To analyze the performance of various subsystems in meeting the desired requirements,
we performed several tests throughout the course of the semester.
Our testing will span both subsystem validation and full system integration, with emphasis on the following:
- Whole-body Motion Planner: Integrate and verify the whole-body motion planner with both lower-body RL policy and upper-body IK controller to enable more robust tote manipulation capability subject to various tote orientation and height.
- State Machine Integration: Evaluate the reliability and responsiveness of our multi-task state machine planner through structured pick-and-place sequences. (SVD)
- Localization and Mapping: Transition from mocap to onboard mapping solutions, testing RTAB-map integration and fallback strategies using fiducial markers. (SVD)
- Robustness and Repeatability: Stress-test the system under varied tote arrangements, table positions.
- Robustness of GR00T Vision-language-action model in real
SVD Tests
Foundation Pose Estimation Performance Test Results
Locomotion and Manipulation (Humanoid Control) Sub-system Testing
Motion Planning Sub-System Performance Evaluation
FVD Tests
The results of these tests in the for the FVD are as follows:
Locomotion and Manipulation (Humanoid Control) Sub-system Testing
Targeted Performance Requirements for Fall Semester
