Project Summary: We aim to develop an autonomous integrated stack for multi-story indoor navigation and loco-manipulation. Given natural language prompt from human, the humanoid robot shoule be able to understand command and scene, navigate to the goal room in a multi-floor building either via stair or elevator, and open doors encountered along the way.

Fig 1: General Objective Tree: The overall division of all objectives of our project. Gree nodes represents threshold objectives, while red node are target objectives.

Fig 2: Detailed Objective Tree: The detailed version objective tree   with definition and explanation of each objective.

Fig 3: System Paradigm: The system paradigm abstracts the whole system design with high-level input & output of each sub-system.

Fig 4: Functional Architecture: The functional architecture demonstrates the logic of all functions of the system. The functions are structured with sensor data flow and information flow.

Fig 5: Cyber-physical Architecture: Our cyberphysical architecture encapsulates all the deployment logic and structure. Our system is divided into to parts: Neural serve as the backbone of the system with integrated reasoning. Whenever needed, the neural calls functions represented as the Symbolic. Symbolic serve as low-level skill modules in charge of separate specific tasks, such as navigate, open a door or take elevator.