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ROSMASTER M1📖
01.Robot Configuration and Operation Guide
  • 0. Assembly video
  • 1. Servo PTZ calibration
  • 2. Quick start guide handle control
  • 3. First trial
  • 4. Enter Docker (For JETSON Nano and RPi 5)
  • 1.5 Quick Start video
02.AI Model Preparation
  • AI Model Preparation
03.AI Model Basics course
  • 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
04.AI Model Developmentnew
  • 1.Register a model service provider account
  • 2. Configuring API-KEY
  • 3. Introduction to Dify
  • 4. Basic Dify Features
  • 5. Deploy the RAG knowledge base
  • 6. AI Large Model Development - chatbot
  • 7. RAG knowledge base + chatbot
  • 8. AI agent workflow
  • 9. Custom wake-up response
  • 10. Core module testing tools
05.AI Model - Text Version
  • 1.Semantic understand and command follow
  • 2.Multimodal visual understand
  • 3.Multimodal visual understand + PTZ tracking
  • 4.Multimodal visual understand + visual following
  • 5.Multimodal visual understand + visual line patroling
  • 6.Multimodal visual understand + Depth Camera Distance Question Answering
  • 7.Multimodal visual understand+SLAM navigation
  • 8.Multimodal visual understand+SLAM navigation + visual line patroling
  • 9.Intention estimation + Multimodal visual understand + SLAM navigation + visual functions
06.AI Model - Voice Version
  • 1.Semantic understand and command follow
  • 2.Multimodal visual understand
  • 3.Multimodal visual understand + PTZ tracking
  • 4.Multimodal visual understand + visual following
  • 5.Multimodal visual understand + visual line patroling
  • 6.Multimodal visual understand + Depth Camera Distance Question Answering
  • 7.Multimodal visual understand+SLAM navigation
  • 8.Multimodal visual understand+SLAM navigation + visual line patroling
  • 9.Intention estimation + Multimodal visual understand + SLAM navigation + visual functions
07.Chassis Control Course
  • 1. ROS control
  • 2. Handle control
  • 3. Keyboard control
  • 4. Linear velocity calibration
  • 5. Angular velocity calibration
  • 6. URDF model
08.Mediapipe Visual Course
  • 1.Hand detection
  • 2.Posture detection
  • 3.Overall detection
  • 4.Facial landmark detection
  • 5.Face detection
  • 6.Face special effects
  • 7.3D object recognition
  • 8.Brush
  • 9.Finger control
  • 10.Gesture recognition
  • 11.Palm target positioning
  • 12.Fingertip trajectory recognition
09.Advanced Vision Course
  • 1.QR code
  • 2.Human Pose Estimation
  • 3.Object Detection
  • 4.AR Vision
  • 5.ROS+Opencv Basics
  • 6.Yolov8 Object Detection (ORIN)
  • 7.Deep Learning Object Tracking (ORIN)
10.HD Camera Vision Course(Standard Version)
  • 01.Color tracking
  • 02.Face Tracking
  • 03.AprilTag machine code tracking
  • 04.KCF Object Tracking
  • 05.QR code tracking
  • 06.Mediapipe gesture tracking
  • 07.Meidpipe human posture tracking
  • 08.Color Follow
  • 09.Face Following
  • 10.AprilTag machine code following
  • 11.QR code follow
  • 12.Mediapipe gesture recognition and following
  • 13.Meidpipe human posture following
  • 14.Visual tracking autonomous driving
  • 15.QR code motion control
  • 16.Gesture motion control
11.Depth Camera Vision Course(Superior Version)
  • 1.Basic use of depth camera
  • 2.Deep pseudo-color image
  • 3.Depth camera ranging
  • 4.Color block volume measurement
  • 5.Color Following
  • 6.Face Following
  • 7.QR code follow
  • 8.Machine code following
  • 9.KCF Object Following
  • 10.Mediapipe gesture following
  • 11.Mediapipe Posture Following
  • 12.Visual tracking autonomous driving
  • 13.Edge Detection
12.LiDAR Course
  • 1.Basic use of Lidar
  • 2.Lidar obstacle avoidance
  • 3.Lidar following
  • 4.Lidar patrol
  • 5.Gmapping-SLAM mapping
  • 6.Cartographer-SLAM mapping
  • 7.slam_toolbox mapping
  • 8.Navigation2 single-point navigation avoid
  • 9.Navigation2 multi-point navigation avoid
  • 10.Cartographer Repositioning navigation
  • 11.RTAB-Map mapping
  • 12.RTAB-Map navigation
  • 13.APP mapping navigation
13.Multi-Vehicle Course
  • 1.Multi-vehicle control
  • 2.Multi-vehicle navigation
  • 3.Multi-vehicle platoon
14.Autonomous Driving expand(Need purchase track map)
【Track Map】Multimodal visual understand+SLAM navigation
  • 1. Multimodal visual understand+SLAM navigation
【Track Map】Autonomous driving (RDKX5 & Orin)
  • 1. Venue placement and precautions
  • 2. Start testing
  • 3. Identify and debug
  • 4. Lane keeping
  • 5. Road sign detection
  • 6. Traffic light recognition
  • 7. Fixed point parking
  • 8. Steering decision
  • 9. Horn sounding
  • 10. Deceleration
  • 11. Speed limit
  • 12. Autonomous parking
  • 13. Comprehensive application
  • 14. Unmanned driving integrated AI large model
【Track Map】Autonomous driving (Jetson Nano)
  • 1. Venue placement and precautions
  • 2. Start testing
  • 3. Identify and debug
  • 4. Lane keeping
  • 5. Road sign detection
  • 6. Traffic light recognition
  • 7. Fixed point parking
  • 8. Steering decision
  • 9. Horn sounding
  • 10. Deceleration
  • 11. Speed limit
  • 12. Autonomous parking
  • 13. Comprehensive application
【Track Map】Road network planning
  • 1. Introduction to Road Network Planning and Navigation
  • 2. Constructing a Pose Map
  • 3. Road Network Labelling
  • 4. Road Network Planning Combined with Sand Table Map
  • 5. Path Replanning
【Track Map】Model Training
  • 1. Data Collection
  • 2. Dataset Annotation
  • 3. YOLOv11 Model Training
  • 4. Model Format Conversion
15.YOLOV11 development course (ORIN)
  • 1.YOLO environment construction
  • 2.CLI use
  • 3.Object detection
  • 4.Instance segmentation
  • 5.Pose estimation
  • 6.Image classification
  • 7.Oriented object detection
  • 8.Model conversion
  • 9.Dataset annotation
  • 10.Model Training_Conversion
  • 11.Model prediction
16.YOLOV11 development course(RPi&Jetson NANO)
  • 1.YOLO environment construction
  • 2.CLI use
  • 3.Object detection
  • 4.Instance segmentation
  • 5.Pose estimation
  • 6.Image classification
  • 7.Oriented object detection
  • 8.Model conversion
  • 9.Model prediction
17.YOLOV11 development course(RDK X5)
  • 1.YOLO environment construction
  • 2.CLI use
  • 3.Object detection
  • 4.Instance segmentation
  • 5.Pose estimation
  • 6.Image classification
  • 7.Oriented object detection
  • 8.Model prediction
  • 9.Model Quantization
18.Main control board course
Jetson Nano B01
  • 1. Introduction to the Jetson Nano B01 SUB Board
  • 2. Burn the system image
  • 3. Re-read the memory card or USB drive that has been burned
  • 4. Startup system
  • 5. Jetson Nano B01 System and Desktop Introduction
  • 6. Memory card or USB flash drive expansion
  • 7. Network Configuration
  • 8. SSH remote login & file transfer
  • 9. VNC Remote Login
  • 10. Jetson Nano B01 system backup
  • 11. Jetson Nano Swap space increased
  • 12. Installation and use of Jtop
  • 13. Third-party board + USB drive to start the car
Jetson Orin Nano_NX
  • 1.Jetson Orin board introduction
  • 2.Restore the factory image system
  • 3.Backup SSD system
  • 4.SSD expansion
  • 5.Network configuration
  • 6.SSH remote login
  • 7.VNC remote control
  • 8.Remote file transfer
  • 9.Jtop tool
  • 10.Exchange space expansion
Raspberry Pi
  • 1. Introduction to Raspberry PI 5
  • 2. Raspberry PI system installation and backup
  • 3. Powering the Raspberry PI 5
  • 4. Startup of Raspberry PI 5
  • 5. Update and upgrade operating system
  • 6. Introduction to raspi-config tool
  • 7. config.txt file description
  • 8. Network Configuration
  • 9. remote access
  • 10. Transfer files remotely
  • 11. Set display resolution and rotation
  • 12. Set screen to sleep
  • 13. Play audio and video
  • 14. Using USB camera
  • 15. Using MIPI camera
  • 16. Get real-time temperature of Raspberry Pi
RDK X5
  • 1.Introduction to RDK X5 board
  • 2.Write system file
  • 3.Hardware interface description
  • 4.Install case and other accessories
  • 5.Network configuration
  • 6.Remote login
  • 7.Update system
  • 8.srpi-config user guide
  • 9.config. txt configuration file
  • 10.Self-startup setting
  • 11.RDK exclusive command usage
  • 12.Linux command usage
  • 13.GPIO readwrite operation
  • 14.Image classification algorithm
  • 15.Use USB camera
  • 16.Use MIPI camera
  • 17.Binocular camera depth algorithm
19.AI large model course(ORIN-Pi-RDK X5)
Offline large model (Text Interaction)
  • 0. AI Large Model Mirroring Explanation
  • 1. Deployment of large-scale AI models
  • 2.Installation of the large-scale 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
20.AI large model course(Jetson NANO)
Offline large model (Text Interaction)
  • 4.Multimodal visual understand speech interaction
  • 0.AI large model system image instructions
  • 1.AI large model environment deployment
  • 2.Install large model dialogue platform
  • 3.Meta AI llama 3.2 model
  • 4.Alibaba Cloud Qwen2 model
  • 5.Alibaba Cloud Qwen3 model
  • 6.SUTD TinyLlama
  • 7.DeepSeek DeepSeek-R1 model
  • 8.Microsoft Phi-3
  • 9.Microsoft Orca Mini
  • 10.NVIDIA StarCoder2
  • 11.Google Gemma3 Visual Multimodal Large Model
  • 12.Offline Text to Speech (TTS)
  • 13.Offline Speech to Text (ASR)
Online large model (Text Interaction)
  • 1.OpenRouter large model API aggregation platform
  • 2.Multimodal visual understand application
  • 3.Multimodal visual localization application
  • 4.Multimodal table scanning application
  • 5.Multimodal autonomous proxy application
Online large model (Voice Interaction)
  • 0.Voice interaction hardware connection (ReadMe)
  • 1.Online speech-to-text (ASR)
  • 2.Online Text-to-Speech (TTS)
  • 3.AI large model voice interaction
  • 5.Multimodal visual position application
  • 6.Multimodal table scanning application
  • 7.Multimodal autonomous proxy application
  • 8.AI large model online voice assistant
21.Linux operating system 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.Transfer files remotely
  • 10.Driver library and communication
  • 11.Static IP and hotspot mode
  • 12.Bind device ID
  • 13.Capacity expansion and resource allocation
  • 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
22.Docker course
  • 1.Docker Introduction and Installation
  • 2.Docker basic commands
  • 3.Docker Submission and Multi-Terminal Access
  • 4.Docker Startup Script
  • 5.Docker-Vscode environment construction
23.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
24.Image processing course
  • 1. Introduction to Open Source CV
  • 2. Image reading and display
  • 3. Image writing
  • 4. Image quality
  • 5. Pixel Operation
  • 6. Image zoom
  • 7. Image cutting
  • 8. Image translation
  • 9. Image Mirroring
  • 10. Affine Transformation
  • 11. Image Rotation
  • 12. Perspective Transformation
  • 13. Grayscale processing
  • 14. Image Binarization
  • 15. Edge Detection
  • 16. Line drawing
  • 17. Rectangle and circle drawing
  • 18. Drawing text and pictures
25.STM32 driver course
  • 0. Notes (must read)
  • 1. About expansion board
  • 2. STM32 Development environment
  • 3. Button control
  • 4. FreeRTOS application
  • 5. Serial communication
  • 6. SBUS model aircraft remote control
  • 7. CAN bus communication
  • 8. RGB colorful light bar
  • 9. Timer interrupt to control PWM servo
  • 10. Control serial port servos
  • 11. Nine-axis attitude sensor to obtain data
  • 12. Control motor
  • 13. Timer captures the encoder data
  • 14. Robot kinematics analysis theory
  • 15. PID control robot movement
26.Main control communication course
  • 1. Update the expansion board firmware
  • 2. Install Rosmaster driver library
  • 3. Jupyter lab basic usage tutorial
  • 4. Buzzer whistle
  • 5. Control PWM servo
  • 6. RGB colorful light bar special effects display
  • 7. Control motor
  • 8. Control robot movement
  • 9. Control Serial Servo
Download
  • Mapping_APP(iOS_Android)
  • Robot_Image_System_File
  • Code-Firmware
  • Instruction_Manual
  • MainBoard_AI_Pure_System
  • VM_File
  • Software_Tools
  • Hardware_Info
  • 3D_Model_File
Download ZIP

Welcome to ROSMASTER M1 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
AI Model Preparation
RAG retrieval enhancement and model training samples

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