Welcome to Physical AI & Humanoid Robotics
This AI-native engineering textbook covers the fundamental concepts and practical applications of Physical AI and Humanoid Robotics.
What You'll Learn
This textbook is divided into five comprehensive parts:
Part 1: Foundations
- Understanding Physical AI concepts
- Embodied intelligence principles
- Sensors, actuators, and physical limitations
Part 2: ROS Fundamentals
- ROS2 basics and architecture
- Nodes, topics, services, and actions
- URDF robot descriptions and TF trees
Part 3: Simulation & Digital Twins
- Gazebo physics simulation
- Unity robotics visualization
- NVIDIA Isaac synthetic data generation
- Physics simulations
- Isaac Sim platform
- Digital twin development
Part 4: Perception & State Estimation
- Computer vision for robots
- Sensor fusion and state estimation
- SLAM and VSLAM navigation
- Path planning algorithms
Part 5: Embodied Intelligence
- Vision-Language-Action models
- Voice-to-action pipelines with Whisper
- Cognitive planning with GPT
- The autonomous humanoid
How to Use This Textbook
Each chapter includes:
- Theoretical foundations
- Practical examples
- Code snippets and tutorials
- Hands-on exercises
Prerequisites
- Basic programming knowledge
- Understanding of robotics concepts
- Familiarity with Python and C++
Let's begin your journey into Physical AI and Humanoid Robotics!