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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

12. Multimodal Text-Based Image Application

Multimodal Text-to-Image Application

Multimodal Text-to-Image Application1. Concept Introduction1.1 What is Text-to-Image?Core Principles1.2 What is FastSDCPU?Core FeaturesApplicable Scenarios2. Project Deployment2.1 Deployment Environment2.2 LAN Access2.3 Using the Vinyl Image Function2.4 How to start after successful deployment

The Raspberry Pi 5 1GB version cannot run due to memory limitations.

Since Ollama doesn't support text-to-image, we need to use other tools to implement this functionality locally.


1. Concept Introduction

1.1 What is Text-to-Image?

Text-to-Image is an AI technology that automatically generates images based on text descriptions. Simply enter a text (e.g., "A Shiba Inu wearing sunglasses surfing on the beach"), and the AI ​​model will generate an image that matches the description based on semantic understanding. No painting or design skills are required.

Core Principles

  1. Language Understanding: The AI ​​first parses your text and identifies keywords (e.g., "Shiba Inu," "sunglasses," "beach").

  2. Image Generation: Based on training from massive image data, the AI ​​converts text into visual elements and combines them into a reasonable image.

  3. Style Adaptation: You can specify a style (realistic, cartoon, watercolor, etc.), and the AI ​​will adjust the generated image accordingly.

1.2 What is FastSDCPU?

FastSDCPU is an open-source Stable Diffusion image processing project optimized for CPU devices. Through algorithmic and engineering optimizations, it enables rapid generation of high-quality images on standard computers without a GPU, significantly lowering the hardware barrier to entry for AI painting.

Core Features

  1. Pure CPU Operation: No dedicated graphics card required, allowing it to run directly on laptops, desktops, or edge devices.

  2. High-Speed ​​Inference: Incorporating technologies such as Latent Consistency Models (LCM), image generation takes only 4–8 steps, significantly reducing latency.

  3. Lightweight Deployment: Supports model quantization (e.g., INT8) and OpenVINO acceleration, reducing resource usage and improving responsiveness.

Applicable Scenarios

  • Localized AI Creation Tool

  • Intranet Image Generation Service

  • Teaching Demonstrations and Prototyping

  • Lightweight Deployment in Resource-Constrained Environments

2. Project Deployment

2.1 Deployment Environment

Note: If using our pre-installed image, there's no need to deploy an environment and you can skip the deployment steps. Simply refer to <2.4 How to Start After Deployment> at the bottom to start the application. Then, return to <2.3 Using the Wenshengtu Function> to learn how to use it.

Open a terminal and execute the following code:

​x
#If there is no git on the motherboard, run
sudo apt update
sudo apt install git -y
sudo apt install python3.10-venv -y

#Add environment variables
echo 'export PATH="$HOME/.local/bin:$PATH"' >> ~/.bashrc
source ~/.bashrc

# Clone the project code
git clone https://github.com/rupeshs/fastsdcpu.git
cd fastsdcpu

# Create a virtual environment and install dependencies
python -m venv venv
source venv/bin/activate

#Install uv
curl -Ls https://astral.sh/uv/install.sh | sh(This step may not be successful if there is no proxy in China. If not, you can skip this step and execute the next command)

#If the curl command failed to install uv in the previous step, run these three instructions
wget https://mirrors.huaweicloud.com/astral/uv/0.8.4/uv-aarch64-unknown-linux-gnu -O ~/.local/bin/uv
chmod +x ~/.local/bin/uv
~/.local/bin/uv --version

chmod +x install.sh start-webui.sh
./install.sh --disable-gui

Installation successful, press any key to exit:

image-20250801214649785

2.2 LAN Access

Before starting, you need to modify a file to support LAN access. Otherwise, the webUI can only be accessed locally:

xxxxxxxxxx
vim ~/fastsdcpu/src/frontend/webui/ui.py

After opening the ui.py file, scroll to the last line and find webui.launch(share=share). Change it to webui.launch(server_name="0.0.0.0",share=share).

Save the file.

Start:

xxxxxxxxxx
./start-webui.sh

image-20250801221311739

Then, enter your motherboard's IP address: 7860 in your browser to access the webUI.

2.3 Using the Vinyl Image Function

Use ifconfig in the terminal to query your motherboard's IP address. For example, mine is 192.168.2.106.

Then open your browser and enter your motherboard's IP address: 7860 . For example, I entered 192.168.2.106:7860 . This will allow you to access the webUI.

image-20250804105134704

Next, click LCM-LoRA. This model uses less memory. If you prefer, feel free to explore other models.

Next, click Models to view the LCM LoRA model settings. You can change the model you want, or just stick with the default, as I did.

image-20250804105439656

Next, click Generation Settings and increase the Inference Steps setting to improve the quality of the generated image. I've set it to 5.

image-20250804111046973

Next, return to the Text to Image dialog box and enter the content you want to generate. Click Generate to begin generating the image.

image-20250804105656393

For first-time users, you'll need to download the model. You'll see the default model being downloaded in the terminal. Once it's finished downloading, the text-to-image function will begin.

image-20250804105710057

Generated result:

image-20250804113118977

This project has better support for English, and the generated images are more consistent with the text. We recommend using English descriptions when generating images.

2.4 How to start after successful deployment

xxxxxxxxxx
cd fastsdcpu #Enter the fastsdcpu directory
source venv/bin/activate #Enter the virtual environment
./start-webui.sh #Start the webui

After the webui is successfully started, enter your motherboard's IP address: 7860 in your browser to start the image generation function.

Multimodal Visual Understanding Applications
Multimodal Video Analysis Application

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