ub-clean-test 0.59.0

机器人控制框架

# ub-clean-test

[中文版](#chinese) | [English](#english)

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## <a id="chinese"></a>中文版

一个模块化的机器人控制框架。

### 功能
- **基础控制**：PID、LQR、自适应控制
- **运动学**：逆运动学（速度级、位置级）
- **轨迹规划**：五次多项式平滑运动
- **路径规划**：RRT 快速扩展随机树
- **状态估计**：卡尔曼滤波
- **强化学习**：PPO 近端策略优化
- **自适应控制可视化**：（0.11.0 新增） 动态展示参数调整过程
- **线性倒立摆 (LIPM)**：双足机器人步态规划基础 (0.12.0 新增)
- **零力矩点 (ZMP)**：双足机器人稳定性判断 (0.13.0 新增)
- **模型预测控制 (MPC)**：步态预测与优化控制 (0.14.0 新增)
- **全身控制 (WBC)**：多任务协调（走路 + 上肢动作）(0.15.0 新增)
- **视觉-语言-动作 (VLA)**：听懂简单指令 (0.16.0 新增)
- **视觉感知 (Vision)**：检测物体颜色和位置 (0.17.0 新增)
- **任务规划 (Task Planning)**：听懂→看懂→行动 (0.18.1 新增)
- **经验记忆 (Experience Memory)**：记住成功经验，下次秒执行 (0.19.0 新增)
- **自动调参 (Auto-Tuning)**：自己找最优控制参数 (0.20.0 新增)
- **状态预测 (State Prediction)**：预判未来轨迹，提前避险 (0.21.0 新增)
- **安全规则库 (Safety Rules)**：定义机器人不能做的事 (0.22.0 新增)
- **自检系统 (Self-Diagnosis)**：检查自身状态，知道能不能干活 (0.23.0 新增)
- **故障恢复 (Fault Recovery)**：检测故障并尝试自动修复 (0.24.0 新增)
- **因果推理 (Causal Reasoning)**：理解“为什么”，做出更聪明的决策 (0.25.0 新增)
- **长期记忆 (Long-Term Memory)**：记住重要事件，重启也不丢 (0.26.2 新增)
- **意图识别 (Intent Recognition)**：猜别人想做什么 (0.27.0 新增)
- **好奇机制 (Curiosity)**：主动探索未知 (0.28.0 新增)
- **模仿学习 (Imitation Learning)**：看人做一遍就会 (0.29.0 新增)
- **自我反思 (Self-Reflection)**：回顾过去，总结教训 (0.30.0 新增)
- **时序推理 (Temporal Reasoning)**：理解顺序、估计耗时、安排时序 (0.31.0 新增)
- **空间推理 (Spatial Reasoning)**：理解方位、相对位置、空间关系 (0.32.0 新增)
- **情感识别 (Emotion Recognition)**：听懂情绪，调整回应 (0.33.0 新增)
- **情感表达 (Emotional Expression)**：根据情绪调整输出 (0.34.0 新增)
- **个性化记忆 (Personalized Memory)**：记住不同用户的信息和偏好 (0.35.0 新增)
- **人格调节 (Personality Tuning)**：调整机器人性格 (0.36.0 新增)
- **对话管理 (Dialogue Management)**：记住上下文，主动聊天 (0.37.0 新增)
- **元学习 (Meta Learning)**：学会如何学习，自我优化 (0.38.0 新增)
- **可解释性 (Explainability)**：解释决策原因 (0.39.0 新增)
- **主动学习 (Active Learning)**：不确定就问，主动学习 (0.40.1 新增)
- **组合推理 (Compositional Reasoning)**：理解多步、条件、并行、否定指令 (0.41.6 新增)
- **空间布局推理 (Spatial Layout Reasoning)**：理解房间布局 (0.42.94 新增)
- **时间感知 (Time Perception)**：理解时间概念 (0.43.0 新增)
- **距离感知 (Distance Perception)**：理解距离概念 (0.44.0 新增)
- **速度感知 (Speed Perception)**：理解速度概念 (0.45.3 新增)
- **重量感知 (Weight Perception)**：理解重量概念 (0.46.0 新增)
- **温度感知 (Temperature Perception)**：理解温度概念 (0.47.3 新增)
- **亮度感知 (Brightness Perception)**：理解亮度概念 (0.48.1 新增)
- **颜色感知 (Color Perception)**：理解颜色意义和偏好 (0.49.0 新增)
- **声音感知 (Sound Perception)**：理解声音概念 (0.50.3 新增)
- **触觉感知 (Touch Perception)**：理解触觉概念 (0.51.6 新增)
- **嗅觉感知 (Smell Perception)**：理解气味概念 (0.52.0 新增)
- **味觉感知 (Taste Perception)**：理解味道概念 (0.53.1 新增)
- **情感理解 (Emotion Understanding)**：理解情绪背后的原因 (0.54.0 新增)
- **意图理解 (Intent Understanding)**：理解隐含需求和意图 (0.55.0 新增)
- **幽默理解 (Humor Understanding)**：理解笑话和幽默 (0.56.1 新增)
- **比喻理解 (Metaphor Understanding)**：理解比喻、成语、隐喻、夸张 (0.57.0 新增)
- **逻辑推理 (Logical Reasoning)**：三段论、条件推理、逆向推理、链式推理（0.58.9 新增）
- **常识推理 (Common Sense)**：日常常识、社交常识、物理常识、综合推理 (0.59.0新增)



### 安装

pip install ub-clean-test

### 快速开始
```python
from ultra_balance import create_robot
robot = create_robot('two_wheel')
robot.start()

示例

• demo_trajectory.py：轨迹规划演示
• demo_rrt.py：RRT 路径规划演示
• demo_ppo.py：PPO 强化学习演示
• demo_kalman.py：卡尔曼滤波演示
• demo_adaptive.py：自适应控制演示（0.11.0 新增）
• demo_lipm.py：线性倒立摆演示 (0.12.0 新增)
• demo_zmp.py：ZMP 稳定性演示 (0.13.0 新增)
• demo_mpc.py：MPC 控制演示 (0.14.0 新增)
• demo_wbc.py：全身控制演示 (0.15.0 新增)
• demo_vla.py：VLA 演示 (0.16.0 新增)
• demo_vision.py：视觉感知演示 (0.17.0 新增)
• demo_task.py：任务规划演示 (0.18.1 新增)
• demo_experience.py：经验记忆演示 (0.19.0 新增)
• demo_autotune.py：自动调参演示 (0.20.0 新增)
• demo_predict.py：状态预测演示 (0.21.0 新增)
• demo_safety.py：安全规则演示 (0.22.0 新增)
• demo_self_diagnosis.py：自检系统演示 (0.23.0 新增)
• demo_fault_recovery.py：故障恢复演示 (0.24.0 新增)
• demo_causal.py：因果推理演示 (0.25.0 新增)
• demo_long_term.py：长期记忆演示 (0.26.2 新增)
• demo_intent.py：意图识别演示 (0.27.0 新增)
• demo_curiosity.py：好奇机制演示 (0.28.0 新增)
• demo_imitation.py：模仿学习演示 (0.29.0 新增)
• demo_reflection.py：自我反思演示 (0.30.0 新增)
• demo_temporal.py：时序推理演示 (0.31.0 新增)
• demo_spatial.py：空间推理演示 (0.32.0 新增)
• demo_emotion.py：情感识别演示 (0.33.0 新增)
• demo_expression.py：情感表达演示 (0.34.0 新增)
• demo_personalized.py：个性化记忆演示 (0.35.0 新增)
• demo_personality.py：人格调节演示 (0.36.0 新增)
• demo_dialogue.py：对话管理演示 (0.37.0 新增)
• demo_meta.py：元学习演示 (0.38.0 新增)
• demo_explain.py：可解释性演示 (0.39.0 新增)
• demo_active.py：主动学习演示 (0.40.1 新增)
• demo_compositional.py：组合推理演示 (0.41.6 新增)
• demo_layout.py：空间布局推理演示 (0.42.94 新增)
• demo_time.py：时间感知演示 (0.43.0 新增)
• demo_distance.py：距离感知演示 (0.44.0 新增)
• demo_speed.py：速度感知演示 (0.45.3 新增)
• demo_weight.py：重量感知演示 (0.46.0 新增)
• demo_temperature.py：温度感知演示 (0.47.3 新增)
• demo_brightness.py：亮度感知演示 (0.48.1 新增)
• demo_color.py：颜色感知演示 (0.49.0 新增)
• demo_sound.py：声音感知演示 (0.50.3 新增)
• demo_touch.py：触觉感知演示 (0.51.6 新增)
• demo_smell.py：嗅觉感知演示 (0.52.0 新增)
• demo_taste.py：味觉感知演示 (0.53.1 新增)
• demo_emotion_understand.py：情感理解演示 (0.54.0 新增)
• demo_intent_understand.py：意图理解演示 (0.55.0 新增)
• demo_humor.py：幽默理解演示 (0.56.1 新增)
• demo_metaphor.py：比喻理解演示 (0.57.0 新增)
• demo_reasoning.py：逻辑推理演示（0.58.9 新增）
• demo_common_sense.py：常识推理演示 (0.59.0新增)

---

English Version

A modular robot control framework.

Features

• Control: PID, LQR, adaptive control
• Kinematics: Forward/Inverse kinematics
• Trajectory Planning: Quintic polynomial
• Path Planning: RRT (Rapidly-exploring Random Tree)
• State Estimation: Kalman filter
• Reinforcement Learning: PPO (Proximal Policy Optimization)
• Adaptive Control Visualization: (new in 0.11.0) Dynamic visualization of gain adaptation
• Linear Inverted Pendulum Model (LIPM): Foundation for bipedal robot gait planning (new in 0.12.0)
• Zero Moment Point (ZMP): Bipedal robot stability criterion (new in 0.13.0)
• Model Predictive Control (MPC): Gait prediction and optimization (new in 0.14.0)
• Whole Body Control (WBC): Multi-task coordination (walk + arm) (new in 0.15.0)
• Visual-Language-Action (VLA): Understand simple commands (new in 0.16.0)
• Vision Perception: Detect object color and position (new in 0.17.0)
• Task Planning: Understand → See → Act (new in 0.18.1)
• Experience Memory: Remember successful tasks, execute instantly next time (new in 0.19.0)
• Auto-Tuning: Find optimal control parameters automatically (new in 0.20.0)
• State Prediction: Predict future trajectory, avoid danger in advance (new in 0.21.0)
• Safety Rules: Define what the robot cannot do (new in 0.22.0)
• Self-Diagnosis: Check own status, know if ready to work (new in 0.23.0)
• Fault Recovery: Detect faults and try to recover automatically (new in 0.24.0)
• Causal Reasoning: Understand "why", make smarter decisions (new in 0.25.0)
• Long-Term Memory: Remember important events, survive restart (new in 0.26.2)
• Intent Recognition: Guess what others want to do (new in 0.27.0)
• Curiosity Module: Actively explore the unknown (new in 0.28.0)
• Imitation Learning: Learn from demonstration (new in 0.29.0)
• Self-Reflection: Review past, learn lessons (new in 0.30.0)
• Temporal Reasoning: Understand order, estimate time, schedule tasks (new in 0.31.0)
• Spatial Reasoning: Understand directions, relative positions, spatial relations (new in 0.32.0)
• Emotion Recognition: Understand emotions, adjust responses (new in 0.33.0)
• Emotional Expression: Adjust output based on emotion (new in 0.34.0)
• Personalized Memory: Remember different users' info and preferences (new in 0.35.0)
• Personality Tuning: Adjust robot personality (new in 0.36.0)
• Dialogue Management: Remember context, chat proactively (new in 0.37.0)
• Meta Learning: Learn how to learn, self-optimize (new in 0.38.0)
• Explainability: Explain decision reasons (new in 0.39.0)
• Active Learning: Ask when uncertain, learn proactively (new in 0.40.1)
• Compositional Reasoning: Understand multi-step, conditional, parallel, negative commands (new in 0.41.6)
• Spatial Layout Reasoning: Understand room layout (new in 0.42.94)
• Time Perception: Understand time concepts (new in 0.43.0)
• Distance Perception: Understand distance concepts (new in 0.44.0)
• Speed Perception: Understand speed concepts (new in 0.45.3)
• Weight Perception: Understand weight concepts (new in 0.46.0)
• Temperature Perception: Understand temperature concepts (new in 0.47.3)
• Brightness Perception: Understand brightness concepts (new in 0.48.1)
• Color Perception: Understand color meaning and preferences (new in 0.49.0)
• Sound Perception: Understand sound concepts (new in 0.50.3)
• Touch Perception: Understand touch concepts (new in 0.51.6)
• Smell Perception: Understand smell concepts (new in 0.52.0)
• Taste Perception: Understand taste concepts (new in 0.53.1)
• Emotion Understanding: Understand reasons behind emotions (new in 0.54.0)
• demo_intent_understand.py: Intent understanding demo (new in 0.55.0)
• Humor Understanding: Understand jokes and humor (new in 0.56.1)
• Metaphor Understanding: Understand metaphors, idioms, hyperbole (new in 0.57.0)
• Logical Reasoning：Syllogism, if-then reasoning, reverse reasoning, chain reasoning（new in 0.58.9）
• Common Sense：Daily, social, physics, comprehensive reasoning (new in 0.59.0)

Installation

pip install ub-clean-test

Quick Start

from ultra_balance import create_robot
robot = create_robot('two_wheel')
robot.start()

Modules

· core/: Core algorithms (Kalman filter, PID, etc.) · planning/: Path planning (A*, RRT) · learning/: Reinforcement learning (PPO)

Examples

• demo_trajectory.py: Trajectory planning demo
• demo_rrt.py: RRT path planning demo
• demo_ppo.py: PPO reinforcement learning demo
• demo_kalman.py: Kalman filter demo
• demo_adaptive.py: Adaptive control demo (new in 0.11.0)
• demo_lipm.py: Linear Inverted Pendulum demo (new in 0.12.0)
• demo_zmp.py: ZMP stability demo (new in 0.13.0)
• demo_mpc.py: MPC control demo (new in 0.14.0)
• demo_wbc.py: Whole Body Control demo (new in 0.15.0)
• demo_vla.py: VLA demo (new in 0.16.0)
• demo_vision.py: Vision perception demo (new in 0.17.0)
• demo_task.py: Task planning demo (new in 0.18.1)
• demo_experience.py: Experience memory demo (new in 0.19.0)
• demo_autotune.py: Auto-tuning demo (new in 0.20.0)
• demo_predict.py: State prediction demo (new in 0.21.0)
• demo_safety.py: Safety rules demo (new in 0.22.0)
• demo_self_diagnosis.py: Self-diagnosis demo (new in 0.23.0)
• demo_fault_recovery.py: Fault recovery demo (new in 0.24.0)
• demo_causal.py: Causal reasoning demo (new in 0.25.0)
• demo_long_term.py: Long-term memory demo (new in 0.26.2)
• demo_intent.py: Intent recognition demo (new in 0.27.0)
• demo_curiosity.py: Curiosity module demo (new in 0.28.0)
• demo_imitation.py: Imitation learning demo (new in 0.29.0)
• demo_reflection.py: Self-reflection demo (new in 0.30.0)
• demo_temporal.py: Temporal reasoning demo (new in 0.31.0)
• demo_spatial.py: Spatial reasoning demo (new in 0.32.0)
• demo_emotion.py: Emotion recognition demo (new in 0.33.0)
• demo_expression.py: Emotional expression demo (new in 0.34.0)
• demo_personalized.py: Personalized memory demo (new in 0.35.0)
• demo_personality.py: Personality tuning demo (new in 0.36.0)
• demo_dialogue.py: Dialogue management demo (new in 0.37.0)
• demo_meta.py: Meta learning demo (new in 0.38.0)
• demo_explain.py: Explainability demo (new in 0.39.0)
• demo_active.py: Active learning demo (new in 0.40.1)
• demo_compositional.py: Compositional reasoning demo (new in 0.41.6)
• demo_layout.py: Spatial layout reasoning demo (new in 0.42.94)
• demo_time.py: Time perception demo (new in 0.43.0)
• demo_distance.py: Distance perception demo (new in 0.44.0)
• demo_speed.py: Speed perception demo (new in 0.45.3)
• demo_weight.py: Weight perception demo (new in 0.46.0)
• demo_temperature.py: Temperature perception demo (new in 0.47.3)
• demo_brightness.py: Brightness perception demo (new in 0.48.1)
• demo_color.py: Color perception demo (new in 0.49.0)
• demo_sound.py: Sound perception demo (new in 0.50.3)
• demo_touch.py: Touch perception demo (new in 0.51.6)
• demo_smell.py: Smell perception demo (new in 0.52.0)
• demo_taste.py: Taste perception demo (new in 0.53.1)
• demo_emotion_understand.py: Emotion understanding demo (new in 0.54.0)
• demo_intent_understand.py: Intent understanding demo (new in 0.55.0)
• demo_humor.py: Humor understanding demo (new in 0.56.1)
• demo_metaphor.py: Metaphor understanding demo (new in 0.57.0)
• demo_reasoning.py：Logical reasoning demo（new in 0.58.9）
• demo_common_sense.py：Common sense demo (new in 0.59.0)