yahboom
HomeTutorialsProduct
Solution
Blog
Online Store
About Us
EN/中文
Store
ROSMASTER M1 PRO📖
0.Robot Configuration and Operation Guidelines
  • 0.Unboxing and Review
  • 1.Assembly Videos
  • 2.User Manual
  • 3.Enter Docker (For Raspberry Pi)
  • 4.FAQ
  • 5.RobotManager User Guide
1.Chassis Control Course
  • 1.Robot Information Publishing
  • 2.Robot Handle Control
  • 3.Robot Keyboard Control
  • 4.Linear Velocity Calibration
  • 5.Angular Velocity Calibration
  • 6.Robot URDF Model
  • 7.Robot EKF State Estimation
2.Lidar Course
  • 1.Lidar Introduction And Use
  • 2.Lidar Obstacle Avoidance
  • 3.Lidar Following
  • 4.Lidar Guard
  • 5.Lidar Patrol
  • 6.GMapping-SLAM Mapping
  • 7.Cartographer-SLAM Mapping
  • 8.Slam-Toolbox Mapping
  • 9.Lifelong Mode Mapping
  • 10.Navigation2 Single Point Navigation
  • 11.Navigation2 Multi Point Navigation
  • 12.Cartographer Relocalization Navigation
  • 13.Slam-Toolbox Localization Navigation
  • 14.Synchronous Mapping And Navigation
  • 15.Aruco Visual Relocalization Navigation
  • 16.Mobile App Mapping And Navigation
3.USB Camera-Depth Camera Course
  • 1.USB Camera Introduction
  • 2.USB Camera Intrinsic Calibration
  • 3.Nuwa-HP60C Camera Introduction (Depth Camera Only)
  • 4.Depth Pseudo Color Image (Depth Camera Only)
  • 5.Depth Camera Distance Measurement (Depth Camera Only)
  • 6.Block Volume Calculation (Depth Camera Only)
  • 7.Edge Detection (Depth Camera Only)
  • 8.RTAB-Map SLAM Mapping (Depth Camera Only)
  • 9.RTAB-Map Navigation (Depth Camera Only)
4.Robotic Arm and 3D Space Gripping Course
  • 1.Robotic Arm Basic Usage
  • 2.Robotic Arm Kinematics
  • 3.Robotic Arm Chassis Coordination Control
  • 4.AprilTag ID Sorting
  • 5.AprilTag Height Anomaly Sorting
  • 6.AprilTag Tracking and Grasping
  • 7.Color Block Sorting
  • 8.Color Block Height Anomaly Sorting
  • 9.Color Block Tracking and Grasping
  • 10.Wood Block Shape Sorting
  • 11.KCF Tracking and Grasping Objects
  • 12.Mediapipe Gesture ID Sorting AprilTag
  • 13.Mediapipe Gesture Height Sorting AprilTag
  • 14.Desktop Tracking and Grasping AprilTag
  • 15.3D Spatial Tracking AprilTag
  • 16.Transformer Model Tracking Algorithm
  • 17.Line Following Obstacle Clearing
5.Road network planning and navigation
  • 1.Introduction To Road Network Planning
  • 2.Road Network Annotation
  • 3.Planning And Navigation Between Waypoints
  • 4.Road Network Navigation In Any Pose
  • 5.Path Re-planning
6.OpenClaw Basic Course
  • 1.Introduction to OpenClaw
  • 2.OpenClaw Core Concepts
  • 3.OpenClaw API-KEY Configuration
  • 4.OpenClaw Switch Models
  • 5.OpenClaw System Prompt Words
  • 6.OpenClaw Common CLI Commands
7.OpenClaw Interaction Method
  • 1.OpenClaw Webchat Interaction
  • 2.OpenClaw Tui Interaction
  • 3.OpenClaw Voice Dialogue Interaction
  • 4.OpenClaw WhatsApp Interaction
8.OpenClaw Development
  • 1.OpenClaw Connecting to Robot MCP Service
  • 2.Robot CLI Command Tool
  • 3.robot-control Plugin Tool
  • 4.reply-bridge Plugin Tool
  • 5.OpenClaw Multimodal Vision
  • 6.OpenClaw Chassis Control
  • 7.OpenClaw Robotic Arm Control
  • 8.OpenClaw Skills Development
  • 9.OpenClaw Scheduled Tasks
  • 10.OpenClaw Multi-Agent Intelligent Agent
  • 11.OpenClaw Active Interaction
  • 12.OpenClaw Vector Memory
9.OpenClaw Embodied intelligent application
  • 1.OpenClaw Target Tracking
  • 2.OpenClaw Arm Tracking And Grasping
  • 3.OpenClaw Arm Fixed-point Placement
  • 4.OpenClaw Waste Sorting
  • 5.OpenClaw SLAM Mapping And Navigation
  • 6.OpenClaw Navigation Transport
  • 7.OpenClaw AprilTag Grasping
  • 8.OpenClaw Color Line Patrol
  • 9.OpenClaw Visual Distance Measurement
10.OpenClaw scenario sandbox
  • 1.Map Description and Props Placement
  • 2.Building the Sandbox Map
  • 3.Visual Relocalization Marker
  • 4.Map Mapping Marker
  • 5.Sandbox Scenario Comprehensive Case
11.AI Large Model Basics
  • 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
12.AI large Model Development
  • 1.Register a Model Service Provider Account
  • 2.Configuring API-KEY
  • 3.Introduction to Dify
  • 4.Basic Dify Features
  • 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
13.AI Model - Voice Version
  • 1.Semantic Understanding and Command Following
  • 2.Multimodal Visual Understanding
  • 3.Multimodal Visual Understanding and Robotic Arm Gripping
  • 4.Multimodal Visual Understanding and SLAM Navigation
  • 5.Robotic arm gripping+Multimodal visual understand+SLAM navigation
  • 6.Intention Understanding
14.AI Model - Text Version
  • 1.Semantic Understanding and Command Following
  • 2.Multimodal Visual Understanding
  • 3.Multimodal Visual Understanding and Robotic Arm Gripping
  • 4.Multimodal Visual Understanding and SLAM Navigation
  • 5.Robotic arm gripping+Multimodal visual understand+SLAM navigation
  • 6.Intention estimation
15.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.Palm target positioning
  • 11.Fingertip trajectory recognition
  • 12.Fingertip gesture control robotic arm
  • 13.Gesture grabbing and releasing objects
  • 14.Finger control robotic arm
  • 15.Medipipe gesture control robotic arm action group
16.MoveIt2 Simulation Course
  • 1.MovelT2 configuration
  • 2.MovelT2 simulation-reality linkage
  • 3.Random movement
  • 4.Forward kinematics design
  • 5.Inverse kinematics design
  • 6.Cartesian path
  • 7.Trajectory Planning
  • 8.Collision Detection
  • 9.Scene Design
  • 10.3D perception obstacle‑avoidance
17.Multi-vehicle Course
  • 1.Multi-vehicle Control
  • 2.Multi-vehicle Navigation
  • 3.Multi-vehicle Formation
18.YOLO26 Development
  • 1.CLI Use
  • 2.Object Detection
  • 3.Instance Segmentation
  • 4.Pose Estimation
  • 5.Image Classification
  • 6.Oriented Object Detection
  • 7.YOLOv26 + DeepSORT Tracking
  • 8.Monocular Depth Estimation
19.Control Board 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
  • 14.1 Kinematic Analysis of Mecanum Wheel
  • 14.2 Kinematic Analysis of Ackerman
  • 14.3 Kinematic Analysis of 4WD
  • 15.PID Control Robot Movement
20.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
21.Image Processing Basics 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
22.Linux 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
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.Main Control Course
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
RDKX5
  • 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
  • 18. Controlling RGB Cooling Fans
Download
  • System File
  • Code
  • 3D Model File
  • Software Tools
  • Hardware_Info
  • Deb function package
  • Dify AI Agent
Download ZIP

Welcome to ROSMASTER M1 PRO repository

1.AI Large Model Types and Principles

AI Large Model Types and Principles

AI Large Model Types and Principles1. Course Content2. Introduction to AI Large Models3.Common AI Large Model Categories3.1 Text Generation Large Model3.2 Multimodal Large Model3.2.1 Principle Introduction3.3 Speech Recognition Model3.4 Speech Synthesis Model3.4.1 Principle Introduction4.AI Model Comparison Summary

1. Course Content

  • Understand and master the basic knowledge of AI large models and the types of AI large models used in AI embodied intelligence gameplay.

Tip

  • This lesson is a purely theoretical lesson. If you want to quickly get started and experience the functional gameplay, you can skip this lesson first.

2. Introduction to AI Large Models

An AI large model, namely a large-scale pre-trained model, is the product of the deep integration of big data, large computing power, and strong algorithms. Simply put, it is like an intelligent agent "fed" with massive knowledge and trained repeatedly. Through learning from a large amount of data, it grasps the patterns and regularities in the data, thereby possessing strong generality and generalization ability. This capability means that AI large models are no longer limited to a single task, but can flexibly apply the knowledge they have learned, like humans, to solve complex problems in multiple domains. Leveraging multi-source data such as Internet text and images, they learn data patterns, possess strong generalization ability, can adapt to various tasks through transfer learning or prompt engineering, and may also exhibit emergent capabilities such as logical reasoning and common-sense understanding that were not set before training.

  • Open-source model community: ModelScope Community

  • Alibaba Bailian Large Model: Bailian Large Model

3.Common AI Large Model Categories

3.1 Text Generation Large Model

  • Based on the Transformer architecture, through unsupervised or supervised learning on massive text data, it learns the grammatical, semantic, and pragmatic rules of language, so that it can generate natural and fluent text according to the input prompt or context. It is pre-trained through unsupervised learning and is suitable for tasks such as text generation and dialogue systems; it converts all text tasks into a unified text-to-text problem, providing a more flexible framework that can handle various tasks such as translation, summarization, and question answering.

  • In content creation, it can automatically generate practical text such as articles, news, and comments, improving content production efficiency, and can also assist authors with creative ideation and text polishing.

  • In the field of intelligent interaction, it can be applied to intelligent customer service and chatbots, generating natural and fluent replies to enhance the user experience.

  • In personalized teaching, it can analyze questions, provide explanations of test points, solution ideas, and results, and can also help users learn languages.

  • In machine translation, it can achieve automatic translation, and combined with speech models, it can also achieve simultaneous interpretation, everyday subtitle generation, and more.

    3.1.1 Principle Introduction

    Based on the Transformer architecture (especially the self-attention mechanism), through unsupervised/semi-supervised learning on massive text data, it models the probability distribution and semantic associations of language, achieving understanding and generation of natural language.

    • Pre-training logic

      • Autoregressive (AR): such as the GPT series, which predicts the next token through a "causal language model" (e.g., "today's weather → today's weather is"), learning the contextual dependencies of text.

      • Autoencoding (AE): such as BERT, which predicts masked tokens through a "masked language model" (e.g., "today [mask] is sunny" → "the weather"), learning bidirectional contextual semantics.

    • Key technologies

      • Attention mechanism: dynamically allocates the weights of different words in the text, capturing long-distance dependencies (e.g., "events mentioned earlier → impacts later").

      • Prompt Tuning: activates specific capabilities of the model through templates (e.g., "Please summarize the following content: {text}"), adapting to downstream tasks.

    • Capability emergence With the expansion of parameter scale (such as the hundred-billion level), the model may exhibit capabilities such as logical reasoning, common-sense understanding, and few-shot learning that were not explicitly programmed during the pre-training stage.

3.2 Multimodal Large Model

It can process multiple types of input data, such as text, images, audio, and video. Through cross-modal learning, it understands the relationships between data of different modalities and integrates multimodal data together, so as to fully utilize the information of each modality and build a unified representation space, enabling data of different modalities to understand and combine with each other, and thereby perform more complex and intelligent tasks. It can be used for cross-modal retrieval, retrieving data of one modality based on data of another modality; in visual question answering, the model answers text questions based on image content; it can also perform image caption generation, generating natural language text that describes the image content; and it can realize multimodal dialogue, conducting dialogues involving multiple modalities of information, with broad application prospects in complex environments such as healthcare, transportation, and security monitoring.

3.2.1 Principle Introduction

Through cross-modal alignment and joint modeling, it learns a unified representation space for data of different modalities, achieving semantic association and collaborative processing between modalities.

  • Contrastive learning: such as the CLIP model, which maps the feature vectors of images and text into the same space, and trains through "image-text pair matching" (e.g., "a picture of a dog → the text 'dog'").

  • Encoder-decoder architecture: such as DALL-E, where the text encoder extracts semantic features and the image decoder generates the corresponding image (text → image).

Fusion methods

  • Early fusion: merges multimodal data at the input layer (e.g., concatenating text embeddings with image pixel features).

  • Late fusion: processes the data of each modality 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 textual information. It is usually based on deep learning algorithms: first extract features from the speech signal, then input the features into a neural network model for training and recognition, and the model learns from a large amount of speech data to recognize different speech patterns and the corresponding textual content. It can help customer service personnel quickly record customer needs and problems, improving service quality and facilitating subsequent queries; it can be applied to voice search, freeing up the hands, and is suitable for various search environments such as vehicle navigation and mobile phones; it can also convert meeting conversations into text form, making it convenient to organize and record meeting content; in terms of human-computer interaction, it uses voice commands to control intelligent facilities, including hardware facilities such as robots and software applications.

    3.3.1 Principle Introduction

    Converts the acoustic features of the speech signal into a text sequence, achieving end-to-end modeling based on deep learning.

    • Feature extraction: preprocesses the speech waveform (such as framing and windowing), extracting Mel-frequency cepstral coefficients (MFCC) or acoustic feature vectors (such as those extracted via CNN).

    • Sequence modeling: uses recurrent neural networks (RNN/LSTM) or a Transformer encoder to capture the temporal dependencies of the speech sequence (e.g., "continuous syllables → words").

    • Decoding mapping: through connectionist temporal classification (CTC) or attention mechanisms, maps the feature sequence to a text sequence (e.g., acoustic features → "hello").

3.4 Speech Synthesis Model

Converts the input text into a speech signal. Generally, a model is trained to learn the mapping relationship from text to speech; the model generates the corresponding speech features according to the input text, and then converts the features into audible speech through speech synthesis technology. It is widely used in fields such as voice assistants, audiobooks, and intelligent customer service, providing users with voice interaction services and enabling devices to communicate with users in natural and fluent speech.

3.4.1 Principle Introduction

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

Deep learning synthesis:

  • Text analysis: parses the semantics, part of speech, and sentiment of the text through NLP models (e.g., "very happy today" → a cheerful tone).

  • Acoustic modeling: uses the Tacotron series (encoder-decoder + attention mechanism) to generate the Mel spectrum of the speech.

  • Vocoder: converts the Mel spectrum into a waveform signal, such as WaveNet and HiFi-GAN (improving the naturalness of the speech).

 

4.AI Model Comparison Summary

Model TypeInputOutputCore TechnologyTypical Scenario
Natural Language Large ModelTextTextTransformer self-attentionWriting, dialogue, translation
Multimodal Large ModelText + image/audioCross-modal contentCross-modal alignment, joint encodingImage-text generation, visual question answering
Speech Recognition ModelSpeech waveformTextAcoustic feature extraction + sequence decodingMeeting transcription, voice search
Speech Synthesis ModelTextSpeech audioText analysis + acoustic modeling + vocoderVoice assistants, audio content production
Sandbox Scenario Comprehensive Case
RAG Retrieval Enhancement and Model Training Samples

COMPANY

  • About us
  • Team Style
  • Blog

LEARNING & EXPLORATION

  • Tutorials
  • Edge AI hardware
  • Educational robots
  • Embedded intelligent hardware

WHERE TO BUY

  • Yahboom Online Store
  • Amazon
  • Alibaba
  • AliExpress
  • Mercado

TECHNOLOGY SUPPORT

  • Email: support@yahboom.com

BE A DISTRIBUTOR

  • Email: sales@yahboom.com
QR Code

Copyright © 2017-2026 Yahboom. All Rights Reserved.

EN/中文