Embodied-AI-Guide

Embodied-AI-Guide

具身智能入门指南

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Embodied-AI-Guide is a comprehensive guide for beginners to understand Embodied AI, focusing on the path of entry and useful information in the field. It covers topics such as Reinforcement Learning, Imitation Learning, Large Language Model for Robotics, 3D Vision, Control, Benchmarks, and provides resources for building cognitive understanding. The repository aims to help newcomers quickly establish knowledge in the field of Embodied AI.

README:

具身智能入门指南

🦉Contributors: Tianxing Chen (陈天行), Yude Zou (邹誉德), Zanxin Chen (陈攒鑫), Wen Ye (叶雯)

Github Repo, Latest Update: Sept 1, 2024 】

Embodied AI (具身智能)入门的路径以及useful信息的总结,期望是按照路线走完后,新手可以快速建立关于这个领域的认知,希望能帮助到各位入门具身智能的朋友,欢迎star与PR🌟~
文章中引用文章的原作者,我们在🙏 Acknowledgement - 致谢部分进行了致谢,感谢他们的分享🌹

Contents - 目录

Start Up - 从这里开始

什么是具身智能?
具身智能是指一种基于物理身体进行感知和行动的智能系统,其通过智能体与环境的交互获取信息、理解问题、做出决策并实现行动,从而产生智能行为和适应性。

Reinforcement Learning - 强化学习

台湾大学李宏毅公开课: bilibili
EasyRL - 蘑菇书: website
强化学习的数学原理 - 西湖大学赵世钰: bilibili
实践gymnasium,可以尝试一下把玩一下登月着陆等经典强化学习场景,思考+动手,观察阶段agent的表现并分析,有助于深入理解强化学习

Imitation Learning - 模仿学习

模仿学习简洁教程 - 南京大学LAMDA: PDF
Supervised Policy Learning for Real Robots, RSS 2024 Workshop 教程:真实机器人的监督策略学习, bilibili

Large Language Model for Robotics - 大模型在机器人学中的应用

Robotics+LLM系列通过大语言模型控制机器人 [2]: zhihu
PDDL-wiki: website
An Introduction to PDDL: PDF
AI Agent from IBM: An artificial intelligence (AI) agent refers to a system or program that is capable of autonomously performing tasks on behalf of a user or another system by designing its workflow and utilizing available tools.
Embodied Agent wiki: website
Awesome-LLM-Robotics: A repo contains a curative list of papers using Large Language/Multi-Modal Models for Robotics/RL. website
Lilian Weng 个人博客 - AI Agent 系统综述 [5]: 中文: website 英文: website

3D Vision - 三维视觉

三维视觉导论 - Andreas Geiger: website

3DGS

3D Gaussian Splatting原理速通: bilibili

Control - 控制学

彻底搞懂阻抗控制、导纳控制、力位混合控制, CSDN

Benchmarks & Simulators - 基准 & 仿真器

具身智能常用benchmark总结 [1]: zhihu

常见仿真器wiki: wiki

Useful Info - 有利于搭建认知的资料

具身智能基础技术路线-YunlongDong [2]: PDF, bilibili

AI领域值得关注的博主列表 [3]: zhihu

Robotics实验室总结 [4]: zhihu_1, zhihu_2

Communities - 社区

DeepTimber Robotics Innovations Community, 深木科研交流社区: website

Companies - 公司

松灵AgileX: website

🙏 Acknowledgement - 致谢

本文转载/引用了大量博主的文章,我们对他们的知识分享表示感谢,引用列表如下:

Since 2024 🌹
[1] 知乎穆尧 [2] 知乎东林钟声, GithubYunlong Dong [3] 知乎强化学徒 [4] 知乎Biang哥

🏷️ License - 许可证

This repository is released under the MIT license. See LICENSE for additional details.

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