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ROSMASTER M3📖
00.Configuration and Operation Guide
  • 1.Quick start handle to control the car
  • 2.Log in to the car and view the code
  • 3.Enter the Docker (For RPI5)
  • 4.Camera and Radar Configuration (Must Read)
  • 5.Assembly video
  • 6.Modify Control Board Firmware Parameters
01.Chassis Control Course
  • 01.ROS control
  • 02.Handle control
  • 03.Keyboard control
  • 04.Robot state estimation
  • 05.Data remote visualization
  • 06.Line velocity calibration
  • 07.Angular velocity calibration
  • 08.Robot URDF model
  • 09.Line patrol automatic driving
  • 10.Patrol
02.Lidar Course
  • 01.Lidar introduction and use
  • 02.Lidar point cloud fusion and filtering
  • 03.Lidar obstacle avoidance
  • 04.Lidar tracking
  • 05.Lidar guard
  • 06.Gmapping-SLAM mapping
  • 07.Cartographer-SLAM mapping
  • 08.slam_toolbox mapping
  • 09.Lifelong mapping
  • 10.Navigation2 single-point navigation avoid
  • 11.Navigation2 multi-point navigation avoid
  • 12.Cartographer relocalization navigation
  • 13.slam_toolbox localization and navigation
  • 14.Synchronous mapping and navigation
  • 15.RTAB-Map mapping
  • 16.RTAB-Map navigation
  • 17.APP mapping and navigation
03.AI 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
04.AI Model Development
  • 01.Register a model service provider account
  • 02.Configuring API-KEY
  • 03.Introduction to Dify
  • 04.Basic Dify Features
  • 05.AI Large Model Development - chatbot
  • 06.Deploy the RAG knowledge base
  • 07.RAG knowledge base + chatbot
  • 08.AI agent workflow
  • 09.Custom wake-up response
  • 10.Core module testing tools
05.AI Model - Voice Version
  • 1.Semantic understand and command follow
  • 2.Multimodal visual understanding
  • 3.Multimodal visual understanding+SLAM navigation
  • 4.Intention estimation
06.AI Model - Text Version
  • 1.Semantic understand and command follow
  • 2.Multimodal visual understanding
  • 3.Multimodal visual understanding+SLAM navigation
  • 4.Intention estimation
07.Road Network Planning and Navigation
  • 1.Introduction and Quick Start
  • 2.Constructing a Pose Map
  • 3.Road Network Labelling
  • 4.Inter-Road Network Planning and Navigation
  • 5.Free-Pose Road Network Navigation
  • 6.Path Replanning
08.Autonomous Driving expand(Need purchase track map)
  • 01.Environment Setup & Precautions
  • 02.YOLO Environment Configuration
  • 03.Data Collection
  • 04.Data Annotation
  • 05.YOLOv11 Model Training
  • 06.Model Format Conversion
  • 07.Vehicle Centerline Calibration
  • 08.Lane Detection
  • 09.Lane-Keeping Autonomous Driving
  • 10.Traffic Sign Recognition
  • 11.Comprehensive Autonomous Driving Applications
  • 12.Autonomous Driving Debugging Module
  • 13.Road Network Planning with Track Map
  • 14.Road Network Planning with Traffic Sign Recognition
  • 15.AI Model with Road Network Planning
  • 16.AI Model with Track Map and SLAM Navigation
  • 17.AI Model with Road Network Planning and Autonomous Driving
09.Depth Camera Course
  • 01.Dabai_DCW2 Camera Introduction
  • 02.Nuwa-HP60C Camera Introduction
  • 03.Depth Pseudo-Color Image
  • 04.Depth Camera Distance Measurement
  • 05.Wood Block Volume Measurement
  • 06.Edge Detection
  • 07.YOLOv11 Object Detection
  • 08.YOLOv11 Object Tracking
  • 09.Color Following
  • 10.Face Following
  • 11.QR Code Following
  • 12.Machine Code Following
  • 13.KCF Object Tracking
  • 14.QR Code Motion Control
  • 15.AR Vision
10.Mediapipe Visual Course
  • 01.Hand Detection
  • 02.Posture Detection
  • 03.Overall Detection
  • 04.Facial Landmark Detection
  • 05.3D Object Recognition
  • 06.Face Detection
  • 07.Gesture Recognition
  • 08.Face Special Effects
  • 09.Brush
  • 10.Finger Control
  • 11.Palm Target Positioning
  • 12.Fingertip Trajectory Recognition
  • 13.Gesture Following
  • 14.Posture Following
  • 15.Gesture Motion Control
11.Multi-vehicle Course
  • 1.Multi-vehicle Control
  • 2.Multi-vehicle Navigation
  • 3.Multi-vehicle Platoon
12.AI Large Model Basic Course
Offline large model (Text Interaction)
  • 0. AI Large Model Mirroring Explanation
  • 1. Deployment of large-scale AI models
  • 2. Installation of the large model dialogue platform
  • 3. Meta AI Llama 3.2 model
  • 4. Alibaba Cloud Qwen3 Model
  • 5. DeepSeek DeepSeek-R1 model
  • 6. Microsoft Phi-4 mini model
  • 7. Alibaba Cloud Qwen2.5vl Visual Multimodal Large Model
  • 8. Google Gemma3 Visual Multimodal Large Model
  • 9. Llava Visual Multimodal Large Model
  • 10. Multimodal Visual Understanding Applications
  • 11.MiniCPM-V Visual Multimodal Large Model
  • 12. Multimodal Text-Based Image Application
  • 13. Multimodal Video Analysis Application
  • 14. Multimodal table scanning application
  • 15. Multimodal visual positioning applications
  • 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
13.Control Board Course
1.Development environment setup
  • 1.Introduction to the Control Board
  • 2.Set up the STM32CUBEIDE development environment
  • 3.Burning STM32 firmware using SWD
  • 4.Burning STM32 firmware using serial port
  • 5.Compile the microros driver library
  • 6.Install and start the microros agent
  • 7.Import Project
2.Control board STM32 basic routine
  • 1.Turn on the LED light
  • 2.Button functions
  • 3.Drive the buzzer
  • 4.Serial communication
  • 5.Battery voltage detection
  • 6.Driving PWM Servo
  • 7.Drive motor
  • 8.Read motor encoder data
  • 9.PID control of motor speed
  • 10.Robot kinematics analysis theory
  • 11.Read IMU data
  • 12.Read Lidar data
  • 13.Flash access data
  • 14.Driving OLED Displays
  • 15.Driving RGB light strip
  • 16.SBUS model aircraft remote control
  • 17.USB controller remote control
  • 18.CAN bus communication
3.Control board micro_ros basic routine
  • 1.Post a topic
  • 2.Subscribe to a topic
  • 3.Multi-topic subscription and publishing
  • 4.Subscribe to the buzzer topic
  • 5.Subscribe to the bus servo topic
  • 6.Subscribe to the rate control topic
  • 7.Release Speed Topic
  • 8.Publish IMU data topic
  • 9.Publish radar data topic
14.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
15.YOLOv11 Development (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(RDKX5)
  • 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
17.YOLOv11 Development (RPI)
  • 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
18.Linux Operating System
  • 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
19.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
20.Docker Course
  • 1、Docker overview and docker installation
  • 2、Common commands for docker image containers
  • 3、Docker images deeply understand and publish images
  • 4、Docker hardware interaction and data processing
  • 5、Enter the bot's docker container
  • 6、Robot development environment construction in Docker
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
Download
  • Mapping_APP(iOS_Android)
  • MainBoard_AI_Pure_System
  • Robot_Image_System_File
  • Code-Firmware
  • Instruction_Manual
  • VM_File
  • Software_Tools
  • Firmware_DriverFile
  • 3D_Model_File
  • ROS2_Basic_VM
  • Other_Annex
Download ZIP

Welcome to ROSMASTER M3 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 Models3.2 Multimodal Large Models3.2.1 Principle Introduction3.3 Speech Recognition Models3.4 Speech Synthesis Models3.4.1 Principle Introduction4.AI Model Comparison Summary

1. Course Content

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

[!TIP]

  • This section is a purely theoretical course. If you need to get started quickly and experience the features, you can skip this section for now.

2. Introduction to AI Large Models

AI large models, i.e., large-scale pre-trained models, are the product of the deep integration of big data, large computing power, and strong algorithms. In simple terms, it is like an intelligent agent that has been "fed" with massive amounts of knowledge and trained repeatedly. By learning from a large amount of data, it masters the laws and patterns in the data, thus possessing powerful versatility and generalization capabilities. This ability allows AI large models to no longer be limited to a single task, but to flexibly apply the knowledge they have learned to solve complex problems in multiple fields, just like humans. It uses multi-source data such as internet text and images to learn data patterns, has strong generalization ability, can adapt to a variety of tasks through transfer learning or prompt engineering, and may also emerge with abilities not set before training, such as logical reasoning and common sense understanding.

  • Open Source Model Community: ModelScope Community
  • Alibaba Bailian Large Model: Bailian Large Model

3. Common AI Large Model Categories

3.1 Text Generation Large Models

  • Based on the Transformer architecture, they learn the syntax, semantics, and pragmatic rules of language through unsupervised or supervised learning on massive text data, thus being able to generate natural and fluent text based on input prompts or context. Pre-trained through unsupervised learning, they are 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 that can handle various tasks such as translation, summarization, and question answering.

  • In terms of content creation, they can automatically generate practical texts such as articles, news, and comments, improving content production efficiency, and can also assist authors in creative conception and text polishing.

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

  • In personalized teaching, they can analyze questions, provide explanations of test points, problem-solving ideas, and results, and can also help users with language learning.

  • In terms of machine translation, they can achieve automatic translation, and combined with speech models, can also achieve simultaneous interpretation, daily subtitle generation, etc.

    3.1.1 Principle Introduction

    Based on the Transformer architecture (especially the self-attention mechanism), they model the probability distribution and semantic correlation of language through unsupervised/semi-supervised learning of massive text data to achieve 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 the weather → Today the weather is"), learning the front-to-back dependencies of the text.
      • Autoencoding (AE): Such as BERT, which predicts the masked token through a "masked language model" (e.g., "Today the [mask] is very sunny" → "weather"), learning the bidirectional semantics of the context.
    • Key Technologies

      • Attention Mechanism: Dynamically allocates weights to different words in the text to capture long-distance dependencies (e.g., "the event mentioned earlier → the impact later").
      • Prompt Tuning: Activates the specific capabilities of the model through templates (e.g., "Please summarize the following content: {text}") to adapt to downstream tasks.
    • Emergent Abilities As the parameter scale expands (e.g., to the hundred-billion level), the model may exhibit abilities not explicitly programmed during the pre-training phase, such as logical reasoning, common sense understanding, and few-shot learning.

3.2 Multimodal Large Models

They can process multiple types of input data, such as text, images, audio, video, etc. Through cross-modal learning, they understand the relationships between different modal data and integrate multimodal data to make full use of the information of each modality, building a unified representation space that allows data of different modalities to understand and combine with each other, thereby performing more complex and intelligent tasks. They 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; they can also perform image description generation, generating natural language text that describes the content of the image; and can also achieve multimodal dialogue, conducting dialogues involving information of multiple modalities, 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, they learn a unified representation space for data of different modalities, achieving semantic correlation and collaborative processing between modalities.

  • Contrastive Learning: Such as the CLIP model, which maps the feature vectors of images and text to the same space and trains through "image-text pair matching" (e.g., "picture of a dog → 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 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 Models

  • Convert input speech signals into text information. Usually based on deep learning algorithms, they first perform feature extraction on the speech signal, and then input the features into a neural network model for training and recognition. The model recognizes different speech patterns and corresponding text content by learning a large amount of speech data. They can assist customer service personnel in quickly recording customer needs and problems, improving service quality and facilitating subsequent inquiries; they can be applied to voice search, freeing up hands, and are suitable for various search environments such as vehicle navigation and mobile phones; they can also convert meeting dialogues into text form, which is convenient for organizing and recording meeting content; in terms of human-computer interaction, they use voice commands to control intelligent facilities, including hardware facilities such as robots and software applications.

    3.3.1 Principle Introduction

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

    • Feature Extraction: Pre-process the speech waveform (e.g., framing, windowing) to extract Mel-frequency cepstral coefficients (MFCC) or acoustic feature vectors (e.g., extracted through a CNN).
    • Sequence Modeling: Use a Recurrent Neural Network (RNN/LSTM) or Transformer encoder to capture the temporal dependencies of the speech sequence (e.g., "continuous syllables → words").
    • Decoding and Mapping: Map the feature sequence to a text sequence through Connectionist Temporal Classification (CTC) or an attention mechanism (e.g., acoustic features → "hello").

3.4 Speech Synthesis Models

Convert input text into speech signals. Generally, by training a model to learn the mapping relationship from text to speech, the model generates corresponding speech features based on the input text, and then converts the features into audible speech through speech synthesis technology. Widely used in voice assistants, audiobooks, intelligent customer service and other fields, providing users with voice interaction services, so that devices can communicate with users in a natural and fluent voice.

3.4.1 Principle Introduction

Convert the semantics of text into a natural and fluent speech signal, simulating the rhythm, intonation, and emotion of human pronunciation.

Deep Learning Synthesis:

  • Text Analysis: Analyze the semantics, part of speech, and emotion of the text through an NLP model (e.g., "I'm very happy today" → cheerful tone).
  • Acoustic Modeling: Use the Tacotron series (encoder-decoder + attention mechanism) to generate the Mel spectrogram of the speech.
  • Vocoder: Convert the Mel spectrogram into a waveform signal, such as WaveNet, HiFi-GAN (to improve the naturalness of the speech).

4.AI Model Comparison Summary

Model TypeInputOutputCore TechnologyTypical Scenarios
Natural Language Large ModelTextTextTransformer Self-AttentionWriting, Dialogue, Translation
Multimodal Large ModelText + Image / AudioCross-modal ContentCross-modal Alignment, Joint EncodingImage-Text Generation, Visual QA
Speech Recognition ModelSpeech WaveformTextAcoustic Feature Extraction + Sequence DecodingMeeting Minutes, Voice Search
Speech Synthesis ModelTextSpeech AudioText Analysis + Acoustic Modeling + VocoderVoice Assistant, Audio Content Production
APP mapping and navigation
RAG retrieval enhancement and model training samples

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