ub-clean-test 0.76.2

湘西紫 - 具身智能框架 (Xiangxi Purple - Embodied AI Framework)

# ub-clean-test（湘西紫）- 具身智能框架

> 美丽湘西 · 紫气东来 | 全球首个全栈开源具身智能框架

[中文版](#中文版) | [English](#english)

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## <a id="中文版"></a> 中文版

**湘西紫 (ub-clean-test)** 是一个完整的具身智能框架，从感知到推理、从学习到规划、从协作到通用整合。

### 能力全景

| 层级 | 版本 | 能力 |
|------|------|------|
| 感知层 | 0.40-0.56 | 视觉、听觉、触觉、嗅觉、味觉、时间、距离、速度、重量、温度、亮度、颜色、情感、幽默 |
| 推理层 | 0.58-0.60 | 逻辑推理、常识推理、决策推理 |
| 元认知 | 0.61 | 自知之明、置信度评估、知识溯源 |
| 学习层 | 0.62-0.65 | 主动学习、错误反思、知识更新、迁移学习 |
| 交互层 | 0.66-0.68 | 多轮对话、多机器人协作、人机协作 |
| 规划层 | 0.69 | 策略生成、自主规划 |
| 整合层 | 0.71 | 通用推理、统一调度 |

### 快速开始

```bash
pip install ub-clean-test

from ultra_balance.reasoning.universal import UniversalReasoning

ur = UniversalReasoning()

# 对话示例
result = ur.reason_text("你好", "dialogue")
print(result.result.get("response"))

# 推理示例
result = ur.reason_text("所有人都会死，苏格拉底是人", "reasoning")
print(result.result)

# 决策示例
result = ur.reason_dict({"options": [{"name": "公交", "pros": ["便宜"]}]}, "decision")
print(result.result)

# 0.72.2 示例 - 0.74.1 示例
from ultra_balance.reasoning.universal import UniversalReasoning
ur = UniversalReasoning()

# 查询捡枕头
result = ur.reason_text("怎么捡枕头", "reasoning")
print("捡枕头:", result.result)

# 查询堆叠积木
result = ur.reason_text("怎么堆积木", "reasoning")
print("堆叠积木:", result.result)

# 查询擦桌子
result = ur.reason_text("怎么擦桌子", "reasoning")
print("擦桌子:", result.result)

# 查询叠毛巾
result = ur.reason_text("怎么叠毛巾", "reasoning")
print("叠毛巾:", result.result)

# 查询倒药水
result = ur.reason_text("怎么倒药水", "reasoning")
print("倒药水:", result.result)

# 0.75.0使用示例
```python
from ultra_balance.reasoning.universal import UniversalReasoning
ur = UniversalReasoning()

# 翻译
result = ur.reason_text("把'我要喝水'翻译成英文", "reasoning")
print(result.result)

# 代码生成
result = ur.reason_text("用Python写一个冒泡排序", "reasoning")
print(result.result)

# 计算
result = ur.reason_text("123+456等于多少", "reasoning")
print(result.result)

示例列表

感知与运动控制（0.11-0.56）

· 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_meta.py：元学习演示（0.37.0新增） · demo_explain.py：可解释性演示（0.38.0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）

推理与认知（0.58-0.71）

· 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） · demo_decision.py：决策推理演示（0.60.1新增） · demo_metacognition.py：元认知推理演示（0.61.0新增） · demo_active_learning.py：主动学习演示（0.62.1新增） · demo_error_reflection.py：错误反思演示（0.63.0新增） · demo_knowledge_update.py：知识更新演示（0.64.0新增） · demo_transfer_learning.py：迁移学习演示（0.65.0新增） · demo_dialogue.py：多轮对话演示（0.66.1新增） · demo_swarm.py：多机器人协作演示（0.67.0新增） · demo_human_robot.py：人机协作演示（0.68.0新增） · demo_strategy.py：策略生成演示（0.69.0新增） · demo_universal.py：通用推理演示（0.71.0新增） · 宇树经验: 300个真机操作经验，支持经验查询 (0.72.2新增) · 宇树双经验：捡枕头 + 堆叠积木，601 次真机操作经验 (0.73.0 新增) · 宇树五合一经验: 捡枕头、堆叠积木、擦桌子、叠毛巾、倒药水，共 1051 次真机操作经验 (0.74.1 新增) · phi3:mini 集成：湘西紫自动检测 phi3:mini，有则增强，无则用自己的推理 中英互译，离线运行，隐私安全，代码生成，简单计算增强 完全本地部署 不依赖网络，不上传数据 (0.75.0 新增) · 五次多项轨迹规划（减少机械冲击和振动）- 电机热监控（实时温度估计、过热预警、自动降额）- 电池电量监控（SOC估计、剩余时间预测、低电保护）- 通信心跳检测（断线检测、丢包率统计）- 电机堵转检测（堵转识别、紧急停止、恢复策略）- 统一安全守护（整合所有监控，状态机管理）(0.76.2 新增)

版本

当前版本：0.76.2（湘西紫 正式版）

开源协议

Apache 2.0 License

作者

pengyeqin | [e-mail] 2026.04.05

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English

ub-clean-test (Xiangxi Purple) - Embodied AI Framework

Mind at one · Purple from the East | World's First Full-Stack Open-Source Embodied AI Framework

Lingxi Purple (ub-clean-test) is a complete embodied AI framework, covering perception, reasoning, learning, planning, collaboration, and universal integration.

Capabilities

Layer Version Capabilities Perception 0.40-0.56 Vision, hearing, touch, smell, taste, time, distance, speed, weight, temperature, brightness, color, emotion, humor Reasoning 0.58-0.60 Logical reasoning, common sense, decision reasoning MetaCognition 0.61 Self-awareness, confidence assessment, knowledge tracing Learning 0.62-0.65 Active learning, error reflection, knowledge update, transfer learning Interaction 0.66-0.68 Dialogue management, swarm intelligence, human-robot collaboration Planning 0.69 Strategy generation, autonomous planning Integration 0.71 Universal reasoning, unified interface

Quick Start

pip install ub-clean-test

from ultra_balance.reasoning.universal import UniversalReasoning

ur = UniversalReasoning()

# Dialogue example
result = ur.reason_text("Hello", "dialogue")
print(result.result.get("response"))

# Reasoning example
result = ur.reason_text("All humans are mortal, Socrates is human", "reasoning")
print(result.result)

# Decision example
result = ur.reason_dict({"options": [{"name": "Bus", "pros": ["Cheap"]}]}, "decision")
print(result.result)

Demos

Perception & Control (0.11-0.56)

· 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 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_meta.py: Meta learning demo (new in 0.37.0) · demo_explain.py: Explainability demo (new in 0.38.0) · 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)

Reasoning & Cognition (0.58-0.71)

· 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) · demo_decision.py: Decision reasoning demo (new in 0.60.1) · demo_metacognition.py: Meta-cognition demo (new in 0.61.0) · demo_active_learning.py: Active learning demo (new in 0.62.1) · demo_error_reflection.py: Error reflection demo (new in 0.63.0) · demo_knowledge_update.py: Knowledge update demo (new in 0.64.0) · demo_transfer_learning.py: Transfer learning demo (new in 0.65.0) · demo_dialogue.py: Dialogue management demo (new in 0.66.1) · demo_swarm.py: Swarm intelligence demo (new in 0.67.0) · demo_human_robot.py: Human-robot collaboration demo (new in 0.68.0) · demo_strategy.py: Strategy generation demo (new in 0.69.0) · demo_universal.py: Universal reasoning demo (new in 0.71.0) · Unitree Experiences: 300 practical device operation experiences, supporting experience query (new in 0.72.2) · Unitree Dual Experiences：Physical device operation experience: 601 successful trials of pillow grasping and block stacking (new in 0.73.0) · Unitree 5-in-1 Experiences: Picking up pillows, stacking building blocks, wiping tables, folding towels, and pouring liquid medicine, with a total of 1,051 real-machine operation experiences (new in 0.74.1) · phi3:mini Integration: Xiangxi Purple automatically detects phi3:mini, enhances if present, uses its own reasoning if not. Chinese-English translation, offline operation, privacy and security, code generation, simple calculation enhancement. Fully local deployment, no reliance on network, no data upload (new in 0.75.0)
· Quintic Polynomial Trajectory Planning (reduce mechanical impact and vibration) Motor Thermal Monitoring (real-time temperature estimation, overheating early warning, automatic derating) Battery Power Monitoring (SOC estimation, remaining runtime prediction, low-power protection) Communication Heartbeat Detection (disconnection detection, packet loss rate statistics) Motor Stall Detection (stall identification, emergency stop, recovery strategy) Unified Safety Protection (integrate all monitoring functions, state machine management) (new in 0.76.2)

Version

Current: 0.76.2 (Xiangxi Purple Official Release)

License

Apache 2.0 License

Author

pengyeqin | [e-mail] 2026.04.05

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