{"id":665,"date":"2025-12-12T02:20:03","date_gmt":"2025-12-12T02:20:03","guid":{"rendered":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/?page_id=665"},"modified":"2025-12-12T02:39:25","modified_gmt":"2025-12-12T02:39:25","slug":"system-performance","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/system-performance\/","title":{"rendered":"System Performance"},"content":{"rendered":"\n<p>To analyze the performance of various subsystems in meeting the desired requirements,<br>we performed several tests throughout the course of the semester. <\/p>\n\n\n\n<p>Our testing will span both subsystem validation and full system integration, with emphasis on the following:<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>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.<\/li>\n\n\n\n<li>State Machine Integration: Evaluate the reliability and responsiveness of our multi-task state machine planner through structured pick-and-place sequences. (SVD)<\/li>\n\n\n\n<li>Localization and Mapping: Transition from mocap to onboard mapping solutions, testing RTAB-map integration and fallback strategies using fiducial markers. (SVD)<\/li>\n\n\n\n<li>Robustness and Repeatability: Stress-test the system under varied tote arrangements, table positions.<\/li>\n\n\n\n<li>Robustness of GR00T Vision-language-action model in real<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">SVD Tests<\/h2>\n\n\n\n<p>Foundation Pose Estimation Performance Test Results<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"429\" src=\"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-3-1024x429.png\" alt=\"\" class=\"wp-image-675\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-3-1024x429.png 1024w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-3-300x126.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-3-768x322.png 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-3-700x293.png 700w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-3-520x218.png 520w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-3-360x151.png 360w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-3-250x105.png 250w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-3-100x42.png 100w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-3.png 1219w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>Locomotion and Manipulation (Humanoid Control) Sub-system Testing<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"501\" src=\"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-4-1024x501.png\" alt=\"\" class=\"wp-image-676\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-4-1024x501.png 1024w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-4-300x147.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-4-768x376.png 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-4-700x343.png 700w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-4-520x255.png 520w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-4-360x176.png 360w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-4-250x122.png 250w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-4-100x49.png 100w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-4.png 1236w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>Motion Planning Sub-System Performance Evaluation<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"395\" src=\"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-6-1024x395.png\" alt=\"\" class=\"wp-image-678\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-6-1024x395.png 1024w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-6-300x116.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-6-768x296.png 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-6-700x270.png 700w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-6-520x200.png 520w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-6-360x139.png 360w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-6-250x96.png 250w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-6-100x39.png 100w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-6.png 1129w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">FVD Tests<\/h2>\n\n\n\n<p>The results of these tests in the for the FVD are as follows:<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Locomotion and Manipulation (Humanoid Control) Sub-system Testing<\/h2>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"897\" height=\"492\" src=\"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-1.png\" alt=\"\" class=\"wp-image-669\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-1.png 897w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-1-300x165.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-1-768x421.png 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-1-700x384.png 700w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-1-520x285.png 520w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-1-360x197.png 360w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-1-250x137.png 250w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-1-100x55.png 100w\" sizes=\"auto, (max-width: 897px) 100vw, 897px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">Targeted Performance Requirements for Fall Semester<\/h2>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"897\" height=\"395\" src=\"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-2.png\" alt=\"\" class=\"wp-image-671\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-2.png 897w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-2-300x132.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-2-768x338.png 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-2-700x308.png 700w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-2-520x229.png 520w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-2-360x159.png 360w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-2-250x110.png 250w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-content\/uploads\/sites\/88\/2025\/12\/image-2-100x44.png 100w\" sizes=\"auto, (max-width: 897px) 100vw, 897px\" \/><\/figure>\n","protected":false},"excerpt":{"rendered":"<p>To analyze the performance of various subsystems in meeting the [&hellip;]<\/p>\n","protected":false},"author":413,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"page-templates\/page_fullwidth.php","meta":{"footnotes":""},"class_list":["post-665","page","type-page","status-publish","hentry","clearfix"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-json\/wp\/v2\/pages\/665","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-json\/wp\/v2\/users\/413"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-json\/wp\/v2\/comments?post=665"}],"version-history":[{"count":5,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-json\/wp\/v2\/pages\/665\/revisions"}],"predecessor-version":[{"id":679,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-json\/wp\/v2\/pages\/665\/revisions\/679"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamf\/wp-json\/wp\/v2\/media?parent=665"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}