具身智能中文指南

【 Github Repo, Latest Update: Sep 1, 2024 】

🦉Contributors: 陈天行 (深大本科生), 邹誉德 (25' 上交-浦江实验室联培PhD), 陈思翔 (25' 北大PhD), 叶雯 (25' 中科院自动化所PhD), 陈攒鑫 (深大本科生), 彭时佳 (深大本科生)

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
• Reinforcement Learning - 强化学习
• Imitation Learning - 模仿学习
• Large Language Model for Robotics - 大模型在机器人学中的应用
• 3D Vision - 三维视觉
• Control - 控制学
• Benchmarks - 基准
• Useful Info - 有利于搭建认知的资料
• Communities - 社区
• Companies - 公司
• 🙏 Acknowledgement - 致谢

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](https: //www.bilibili.com/video/BV1XP4y1d7Bk/?spm_id_from=333.337.search-card.all.click&vd_source=ab9cf5374617c2867aaea34af29b53c9)
EasyRL - 蘑菇书: [website](https: //datawhalechina.github.io/easy-rl/#/)
强化学习的数学原理 - 西湖大学赵世钰: [bilibili](https: //space.bilibili.com/2044042934/channel/collectiondetail?sid=748665)
实践[gymnasium](https: //gymnasium.farama.org/)，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](https: //www.lamda.nju.edu.cn/xut/Imitation_Learning.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](https: //www.bilibili.com/video/BV1Fx4y1s7if/?buvid=XY415384A771A6C681C9BEB3817566ED57724&is_story_h5=false&mid=ORgXkVzTHaOKTsml0RX5Gw%3D%3D&plat_id=240&share_from=ugc&share_medium=android&share_plat=android&share_source=WEIXIN&share_tag=s_i&spmid=dt.space-dt.0.0&timestamp=1721464513&unique_k=Cqj5d9J&up_id=2185804&vd_source=ab9cf5374617c2867aaea34af29b53c9)

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](https: //zhuanlan.zhihu.com/p/668053911)
PDDL-wiki: [website](https: //planning.wiki/)
An Introduction to PDDL: [PDF](https: //www.cs.toronto.edu/~sheila/2542/s14/A1/introtopddl2.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](https: //en.wikipedia.org/wiki/Embodied_agent)
Awesome-LLM-Robotics: A repo contains a curative list of papers using Large Language/Multi-Modal Models for Robotics/RL. [website](https: //github.com/GT-RIPL/Awesome-LLM-Robotics)
Lilian Weng 个人博客 - AI Agent 系统综述 [5]: 中文: [website](https: //mp.weixin.qq.com/s/Jb8HBbaKYXXxTSQOBsP5Wg) 英文: [website](https: //lilianweng.github.io/posts/2023-06-23-agent/)

3D Vision - 三维视觉

三维视觉导论 - Andreas Geiger: [website](https: //uni-tuebingen.de/fakultaeten/mathematisch-naturwissenschaftliche-fakultaet/fachbereiche/informatik/lehrstuehle/autonomous-vision/lectures/computer-vision/)

3DGS

3D Gaussian Splatting原理速通: [bilibili](https: //www.bilibili.com/video/BV11e411n79b/?spm_id_from=333.788&vd_source=ab9cf5374617c2867aaea34af29b53c9)

Control - 控制学

彻底搞懂阻抗控制、导纳控制、力位混合控制: [CSDN](https: //blog.csdn.net/a735148617/article/details/108564836)
具身智能ROS1基础: [website](http: //www.autolabor.com.cn/book/ROSTutorials/)
具身智能ROS2基础: [website](https: //zhangzhiwei-zzw.github.io/ROS2%E5%AD%A6%E4%B9%A0/ROS2/)

Benchmarks & Simulators - 基准 & 仿真器

具身智能常用benchmark总结 [1]: [zhihu](https: //zhuanlan.zhihu.com/p/695342864)

常见仿真器wiki: [wiki](https: //simulately.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](https: //www.bilibili.com/video/BV1d5ukedEsi/?buvid=XXCD799C01878A6CFDECF3FB4427E2F070877&from_spmid=default-value&is_story_h5=false&mid=iWFclAyh36UYMh2G6ZcsDw%3D%3D&p=1&plat_id=114&share_from=ugc&share_medium=android&share_plat=android&share_session_id=9c0dccf5-ec0b-4369-8b89-ff1d848467ee&share_source=WEIXIN&share_tag=s_i&spmid=united.player-video-detail.0.0&timestamp=1716466406&unique_k=Q0CaIUj&up_id=249218043)

AI领域值得关注的博主列表 [3]: [zhihu](https: //zhuanlan.zhihu.com/p/682110383)

Robotics实验室总结 [4]: [zhihu_1](https: //zhuanlan.zhihu.com/p/682671294?utm_psn=1782122763157188608), [zhihu_2](https: //zhuanlan.zhihu.com/p/682692024?utm_psn=1782122945184796672)

Communities - 社区

DeepTimber Robotics Innovations Community, 深木科研交流社区: [website](https: //gamma.app/public/DeepTimber-Robotics-Innovations-Community-A-Community-for-Multi-m-og0uv8mswl1a3q7?mode=doc)

Companies - 公司

松灵AgileX: [website](https: //www.agilex.ai/)
宇树Unitree: [website](https: //www.unitree.com/cn)

🙏 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](https: //www.zhihu.com/people/mu-yao-12-34)	[2] 知乎[东林钟声](https: //www.zhihu.com/people/dong-lin-zhong-sheng-76), Github[Yunlong Dong](https: //github.com/yunlongdong)	[3] 知乎[强化学徒](https: //www.zhihu.com/people/heda-he-28)	[4] 知乎[Biang哥](https: //www.zhihu.com/people/qi-da-guang)

🏷️ License - 许可证

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