pre-training through unsupervised learning makes them suitable for tasks such as text generation and dialogue systems. By converting all text tasks into a unified text-to-text problem, they provide a more flexible framework for handling diverse tasks such as translation, summarization, and question-answering.
  • In content creation, they can automatically generate practical text such as articles, news, and reviews, improving content production efficiency and assisting authors with creative conception and text polishing.
  • In the field of intelligent interaction, they can be applied to intelligent customer service and chatbots, generating natural and fluent responses and improving user experience.
  • In personalized teaching, they can analyze questions, provide explanations of test points, problem-solving strategies, and results, and assist users with language learning.
  • In machine translation, they can achieve automatic translation. Combined with speech models, they can also perform simultaneous interpretation and generate subtitles for everyday tasks.

3.1.1 Principle Overview

Based on the Transformer architecture (particularly the self-attention mechanism), this approach uses unsupervised/semi-supervised learning on massive amounts of text data to model the probability distribution and semantic associations of language, enabling natural language understanding and generation.

  • Pretraining Logic
  • Autoregressive (AR): Like the GPT series, this approach uses a causal language model to predict the next token (e.g., "Today's weather → Today's weather is very sunny"), learning contextual dependencies.
  • Autoencoder (AE): Like BERT, this approach uses a masked language model to predict masked tokens (e.g., "Today [mask] is very sunny" → "Weather"), learning contextual bidirectional semantics.
  • Key Technologies
  • Attention Mechanism: Dynamically assigns weights to different words in a text, capturing long-range dependencies (e.g., "Previous event → Later event's influence").
  • Prompt Tuning: Using templates (e.g., "Please summarize the following: {text}"), this approach activates specific model capabilities and adapts to downstream tasks. - Emerging Capabilities As the scale of parameters increases (e.g., into the hundreds of billions), models may develop capabilities not explicitly programmed during pre-training, such as logical reasoning, common sense understanding, and few-shot learning.

3.2 Large Multimodal Models

Capable of processing diverse input data types, such as text, images, audio, and video. Through cross-modal learning, models understand the relationships between data in different modalities and integrate multimodal data to fully leverage information from each modality, building a unified representation space. This allows data from different modalities to be understood and combined, enabling the execution of more complex and intelligent tasks. These models can be used for cross-modal retrieval, retrieving data from one modality based on data from another; in visual question answering, models can answer text questions based on image content; they can also generate image captions, generating natural language text describing the image content; and they can enable multimodal conversations involving information from multiple modalities. These models have broad application prospects in complex environments such as healthcare, transportation, and security monitoring.

3.2.1 Principle Overview

Through cross-modal alignment and joint modeling, a unified representation space for data from different modalities is learned, enabling semantic association and collaborative processing between modalities.

  • Contrastive Learning: For example, the CLIP model maps the feature vectors of images and text into the same space and trains through "image-text pair matching" (e.g., "dog picture → text 'dog'").
  • Encoder-Decoder Architecture: For example, DALL-E, the text encoder extracts semantic features, and the image decoder generates the corresponding image (text → image).

Fusion Methods

  • Early Fusion: Combines multimodal data at the input layer (e.g., concatenating text embeddings with image pixel features).
  • Late Fusion: Processes each modal data separately and fuses the results at the decision layer (e.g., first analyzing text sentiment and image color separately, then making a comprehensive judgment).

3.3 Speech Recognition Model

  • Converts the input speech signal into text information. Typically based on deep learning algorithms, this approach first extracts features from speech signals. These features are then fed into a neural network model for training and recognition. The model learns from large amounts of speech data to identify different speech patterns and corresponding text content. This approach can help customer service personnel quickly record customer needs and issues, improving service quality and facilitating follow-up inquiries. It can also be applied to voice search, freeing hands and suitable for various search environments such as vehicle navigation and mobile phones. It can also convert meeting conversations into text, making it easier to organize and record meeting content. In terms of human-computer interaction, voice commands can be used to control intelligent devices, including hardware devices such as robots and software applications.

3.3.1 Principle Overview

The acoustic features of speech signals are converted into text sequences, and end-to-end modeling is achieved based on deep learning.

  • Feature Extraction: Preprocess the speech waveform (e.g., framing and windowing) to extract Mel-frequency frequency coefficients (MFCCs) or acoustic feature vectors (e.g., using a CNN).
  • Sequence Modeling: Use a recurrent neural network (RNN/LSTM) or Transformer encoder to capture the temporal dependencies of speech sequences (e.g., "consecutive syllables → words"). * Decoder Mapping: Maps feature sequences to text sequences (e.g., acoustic features → "hello") using Connectionist Temporal Classification (CTC) or an attention mechanism.

3.4 Speech Synthesis Model

Converts input text into speech signals. This is typically accomplished by training a model to learn the text-to-speech mapping relationship. The model generates corresponding speech features based on the input text, and then uses speech synthesis technology to convert these features into audible speech. This is widely used in voice assistants, audiobooks, intelligent customer service, and other fields, providing users with voice interaction services and enabling devices to communicate with users in a natural and fluent voice.

3.4.1 Principle Overview

Converts text semantics into natural and fluent speech signals, simulating the rhythm, intonation, and emotion of human pronunciation.

Deep Learning Synthesis:

  • Text Analysis: Uses NLP models to analyze the semantics, part of speech, and sentiment of text (e.g., "I'm very happy today" → cheerful intonation).
  • Acoustic Modeling: Generates the mel-spectrogram of speech using the Tacotron family (encoder-decoder + attention mechanism). * Vocoder: Converts mel-spectrograms into waveform signals, such as WaveNet and HiFi-GAN (improves speech naturalness).

4. AI Model Comparison Summary

Model TypeInputOutputCore TechnologyTypical Scenarios
Natural Language ModelTextTextTransformer Self-AttentionWriting, Conversation, Translation
Multimodal ModelText + Image/AudioCross-modal ContentCross-modal Alignment, Joint EncodingImage-Text Generation, Visual Question Answering
Speech Recognition ModelSpeech WaveformTextAcoustic Feature Extraction + Sequence DecodingMeeting Minutes, Voice Search
Speech Synthesis ModelTextSpeech AudioText Analysis + Acoustic Modeling + VocoderVoice Assistant, Audio Content Production
Jupyter Lab login and running example code
RAG Retrieval Enhancement and Model Training Samples

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