{"id":20779450,"url":"https://github.com/freedomintelligence/mindedwheeler","last_synced_at":"2025-08-12T10:11:30.630Z","repository":{"id":223861061,"uuid":"761727306","full_name":"FreedomIntelligence/MindedWheeler","owner":"FreedomIntelligence","description":"Embody_AI with car as Demo","archived":false,"fork":false,"pushed_at":"2024-02-23T12:55:30.000Z","size":2942,"stargazers_count":6,"open_issues_count":0,"forks_count":0,"subscribers_count":3,"default_branch":"main","last_synced_at":"2025-04-30T19:48:10.317Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"other","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/FreedomIntelligence.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null}},"created_at":"2024-02-22T11:28:08.000Z","updated_at":"2024-12-24T21:49:40.000Z","dependencies_parsed_at":"2024-02-23T13:53:07.335Z","dependency_job_id":null,"html_url":"https://github.com/FreedomIntelligence/MindedWheeler","commit_stats":null,"previous_names":["wangxidong06/embody_ai","freedomintelligence/embodyaicar","freedomintelligence/mindedwheeler"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/FreedomIntelligence/MindedWheeler","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/FreedomIntelligence%2FMindedWheeler","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/FreedomIntelligence%2FMindedWheeler/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/FreedomIntelligence%2FMindedWheeler/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/FreedomIntelligence%2FMindedWheeler/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/FreedomIntelligence","download_url":"https://codeload.github.com/FreedomIntelligence/MindedWheeler/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/FreedomIntelligence%2FMindedWheeler/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":270041166,"owners_count":24516787,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-08-12T02:00:09.011Z","response_time":80,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-17T13:27:59.836Z","updated_at":"2025-08-12T10:11:30.574Z","avatar_url":"https://github.com/FreedomIntelligence.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# MindedWheeler\nEmbody_AI with car as Demo\n\n\u003ccenter\u003e\n    \u003cimg src=\"https://github.com/FreedomIntelligence/MindedWheeler/blob/main/assets/MindedWheeler.png\" width=\"450\" style=\"display: inline-block; vertical-align: top;\"/\u003e\n\u003c/center\u003e\n\n\n\n\n\u003cp align=\"center\"\u003e\n   🌐 \u003ca href=\"\" target=\"_blank\"\u003eWebsite\u003c/a\u003e • 🤗 \u003ca href=\"https://huggingface.co/FreedomIntelligence/MindedWheeler\" target=\"_blank\"\u003eModel\u003c/a\u003e  \n\u003c/p\u003e\n\n## 🌈 Update\n* **[2024.02.23]** 🎉🎉🎉 MindedWheeler is published！🎉🎉🎉\n\n## 🤖 Model Training Data\n\n```\nUser：快速向左转\nRobotAI: (1.0, -0.3)    \n...\n```\n\n- The two float are in range [-1,1]\n- The first float is speed, the second is direction (negative means left, positive means right).\n\n## 🤖 Communication Protocol\n\n- 0x02, 0x02, 0x01, 8, data_buf;  (See detail in [code](https://github.com/FreedomIntelligence/MindedWheeler/blob/main/qwen.cpp#L151))\n    \n\n## ℹ️ Usage\n1. DownLoad 🤗 [Model](https://huggingface.co/FreedomIntelligence/MindedWheeler) get model.bin.\n   ```\n   cd MindedWheeler\n   git submodule update --init --recursive\n   python qwen_cpp/convert.py -i {Model_Path} -t {type} -o robot1_8b-ggml.bin\n   ```\n   You are free to try any of the below quantization types by specifying -t \u003ctype\u003e:\n\n    - q4_0: 4-bit integer quantization with fp16 scales.\n    - q4_1: 4-bit integer quantization with fp16 scales and minimum values.\n    - q5_0: 5-bit integer quantization with fp16 scales.\n    - q5_1: 5-bit integer quantization with fp16 scales and minimum values.\n    - q8_0: 8-bit integer quantization with fp16 scales.\n    - f16: half precision floating point weights without quantization.\n    - f32: single precision floating point weights without quantization.\n\n2. Install package serial.tar.gz\n   ```\n    tar zxvf serial.tar.gz\n    cd serial\n    cmake .. \u0026\u0026 make \u0026\u0026 sudo make install\n    ```\n3. Compile the project using CMake:\n    ```\n    cmake -B build\n    cmake --build build -j --config Release\n    ```\n4. Now you may chat and control your AI car with the quantized RobotAI model by running:\n   - qwen.tiktoken is in the model directory\n   ```\n   ./build/bin/main -m robot1_8b-ggml.bin --tiktoken qwen.tiktoken -p 请快速向前\n   ```\n\n   To run the model in interactive mode, add the -i flag. For example:\n\n     ```\n     ./build/bin/main -m robot1_8b-ggml.bin --tiktoken qwen.tiktoken -i\n     ```\n\n   In interactive mode, your chat history will serve as the context for the next-round conversation.\n\n## 🥸 To do list\n\n- Continue to create data and train a robust model\n- Add ASR and TTS\n- ...\n\n\n## ✨ Citation\nPlease use the following citation if you intend to use our dataset for training or evaluation:\n\n\n\n```\n@misc{MindedWheeler,\n  title={MindedWheeler: Embody_AI with car as Demo},\n  author={Xidong Wang*, Yuan Shen*},\n  year = {2024},\n  publisher = {GitHub},\n  journal = {GitHub repository},\n  howpublished = {\\url{https://github.com/FreedomIntelligence/MindedWheeler}},\n}\n```\n\n\n## 🤖 Acknowledgement \n- We thank [Qwen.cpp](https://github.com/QwenLM/qwen.cpp.git) and [llama.cpp](https://github.com/ggerganov/llama.cpp) for their excellent work.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Ffreedomintelligence%2Fmindedwheeler","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Ffreedomintelligence%2Fmindedwheeler","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Ffreedomintelligence%2Fmindedwheeler/lists"}